Boiler water-cooled wall detection device with wall-climbing robot

Abstract

The invention discloses a wall-climbing robot for a boiler water wall detection device, and relates to the field of robot detection devices, the wall-climbing robot comprises a main body mechanism, and a cleaning mechanism is arranged on the outer surface wall of the main body mechanism. In the use process, a second motor, a spiral blade, a first gear and other structures are matched to drive a steel wire wheel to rotate, the surface layer of the water-cooled wall which is loosened after oxidation erosion of the boiler water-cooled wall can be cleaned through high-speed rotation of the steel wire wheel, and meanwhile through cooperation of a spray head and a scraping plate, the water-cooled wall can be cleaned. According to the water cooling wall cleaning device, the corroded surface layer of the water cooling wall and dust and impurities attached to the surface of the water cooling wall can enter a recycling box, meanwhile, under the action of a spiral blade and a recycling pipe, the cleaned impurities, dust and a falling layer can be collected, the influence on the adsorption effect of an electromagnet in the movement process is avoided, and the service life of the water cooling wall is prolonged. Therefore, the detection efficiency of the water cooling wall of the boiler is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot detection devices, and specifically to a detection device for a wall-climbing robot used for the water-cooled wall of a boiler. Background Art

[0002] In the modern energy supply system, thermal power generation still occupies a crucial position and is the key force to ensure the stable output of electricity. Among the core equipment of a thermal power plant, the stable operation of the boiler is directly related to the power generation efficiency and safety of the entire power plant. As a key heat exchange component of the boiler, the water-cooled wall of the boiler undertakes the core task of absorbing a large amount of heat released by combustion in the furnace and then converting water into steam or hot water. However, due to being in a harsh working condition of high temperature, high dust, and strong corrosion for a long time, the water-cooled wall faces a severe test.

[0003] Existing ones, such as a six-legged bionic power plant boiler water-cooled wall detection and repair wall-climbing robot in Chinese Patent No.: CN 109131621 A, include a robot body and multiple mechanical legs arranged on both sides of the body. Each mechanical leg includes three high-torque servo motors, a thigh, a calf, a leg root part, and a magnetic foot. An elastic adaptive device is provided between the leg root part and the magnetic foot. All joints of the mechanical legs are pivotally connected and can rotate freely. By controlling the angles of each servo motor through a gait algorithm, it imitates the walking of six-legged insects to achieve flexible walking of the robot. A supplementary light, a camera, and a flexible robotic arm are arranged on the robot body. The front end of the flexible robotic arm can carry an ultrasonic thickness gauge probe, a water-cooled wall welding device, and a water-cooled wall cutting device for the detection and repair of the water-cooled wall of the boiler. The magnetic foot uses a power-off adsorption type electromagnet to avoid the robot falling off due to abnormal power-off. The present invention has strong load capacity, flexible movement, and strong wall surface adaptability, almost achieving full coverage and no dead angle inside the boiler, and has good application prospects.

[0004] Although the above-mentioned device improves the defects of low load capacity and inflexible movement of traditional robots, when the six-legged robot climbs on the surface of the water-cooled wall of the boiler, due to the long-term high-intensity use of the water-cooled wall and the influence of high temperature, a large amount of dust and impurities will be generated on the surface of the water-cooled wall, and at the same time, an oxidation reaction will occur. The surface layer of the water-cooled wall of the boiler will be eroded and loosened and fall off, resulting in the adsorption capacity of the electromagnet during the climbing process of the robot being affected by the dust, impurities, and the eroded surface layer of the water-cooled wall, causing the robot to fall off and slide downward, unable to continue normal movement, thus seriously affecting the detection efficiency of the water-cooled wall of the boiler, and the falling off of the robot will also cause it to be damaged, affecting subsequent use. Summary of the Invention

[0005] The purpose of the present invention is to provide a wall-climbing robot for boiler water-cooled wall detection device to solve the problem that the robot will be affected by the dust, impurities and eroded surface layer of the boiler water-cooled wall during the climbing process, and it is difficult to continue climbing due to falling off.

