Wall-climbing robot based on water-cooled wall with axial and trans-tube movement and control method

Abstract

The application provides a wall-climbing robot with axial and cross-pipe movement based on a water-cooled wall and a control method, relates to the field of wall-climbing robots, and comprises a support frame, a wheel driving system, a track driving system and a movement switching system. The track driving system is located inside a fourth metal plate in the frame, is symmetrically arranged on both sides of a third metal plate in the frame, the wheel driving system is located outside the fourth metal plate in the frame, is symmetrically arranged on both sides of the fourth metal plate in the frame, and a wheel control system electric cylinder and a track control system electric cylinder control the switching of the wheel driving system and the track driving system between a lowered state and a lifted state. The working mode comprises a wheel driving mode and a track driving mode. The application switches different working modes to make the wall-climbing robot move axially along the water-cooled wall pipe and move cross-pipe along the water-cooled wall pipe, improves the situation that the wall-climbing robot cannot turn or autonomously switch the detection pipe, and effectively improves the working efficiency of the wall-climbing robot.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robots, and more specifically to a wall-climbing robot based on a water-cooled wall with axial and trans-tube motion and its control method. Background Technology

[0002] Currently, thermal power generation is the main method of power generation. As one of the three main pieces of equipment in thermal power generation, the boiler in a power plant has an extremely high accident rate due to boiler tube wall rupture. Therefore, regular inspection of the boiler water-cooled walls is crucial for the safe operation of the unit. As a large cooling device, the water-cooled wall is typically composed of several adjacent water-cooled pipes. Each water-cooled pipe has a diameter of approximately 50mm, and there is a gap of about 8mm to 10mm between two adjacent water-cooled pipes, forming a densely packed water-cooled wall surface.

[0003] The prerequisite for a wall-climbing robot to perform inspection work in the above scenario is that it can stably adhere to the wall surface. However, due to the wavy surface formed by multiple adjacent pipes on the water-cooled wall, the uneven working surface, and the incompatibility between the movement mode and the working surface, unavoidable vibrations occur. As the distance between the permanent magnet that plays the role of adsorption and the working surface increases, the adsorption force of the permanent magnet on the wall surface will suddenly decrease, and the robot may be at risk of falling.

[0004] Existing water-cooled wall climbing robots mostly use wheel drive or track drive. During operation, they usually only perform up and down lifting operations along the axial direction of the water-cooled wall pipes, and cannot autonomously achieve lateral movement across the pipes or achieve smooth turning on the water-cooled wall surface. For example, CN114013528 B discloses a wall-climbing robot for water-cooled wall operations in thermal power plant boilers. It uses wheel drive as the main driving method, which can achieve stable adsorption on the water-cooled wall surface and has a certain degree of adaptability to complex wall surfaces. However, when the water-cooled wall surface is used as the working plane, it can only move along the axial direction of the water-cooled pipes and is not easy to turn on the water-cooled wall surface or move across pipes. CN117842227 B discloses a water-cooled wall climbing robot that can climb along the water-cooled wall. However, the movement mode of this invention is crawling. The gait of the leg movement using electromagnets is not easy to coordinate with the magnetization and demagnetization process during the crawling process. The robot posture cannot be guaranteed, and there is a risk of falling. The vertical and horizontal translational movement on the water-cooled wall surface is slow. Structurally, it can only carry small detection equipment and has no place to install working modules. The work efficiency is low, and the energy consumption required by the use of electro-permanent magnet technology is large.

[0005] To address the issue that wall-climbing robots cannot perform circumferential cross-pipe movement or have unstable turning movements on working surfaces such as water-cooled walls, this invention proposes a wall-climbing robot and its control method based on water-cooled walls that have axial and cross-pipe movement. Summary of the Invention

[0006] To address the shortcomings of the prior art, the present invention aims to provide a wall-climbing robot with axial and cross-pipe motion based on a water-cooled wall and its control method. According to the structural form of the water-cooled wall, a wheel drive system, which excels in axial motion, and a track drive system, which excels in circumferential motion across pipes, are integrated into one unit. Through the electric cylinders of the control wheel system and the control track system in the motion switching system, the switching between the lowering and raising states of the wheel drive system and the track drive system is controlled respectively to accommodate different pipe shapes or arrangements within the water-cooled wall. This improves the wall-climbing robot's working flexibility on the water-cooled wall surface, and the cooperation between the two working modes enhances the robot's stability.

[0007] Specifically, on one hand, the present invention provides a wall-climbing robot based on a water-cooled wall with axial and trans-pipe motion, which includes a support frame, a wheel drive system, a track drive system, and a motion switching system. The wheel drive system is symmetrically arranged at the front and rear ends of the support frame, and includes a dual-output shaft motor for wheels, an outer frame, and contoured wheels. The fixed end of the dual-output shaft motor for wheels is connected to the mounting end of the fourth profile in the outer frame through a motor fixing plate. The output end of the dual-output shaft motor for wheels is connected to the first end of the wheel axle through a coupling. The second end of the wheel axle is connected to the mounting end of the first profile in the outer frame through a wheel axle fixing plate. The track drive system is symmetrically arranged at the left and right ends of the supporting frame. It includes a dual-output shaft motor for the track, a track connecting plate, a track baffle fixing plate, a main gear, a driven gear, and track baffles. The output end of the dual-output shaft motor for the track is connected to the input end of the main gear. The main gear is connected to the driven gear through the track. The track baffles are located on both sides of the track. The fixing ends of two adjacent track baffles are connected through the track baffle fixing plate. The connecting end of the track baffle fixing plate is connected to the first mounting end of the track connecting plate. The motion switching system includes a wheel control system electric cylinder, a track control system electric cylinder, a guide rail connecting plate, a guide rail, a slider, and a slider connector. The fixed end of the wheel control system electric cylinder is connected to the first fixed end of the fourth sheet metal part in the frame. The output end of the wheel control system electric cylinder is connected to the first fixed end of the fourth profile in the outer frame. The fixed end of the track control system electric cylinder is connected to the first end of the guide rail connecting plate. The second end of the guide rail connecting plate is connected to the fixed end of the upper surface of the third sheet metal part in the frame. The output end of the track control system electric cylinder is connected to the second mounting end of the track connecting plate. The guide rail is connected to the fixed end of the upper surface of the fourth sheet metal part in the frame. The guide rail and the slider are slidably connected. The slider and the first end of the slider connector are connected. The second end of the slider connector is connected to the second fixed end of the fourth profile in the outer frame.

[0008] Preferably, the supporting frame includes a frame, a wheel hub, a first permanent magnet, and a second permanent magnet. The frame is welded together from a first sheet metal part, a second sheet metal part, a third sheet metal part, and a fourth sheet metal part. The wheel hub includes a small wheel hub, a wheel hub frame, and a wheel hub axle. The small wheel hub is connected to the first mounting end of the wheel hub frame via the wheel hub axle. The second mounting end of the wheel hub frame is connected to the mounting end of the frame. The first permanent magnet is connected to the fixed end of the lower surface of the fourth sheet metal part, and the second permanent magnet is connected to the fixed end of the lower surface of the third sheet metal part.

[0009] Preferably, the fourth sheet metal part is symmetrically distributed on both sides of the first sheet metal part, and the axis of the wheel hub located on the fourth sheet metal part and the axis of the wheel hub located on the third sheet metal part are perpendicular to each other.

[0010] Preferably, the track drive system is located inside the fourth sheet metal part of the frame and is symmetrically arranged on both sides of the third sheet metal part of the frame, while the wheel drive system is located outside the fourth sheet metal part of the frame and is symmetrically arranged on both sides of the fourth sheet metal part of the frame.

[0011] Preferably, in the wheel drive system, the outer frame is composed of a first profile, a second profile, a third profile and a fourth profile, which are fixed by angle brackets respectively. The contour wheel includes a wheel axle and a contour wheel block, and the contour wheel block and the wheel axle are connected.

[0012] Preferably, in the track drive system, the fixed end of the main gear and the fixed end of the driven gear are connected to the first end and the second end of the track baffle, respectively, and the fixed end of the track dual output shaft motor is connected to the mounting end of the track baffle through a motor fixing component.

[0013] Preferably, in the motion switching system, the electric cylinders of the wheel control system are symmetrically arranged along the length of the support frame, and the electric cylinders of the track control system are symmetrically arranged along the width of the support frame.