[0006] To achieve the above object, the present invention provides the following technical solution: A wall-climbing robot for boiler water-cooled wall detection device, including a main body mechanism, a cleaning mechanism is arranged on the outer surface wall of the main body mechanism, and a protection mechanism is arranged on the inner surface wall of the main body mechanism;

[0007] The cleaning mechanism includes a fixed box and a fixed frame. A wire roller is movably inserted between the inner surface walls of the fixed frame. A first gear is fixedly sleeved on the outer surface wall of the wire roller. A connecting frame is fixedly installed between the inner surface walls of the fixed frame. A plurality of nozzles are fixedly inserted into the inner surface wall of the connecting frame. A recovery box is fixedly installed on one side of the inner wall of the fixed frame. A spiral blade is movably inserted into the inner surface wall of the recovery box. A second gear is fixedly sleeved on the outer surface wall of the spiral blade. A scraper is fixedly installed on one side of the outer wall of the recovery box.

[0008] Preferably, a chain is movably sleeved between the outer surface walls of the second gear and the first gear, and the inner surface wall of the chain meshes with the outer surface walls of the first gear and the second gear. A second motor is fixedly installed on one side of the outer wall of the fixed frame, and the output end of the second motor is fixedly connected to the outer surface wall of the spiral blade. A recovery pipe is fixedly communicated with one side of the outer wall of the recovery box.

[0009] Preferably, two limit springs are fixedly installed on the top of the inner wall of the fixed box. Second dampers are arranged on the inner surface walls of the two limit springs. An activity frame is movably embedded in the inner surface wall of the fixed box. The top of the activity frame is fixedly connected to the bottoms of the two limit springs. The bottom of the activity frame is fixedly connected to the top of the fixed frame.

[0010] Preferably, the protection mechanism includes an installation box. Two limit boxes are fixedly installed on the outer surface wall of the installation box. Limit plates are movably embedded in the inner surface walls of the two limit boxes. Expansion rods are fixedly installed on the tops of the two limit boxes, and the telescopic ends of the expansion rods are fixedly connected to the outer wall of one side of the limit plates. A reset spring is fixedly installed on the top of the inner wall of the installation box.

[0011] Preferably, an activity plate is movably embedded in the inner surface wall of the installation box, and the top of the activity plate is fixedly connected to the bottom of the reset spring. Two I-shaped frames are fixedly installed on the bottom of the activity plate. A second electromagnet is fixedly installed between the bottoms of the two I-shaped frames.

[0012] Preferably, the main body mechanism includes a mounting frame, on the inner wall of which four mechanical feet are fixedly installed. On one side of the outer walls of the four mechanical feet, connecting plates are fixedly installed respectively. At the bottoms of the four connecting plates, vacuum suction cups are fixedly installed respectively. At the bottoms of the four connecting plates, first electromagnets are fixedly installed respectively.

[0013] Preferably, on one side of the outer wall of the mounting frame, a mounting groove is provided. On one side of the inner wall of the mounting groove, two buffer springs are fixedly installed. Inside the inner walls of the two buffer springs, first dampers are provided. On the inner wall of the mounting groove, a buffer plate is movably embedded, and one side of the outer wall of the buffer plate is fixedly connected to one side of the outer wall of the buffer spring.

[0014] Preferably, on the top of the mounting frame, a rotating groove is provided. At the bottom of the inner wall of the rotating groove, two support plates are fixedly installed. Between the inner walls of the two support plates, a worm is movably inserted. At the bottom of the inner wall of the rotating groove, a first motor is fixedly installed, and the output end of the first motor is fixedly connected to the outer surface of the worm. On the inner wall of the rotating groove, a rotating table is movably embedded. On the outer surface of the rotating table, a worm gear is fixedly sleeved, and the outer surface of the worm gear meshes with the outer surface of the worm. On the top of the rotating table, a robotic arm is fixedly installed. On one side of the outer wall of the robotic arm, a fixing plate is fixedly installed.

[0015] Preferably, an industrial camera is fixedly inserted into the inner wall of the fixing plate. On one side of the outer wall of the fixing plate, a light source is fixedly installed. On the bottom of the mounting frame, a square groove is provided. On the bottom of the mounting frame, a displacement sensor is fixedly installed.

[0016] Preferably, the inner wall of the square groove is fixedly connected to the outer surface of the mounting box, and the outer wall of the mounting frame is fixedly connected to the inner wall of the fixing box.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. When the present invention is in use, when using the wall-climbing robot to detect the boiler water-cooled wall, during the movement of the wall-climbing robot, under the action of the second motor, the spiral blade is driven to rotate. At the same time, with the cooperation of the first gear, the chain and the second gear, the wire wheel can be driven to rotate. Through the high-speed rotation of the wire wheel, the surface layer of the water-cooled wall that has become loose after oxidation and erosion of the boiler water-cooled wall can be cleaned. At the same time, by spraying cleaning water through the nozzle and with the cooperation of the scraper, the eroded surface layer of the water-cooled wall and the dust and impurities attached to the surface of the water-cooled wall can enter the recovery box. At the same time, under the action of the spiral blade and the recovery pipe, the cleaned impurities, dust and exfoliated layers can be collected, avoiding affecting the adsorption effect of the electromagnet during the movement and preventing it from falling off and sliding down, greatly improving the detection efficiency of the boiler water-cooled wall.

[0019] 2. During the use of the present invention, when the robot climbs on the surface of the boiler water wall, under the action of the displacement sensor and the external detection system, the climbing direction and speed of the robot can be detected. When it is detected that the robot is moving rapidly in the reverse direction, it proves that the robot is sliding down rapidly. At this time, the controller inside the control system issues a control signal to control the telescopic rod to drive the limit plate to move rapidly outward inside the limit box. At the same time, under the action of the return spring, it can drive the movable plate, the I-shaped frame and the second electromagnet to move rapidly, and energize the electromagnet to generate a large magnetic force to adsorb the robot on the surface of the boiler water wall, avoiding damage caused by the rapid downward movement of the robot and greatly improving the use effect of the robot.

[0020] 3. During the use of the present invention, when the robot climbs on the surface of the boiler water wall, under the action of the first electromagnet and the vacuum suction cup, the robot can be adsorbed more firmly on the surface of the water wall. When the robot slides down and touches the bottom due to insufficient adsorption force, under the action of the buffer plate, the buffer spring and the first damper, it can buffer the impact force generated by the downward slide, avoid damage to the robot caused by excessive impact force, extend the service life of the wall-climbing robot, and reduce the consumption of maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional view of a wall-climbing robot for boiler water wall detection device of the present invention;

[0022] Figure 2 is an exploded view of the main mechanism of a wall-climbing robot for boiler water wall detection device of the present invention;

[0023] Figure 3 is a partial exploded view of the main mechanism of a wall-climbing robot for boiler water wall detection device of the present invention;

[0024] Figure 4 is a bottom view of the main mechanism of a wall-climbing robot for boiler water wall detection device of the present invention;

[0025] Figure 5 is a three-dimensional view of the cleaning mechanism of a wall-climbing robot for boiler water wall detection device of the present invention;

[0026] Figure 6 is a cross-sectional view of the cleaning mechanism of a wall-climbing robot for boiler water wall detection device of the present invention;

[0027] Figure 7 is a partial three-dimensional view of the cleaning mechanism of a wall-climbing robot for boiler water wall detection device of the present invention;

[0028] Figure 8This is a cross-sectional view of the protection mechanism in a wall-climbing robot for boiler water-cooled wall detection device of the present invention.