[0014] On the other hand, the present invention provides a method for controlling a wall-climbing robot with axial and trans-tube motion based on a water-cooled wall, the specific steps of which include: Initially, both the wheel drive system and the track drive system are in the lowered position. They are attracted to the water-cooled wall surface using the first and second permanent magnets located on the frame. The corresponding operating mode is selected according to the condition of the water-cooled wall surface. If the water-cooled wall consists of vertically placed straight water-cooled pipes arranged horizontally or horizontally placed straight water-cooled pipes arranged vertically, the specific steps are as follows: The electric cylinder of the control track system retracts, switching the track drive system from the lowered state to the raised state. At this time, the contour wheel in the wheel drive system matches the water-cooled wall pipes. The dual output shaft motor of the wheel drive system drives the contour wheel to detect the pipes in the water-cooled wall. After the first set of pipes is detected, the motion switching system switches the wheel drive mode to the track drive mode. The track drive system is used to move across the pipes along the water-cooled wall to change lanes. After changing lanes, the motion switching system switches the track drive mode back to the wheel drive mode. Then the wheel drive system is started to detect the pipes. The above process is repeated to achieve cyclic detection on the water-cooled wall. If the water-cooled wall surface consists of vertically placed water-cooled pipes arranged horizontally or horizontally placed water-cooled pipes arranged vertically, the specific steps are as follows: The electric cylinder of the control track system retracts, switching the track drive system from the lowered state to the raised state. At this time, the contour wheel in the wheel drive system aligns with the water-cooled wall pipes. The dual output shaft motor of the wheel drive system is started to drive the contour wheel to detect the straight pipes in the water-cooled wall surface. Before moving to the curved section, the motion switching system switches the wheel drive mode to the track drive mode. The differential rotation of the two tracks symmetrically arranged on the support frame in the track drive system is used to align the contour wheel in the wheel drive system with the pipe to be detected in the water-cooled wall surface. After alignment, the wheel drive system is started again to detect the pipe at the curved section. If the water-cooled wall surface consists of vertically placed water-cooled pipes arranged horizontally with continuous bends, or horizontally placed water-cooled pipes arranged vertically with continuous bends, or alternating arrangements of two adjacent water-cooled pipes of different diameters, then the specific procedure is as follows: the electric cylinder of the control wheel system extends, switching the wheel drive system from the lowered state to the raised state, and at this time, the track drive system is used for movement monitoring.

[0015] Preferably, the lowered state is characterized by the retraction of the electric cylinder of the control wheel system and the extension of the electric cylinder of the control track system, and the raised state is characterized by the extension of the electric cylinder of the control wheel system and the retraction of the electric cylinder of the control track system. The working modes include wheel drive mode and track drive mode.

[0016] Preferably, the specific process of changing tracks is as follows: the electric cylinder of the track control system extends to switch the track drive system from the raised state to the lowered state, and the electric cylinder of the wheel control system extends to switch the wheel drive system from the lowered state to the raised state.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention employs two different operating modes to achieve axial movement along the water-cooled wall and movement across pipes. When axial movement along the water-cooled wall is required, the motion switching system lowers the wheel drive system and raises the track drive system. In this mode, the contour wheels in the wheel drive system are placed on the water-cooled wall surface, ensuring effective contact while maintaining stable operation. When circumferential movement across the water-cooled wall is required, the motion switching system lowers the track drive system and raises the wheel drive system. The track drive transforms the obstacle-crossing movement into relative wheel movement on a plane, improving the stability of the wall-climbing robot during operation.

[0018] This invention employs two different driving methods working alternately, effectively improving the working flexibility of the wall-climbing robot on the water-cooled wall surface. The two driving methods correspond to axial movement along the water-cooled wall pipe and cross-pipe movement along the circumference of the water-cooled wall pipe, respectively. This improves upon the traditional situation where the robot cannot turn or autonomously switch the detection pipe, effectively increasing its working efficiency on the water-cooled wall surface.

[0019] 3. The present invention uses permanent magnets to ensure a fixed distance between the support frame and the working surface of the water-cooled wall, while the permanent magnets can also provide sufficient adsorption force.

[0020] 4. This invention uses electric cylinders for both the wheel control system and the track control system to switch between two working modes. The electric cylinder is the main actuator of the motion switching system. The guide rail in the motion switching system bears the lateral load to protect the electric cylinder and reduce friction during the switching of drive modes. The electric cylinder has sufficient self-locking capability to ensure that the attraction force of the permanent magnet on the wall is converted into the positive pressure of the wheel or track on the wall, thereby enabling the wall-climbing robot to have sufficient driving friction. Attached Figure Description

[0021] Figure 1 This is an overall structural diagram of the wall-climbing robot based on a water-cooled wall with axial and trans-tube motion according to the present invention; Figure 2 This is a top view of the wall-climbing robot based on a water-cooled wall with axial and trans-tube motion according to the present invention; Figure 3 This is a structural diagram of the wheel drive system in the wall-climbing robot with axial and trans-tube motion based on the water-cooled wall of the present invention; Figure 4 This is a structural diagram of the track drive system in the wall-climbing robot with axial and trans-tube motion based on the water-cooled wall of the present invention; Figure 5 This is a structural diagram of the motion switching system in the wall-climbing robot with axial and trans-tube motion based on the water-cooled wall of the present invention; Figure 6 This is a bottom view of the wall-climbing robot of the present invention, which has axial and trans-tube motion based on a water-cooled wall; Figure 7 This is a structural diagram of the hub in the wall-climbing robot with axial and trans-tube motion based on the water-cooled wall of the present invention; Figure 8 This is a structural diagram of the wheel-drive mode of the wall-climbing robot based on the water-cooled wall with axial and trans-tube motion according to the present invention. Figure 9 This is a structural diagram of the tracked drive mode of the wall-climbing robot based on the water-cooled wall with axial and cross-tube motion according to the present invention. Figure 10 A diagram of a curved water-cooled wall in a wall-climbing robot with axial and trans-tube motion based on a water-cooled wall; Figure 11 This is a diagram of a continuously curved water-cooled wall in a wall-climbing robot with axial and transpipe motion based on a water-cooled wall.