[0029] In the figure: 1. Main body mechanism; 11. Mounting frame; 12. Mechanical foot; 121. Connecting plate; 122. Vacuum suction cup; 123. First electromagnet; 13. Installation groove; 131. Buffer spring; 132. First damper; 133. Buffer plate; 14. Rotation groove; 141. Support plate; 142. Worm; 143. First motor; 144. Rotating table; 145. Worm gear; 15. Manipulator; 151. Fixed plate; 152. Industrial camera; 153. Light source; 16. Square groove; 17. Displacement sensor; 2. Cleaning mechanism; 21. Fixed box; 211. Limit spring; 212. Second damper; 213. Movable frame; 22. Fixed frame; 23. Steel wire roller; 231. First gear; 24. Connecting frame; 241. Sprayer; 25. Recycling box; 251. Spiral blade; 252. Second gear; 253. Scraper; 26. Chain; 27. Second motor; 28. Recycling pipe; 3. Protection mechanism; 31. Installation box; 32. Limit box; 321. Limit plate; 322. Expansion rod; 33. Reset spring; 34. Movable plate; 341. I-shaped frame; 342. Second electromagnet. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] Embodiment 1, refer to Figures 1 - 8 As shown in the figure: The present invention provides a wall-climbing robot for boiler water-cooled wall detection device, including a main body mechanism 1, a cleaning mechanism 2 is arranged on the outer surface wall of the main body mechanism 1, and a protection mechanism 3 is arranged on the inner surface wall of the main body mechanism 1;

[0032] The cleaning mechanism 2 includes a fixed box 21 and a fixed frame 22. A steel wire roller 23 is movably inserted between the inner walls of the fixed frame 22. A first gear 231 is fixedly sleeved on the outer wall of the steel wire roller 23. A connecting frame 24 is fixedly installed between the inner walls of the fixed frame 22. A plurality of spray nozzles 241 are fixedly inserted into the inner wall of the connecting frame 24. A recovery box 25 is fixedly installed on one side of the inner wall of the fixed frame 22. A spiral blade 251 is movably inserted into the inner wall of the recovery box 25. A second gear 252 is fixedly sleeved on the outer wall of the spiral blade 251. A scraper 253 is fixedly installed on one side of the outer wall of the recovery box 25. A chain 26 is movably sleeved between the outer walls of the second gear 252 and the first gear 231, and the inner wall of the chain 26 meshes with the outer walls of the first gear 231 and the second gear 252. A second motor 27 is fixedly installed on one side of the outer wall of the fixed frame 22, and the output end of the second motor 27 is fixedly connected to the outer wall of the spiral blade 251. A recovery pipe 28 is fixedly communicated with one side of the outer wall of the recovery box 25. Two limit springs 211 are fixedly installed on the top of the inner wall of the fixed box 21. A second damper 212 is arranged on the inner wall of each of the two limit springs 211. A movable frame 213 is movably embedded in the inner wall of the fixed box 21. The top of the movable frame 213 is fixedly connected to the bottoms of the two limit springs 211. The bottom of the movable frame 213 is fixedly connected to the top of the fixed frame 22.

[0033] In this embodiment, when using the wall-climbing robot to detect the boiler water wall, during the climbing process of the robot, with the cooperation of the limit spring 211 and the second damper 212, the movable frame 213 can move slowly inside the fixed box 21, making the surfaces of the steel wire roller 23 and the scraper 253 contact the surface of the boiler water wall. During the movement of the robot, under the action of the second motor 27, the spiral blade 251 is driven to rotate. At the same time, with the cooperation of the second gear 252, the chain 26 and the first gear 231, the steel wire roller 23 can be driven to rotate. Through the high-speed rotation of the steel wire roller 23, the loosened surface layer on the surface of the boiler water wall that has been eroded can be cleaned. At the same time, under the action of an external water pump, the water in the external water storage tank is pressurized and transported to the spray nozzles 241 and sprayed out, so as to clean the dust and impurities on the surface of the boiler water wall. Subsequently, under the action of the scraper 253, the loosened surface layer, dust and impurities cleaned can be transported into the recovery box 25, and through the rotation of the spiral blade 251, the loosened surface layer, dust and impurities can be transported. During this process, the loosened surface layer, dust and impurities will be squeezed and crushed and transported from the recovery pipe 28 into the external collection box, so that the eroded and loosened surface layer of the boiler water wall and the dust and impurities attached to its surface can be cleaned, avoiding affecting the movement of the wall-climbing robot.

[0034] Embodiment 2, according to Figure 1 、Figure 8 As shown in the figure, the protection mechanism 3 includes an installation box 31. Two limit boxes 32 are fixedly installed on the outer surface wall of the installation box 31. Limit plates 321 are movably embedded in the inner surface walls of the two limit boxes 32. Telescopic rods 322 are fixedly installed on the tops of the two limit boxes 32, and the telescopic ends of the telescopic rods 322 are fixedly connected to one side of the outer wall of the limit plates 321. A return spring 33 is fixedly installed on the top inner wall of the installation box 31. A movable plate 34 is movably embedded in the inner surface wall of the installation box 31, and the top of the movable plate 34 is fixedly connected to the bottom of the return spring 33. Two I-shaped frames 341 are fixedly installed at the bottom of the movable plate 34. A second electromagnet 342 is fixedly installed between the bottoms of the two I-shaped frames 341. A displacement sensor 17 is fixedly installed at the bottom of the installation frame 11.

[0035] In this embodiment, when the robot is climbing, under the action of the displacement sensor 17, data on the movement direction and speed of the robot can be collected and transmitted to the internal part of the external detection device. When the robot slides downward due to insufficient adsorption force, after the displacement sensor 17 and the external detection device collect and detect, a control signal is sent through the external controller to control the telescopic rod 322 to work, driving the limit plate 321 to move quickly to both sides inside the limit box 32, so that the limit plate 321 no longer limits the movable plate 34. Subsequently, under the action of the return spring 33, the movable plate 34 quickly moves inside the installation box 31, driving the I-shaped frames 341 and the second electromagnet 342 to move quickly. At the same time, the switch of the circuit of the second electromagnet 342 is turned on, so that the second electromagnet 342 generates a large magnetic force and adsorbs on the surface of the boiler water wall, enabling the climbing robot during the sliding process to stay firmly on the surface of the boiler water wall, preventing the wall-climbing robot from being damaged due to a large impact during a rapid downward slide, and playing a protective role for the wall-climbing robot.

[0036] Embodiment Three, according to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 8As shown in the figure, the main body mechanism 1 includes a mounting frame 11. Four mechanical feet 12 are fixedly installed on the inner wall of the mounting frame 11. One side of the outer wall of each of the four mechanical feet 12 is fixedly installed with a connecting plate 121. A vacuum suction cup 122 is fixedly installed at the bottom of each of the four connecting plates 121. A first electromagnet 123 is fixedly installed at the bottom of each of the four connecting plates 121. An installation groove 13 is opened on one side of the outer wall of the mounting frame 11. Two buffer springs 131 are fixedly installed on one side of the inner wall of the installation groove 13. A first damper 132 is arranged on the inner wall of each of the two buffer springs 131. A buffer plate 133 is movably embedded in the inner wall of the installation groove 13, and one side of the outer wall of the buffer plate 133 is fixedly connected to one side of the outer wall of the buffer spring 131. A rotation groove 14 is opened at the top of the mounting frame 11. Two support plates 141 are fixedly installed at the bottom of the inner wall of the rotation groove 14. A worm 142 is movably inserted between the inner walls of the two support plates 141. A first motor 143 is fixedly installed at the bottom of the inner wall of the rotation groove 14, and the output end of the first motor 143 is fixedly connected to the outer wall of the worm 142. A rotating table 144 is movably embedded in the inner wall of the rotation groove 14. A worm gear 145 is fixedly sleeved on the outer wall of the rotating table 144, and the outer wall of the worm gear 145 meshes with the outer wall of the worm 142. A robotic arm 15 is fixedly installed at the top of the rotating table 144. A fixing plate 151 is fixedly installed on one side of the outer wall of the robotic arm 15. An industrial camera 152 is fixedly inserted into the inner wall of the fixing plate 151. A light source 153 is fixedly installed on one side of the outer wall of the fixing plate 151. A square groove 16 is opened at the bottom of the mounting frame 11. The inner wall of the square groove 16 is fixedly connected to the outer wall of the installation box 31. The outer wall of the mounting frame 11 is fixedly connected to the inner wall of the fixed box 21.

[0037] In this embodiment, when it is necessary to use the wall-climbing robot to carry the detection device to detect the boiler water wall, through the mutual cooperation of the vacuum suction cup 122 with the internal vacuum pump, the first electromagnet 123 with the internal power supply, and the mechanical foot 12, the robot can move on the surface of the boiler water wall. During the movement, under the action of the industrial camera 152 and the light source 153, the surface information of the boiler water wall can be collected and transmitted to an external display for display, so as to judge whether the boiler water wall is damaged and needs to be repaired. During the information collection process, under the action of the first motor 143, the worm 142 is driven to rotate. At the same time, under the action of the worm gear 145, the rotating table 144 can be driven to rotate inside the rotating groove 14. And with the cooperation of the robotic arm 15, the position, angle, and direction of the industrial camera 152 and the light source 153 can be adjusted accordingly, so that more comprehensive and sufficient information can be collected on the surface of the boiler water wall, which is more convenient for subsequent workers to judge whether the boiler water wall is damaged. When the robot carries the industrial camera 152 and the light source 153 to collect information on the boiler water wall, when the robot slides down rapidly to the bottom due to insufficient adsorption force, the buffer plate 133 touches the bottom first and compresses the buffer spring 131. When the buffer spring 131 is compressed to a certain extent, a large rebound force will be generated. At this time, under the action of the first damper 132, part of the generated rebound force can be absorbed, avoiding continuous vibration of the wall-climbing robot due to impact, so that the impact force generated when the robot slides down can be buffered, and the robot can be prevented from being damaged due to excessive impact force, further extending the service life of the robot.

[0038] The working principle of the whole mechanism is as follows: When the wall-climbing robot is needed to carry the detection device to detect the boiler water-cooled wall, through the mutual cooperation of the vacuum suction disc 122 with the internal vacuum pump, the first electromagnet 123 with the internal power supply and the mechanical foot 12, the robot can move on the surface of the boiler water-cooled wall. During the movement, under the action of the industrial camera 152 and the light source 153, the surface information of the boiler water-cooled wall can be collected and transmitted to an external display for display, so as to judge whether the boiler water-cooled wall is damaged and needs to be repaired. During the information collection process, under the action of the first motor 143, the worm 142 is driven to rotate. At the same time, under the action of the worm gear 145, the rotating table 144 can be driven to rotate inside the rotating groove 14. And with the cooperation of the robotic arm 15, the position, angle and direction of the industrial camera 152 and the light source 153 can be adjusted accordingly, so that more comprehensive and sufficient information can be collected on the surface of the boiler water-cooled wall, which is more convenient for subsequent staff to judge whether the boiler water-cooled wall is damaged. During the climbing and information collection process of the robot, under the cooperation of the limit spring 211 and the second damper 212, the movable frame 213 can move slowly inside the fixed box 21, so that the surfaces of the wire roller 23 and the scraper 253 are in contact with the surface of the boiler water-cooled wall. During the movement of the robot, under the action of the second motor 27, the spiral blade 251 is driven to rotate. At the same time, through the cooperation of the second gear 252, the chain 26 and the first gear 231, the wire roller 23 can be driven to rotate. Through the high-speed rotation of the wire roller 23, the loosened surface layer of the boiler water-cooled wall that has been eroded can be cleaned. At the same time, under the action of an external water pump, the water in the external water storage tank is pressurized and transported to the nozzle 241 and sprayed out, so as to clean the dust and impurities on the surface of the boiler water-cooled wall. Subsequently, under the action of the scraper 253, the loosened surface layer, dust and impurities cleaned can be transported into the recovery box 25. And through the rotation of the spiral blade 251, the loosened surface layer, dust and impurities can be transported. During this process, the loosened surface layer, dust and impurities will be squeezed and crushed, and are transported from the recovery pipe 28 to the external collection box, so that the loosened surface layer of the boiler water-cooled wall that has been corroded and the dust and impurities attached to its surface can be cleaned, making the robot move more stably on the boiler water-cooled wall. When the robot slides down due to insufficient adsorption force, after the displacement sensor 17 and the external detection device collect and detect, a control signal is sent through an external controller to control the telescopic rod 322 to work, driving the limit plate 321 to move quickly to both sides inside the limit box 32, so that the limit plate 321 no longer plays a limiting role on the movable plate 34. Subsequently, under the action of the return spring 33, the movable plate 34 moves quickly inside the installation box 31, driving the I-shaped frame 341 and the second electromagnet 342 to move quickly. At the same time, the switch of the circuit of the second electromagnet 342 is controlled to be turned on.The second electromagnet 342 is made to generate a relatively large magnetic force and adsorb on the surface of the boiler water-cooled wall, so that the climbing robot in the sliding-down process can stay stably on the surface of the boiler water-cooled wall, avoiding damage caused by the climbing robot sliding down rapidly and being impacted greatly. When the robot further slides down and touches the bottom due to insufficient adsorption force, the buffer plate 133 touches the bottom first, and compresses the buffer spring 131. When the buffer spring 131 is compressed to a certain extent, a relatively large rebounding force will be generated. At this time, under the action of the first damper 132, part of the generated rebounding force can be absorbed, avoiding continuous vibration of the climbing robot due to the impact, so as to buffer the impact force generated when the robot slides down, and further protect the climbing robot and its internal components.

[0039] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform 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 wall-climbing robot for boiler water-cooled wall detection device, characterized in that: It includes a main body mechanism (1), a cleaning mechanism (2) is arranged on the outer surface wall of the main body mechanism (1), and a protection mechanism (3) is arranged on the inner surface wall of the main body mechanism (1); The cleaning mechanism (2) includes a fixed box (21) and a fixed frame (22). A steel wire roller (23) is movably inserted between the inner surface walls of the fixed frame (22). A first gear (231) is fixedly sleeved on the outer surface wall of the steel wire roller (23). A connecting frame (24) is fixedly installed between the inner surface walls of the fixed frame (22). A plurality of spray nozzles (241) are fixedly inserted into the inner surface wall of the connecting frame (24). A recovery box (25) is fixedly installed on one side of the inner wall of the fixed frame (22). A spiral blade (251) is movably inserted into the inner surface wall of the recovery box (25). A second gear (252) is fixedly sleeved on the outer surface wall of the spiral blade (251). A scraping plate (253) is fixedly installed on one side of the outer wall of the recovery box (25).

2. The inspection device for the boiler water-cooled wall using the wall-climbing robot according to claim 1, characterized in that: A chain (26) is movably sleeved between the outer surface walls of the second gear (252) and the first gear (231), and the inner surface wall of the chain (26) meshes with the outer surface walls of the first gear (231) and the second gear (252). A second motor (27) is fixedly installed on one side of the outer wall of the fixed frame (22), and the output end of the second motor (27) is fixedly connected to the outer surface wall of the spiral blade (251). A recovery pipe (28) is fixedly communicated with one side of the outer wall of the recovery box (25).

3. The inspection device for the boiler water-cooled wall using the wall-climbing robot according to claim 2, characterized in that: Two limiting springs (211) are fixedly installed on the top of the inner wall of the fixed box (21). A second damper (212) is arranged on the inner surface wall of each of the two limiting springs (211). A movable frame (213) is movably embedded in the inner surface wall of the fixed box (21). The top of the movable frame (213) is fixedly connected to the bottoms of the two limiting springs (211). The bottom of the movable frame (213) is fixedly connected to the top of the fixed frame (22).

4. A boiler water wall inspection device using a wall - climbing robot according to claim 3, characterized in that: The protection mechanism (3) includes an installation box (31). Two limiting boxes (32) are fixedly installed on the outer surface wall of the installation box (31). A limiting plate (321) is movably embedded in the inner surface wall of each of the two limiting boxes (32). An expansion rod (322) is fixedly installed on the top of each of the two limiting boxes (32), and the telescopic end of the expansion rod (322) is fixedly connected to one side of the outer wall of the limiting plate (321). A reset spring (33) is fixedly installed on the top of the inner wall of the installation box (31).

5. A wall-climbing robot for boiler water-cooled wall detection device according to claim 4, characterized in that: A movable plate (34) is movably embedded in the inner surface wall of the installation box (31), and the top of the movable plate (34) is fixedly connected to the bottom of the reset spring (33). Two I-shaped frames (341) are fixedly installed on the bottom of the movable plate (34). A second electromagnet (342) is fixedly installed between the bottoms of the two I-shaped frames (341).

6. The inspection device for the boiler water-cooled wall using the wall-climbing robot according to claim 5, characterized in that: The main body mechanism (1) includes a mounting frame (11). Four mechanical feet (12) are fixedly installed on the inner wall of the mounting frame (11). On one side of the outer wall of each of the four mechanical feet (12), a connecting plate (121) is fixedly installed. At the bottom of each of the four connecting plates (121), a vacuum suction cup (122) is fixedly installed. At the bottom of each of the four connecting plates (121), a first electromagnet (123) is fixedly installed.

7. The inspection device for the boiler water-cooled wall using the wall-climbing robot according to claim 6, characterized in that: On one side of the outer wall of the mounting frame (11), a mounting groove (13) is formed. On one side of the inner wall of the mounting groove (13), two buffer springs (131) are fixedly installed. A first damper (132) is arranged on the inner wall of each of the two buffer springs (131). A buffer plate (133) is movably embedded in the inner wall of the mounting groove (13), and one side of the outer wall of the buffer plate (133) is fixedly connected to one side of the outer wall of the buffer spring (131).

8. A boiler water-cooled wall detection device for a wall-climbing robot according to claim 7, characterized in that: On the top of the mounting frame (11), a rotating groove (14) is formed. On the bottom of the inner wall of the rotating groove (14), two support plates (141) are fixedly installed. A worm (142) is movably inserted between the inner walls of the two support plates (141). On the bottom of the inner wall of the rotating groove (14), a first motor (143) is fixedly installed, and the output end of the first motor (143) is fixedly connected to the outer wall of the worm (142). A rotating table (144) is movably embedded in the inner wall of the rotating groove (14). A worm gear (145) is fixedly sleeved on the outer wall of the rotating table (144), and the outer wall of the worm gear (145) meshes with the outer wall of the worm (142). A robotic arm (15) is fixedly installed on the top of the rotating table (144). A fixed plate (151) is fixedly installed on one side of the outer wall of the robotic arm (15).

9. The inspection device for the boiler water-cooled wall using the wall-climbing robot according to claim 8, characterized in that: An industrial camera (152) is fixedly inserted into the inner wall of the fixed plate (151). A light source (153) is fixedly installed on one side of the outer wall of the fixed plate (151). A square groove (16) is formed on the bottom of the mounting frame (11). A displacement sensor (17) is fixedly installed on the bottom of the mounting frame (11).

10. A device for detecting the water-cooled wall of a boiler using the wall-climbing robot according to claim 9, characterized in that: The inner wall of the square groove (16) is fixedly connected to the outer wall of the mounting box (31). The outer wall of the mounting frame (11) is fixedly connected to the inner wall of the fixed box (21).

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