[0022] Key reference numerals: Support frame 1, frame 11, first sheet metal part 111, second sheet metal part 112, third sheet metal part 113, fourth sheet metal part 114, wheel hub 12, small wheel hub 121, wheel hub bracket 122, wheel hub axle 123, first permanent magnet 13, second permanent magnet 14, wheel drive system 2, wheel dual output shaft motor 21, first profile 221, second profile 222, third profile 223, fourth profile 224, corner bracket 23, contour wheel 24, wheel axle 241. 242, contour wheel block, 243, motor mounting plate, 25, wheel axle mounting plate, 26, track drive system, 3, track dual output shaft motor, 31, motor mounting component, 32, track connecting plate, 33, track baffle mounting plate, 34, driven gear, 35, track baffle, 36, main gear, 37, track, 38, motion switching system, 411, electric cylinder for wheel control system, 412, electric cylinder for track control system, 42, guide rail connecting plate, 43, slider, 44, slider connector, 45. Detailed Implementation

[0023] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0024] Wall-climbing robots based on water-cooled walls with axial and trans-tube motion, such as Figure 1 and Figure 2 As shown, it includes a supporting frame 1, a wheel drive system 2, a track drive system 3, and a motion switching system 4. The track drive system 3 is located inside the fourth sheet metal part 114 in the frame 11 and is symmetrically arranged on both sides of the third sheet metal part 113 in the frame 11. The wheel drive system 2 is located outside the fourth sheet metal part 114 in the frame 11 and is symmetrically arranged on both sides of the fourth sheet metal part 114 in the frame 11.

[0025] Support frame 1, such as Figure 5As shown, the robot includes a frame 11, a hub 12, a first permanent magnet 13, and a second permanent magnet 14. The permanent magnets ensure a certain relative distance between the wall-climbing robot and the wall surface, and ensure relative stability. The frame 11 is welded together from a first sheet metal part 111, a second sheet metal part 112, a third sheet metal part 113, and a fourth sheet metal part 114. The hub 12, as shown... Figure 7 As shown, the system includes a small hub 121, a hub frame 122, and a hub axle 123. The small hub 121 is connected to the first mounting end of the hub frame 122 via the hub axle 123. The second mounting end of the hub frame 122 is connected to the mounting end of the frame 11. In this embodiment, there are 16 hub frames 122, which are distributed and installed at different positions around the bottom of the frame 11. A small hub 121 is installed between every two hub frames 122, forming a total of 8 hubs 12 to support the frame 11. With the bottom surface of the frame as a reference, four of them are placed horizontally, mainly to provide support when the wall-climbing robot moves along the pipe axis. The other four are placed vertically, mainly to provide support when the wall-climbing robot moves circumferentially across the pipe. This ensures that the first permanent magnet 13 and the second permanent magnet 14 installed under the frame 11 are always at a fixed gap with the magnetically conductive wall surface, ensuring that the first permanent magnet 13 and the second permanent magnet 14 do not contact the wall surface, thus avoiding wear or impact damage to the wall surface or the wall-climbing robot that may occur during movement due to contact.

[0026] The first permanent magnet 13 is connected to the fixed end of the lower surface of the fourth sheet metal part 114, and the second permanent magnet 14 is connected to the fixed end of the lower surface of the third sheet metal part 113. For example... Figure 6 As shown, specifically, the fourth sheet metal part 114 is symmetrically distributed on both sides of the first sheet metal part 111, and the axis of the wheel hub 12 located on the fourth sheet metal part 114 and the axis of the wheel hub 12 located on the third sheet metal part 113 are perpendicular to each other.

[0027] like Figure 1 and Figure 3 As shown, the wheel drive system 2 is symmetrically arranged at the front and rear ends of the support frame 1, serving as the working mode for the wall-climbing robot to move axially along the water-cooled wall pipes on the water-cooled wall surface. It includes a dual-output shaft motor 21, an outer frame, and contoured wheels 24. The fixed end of the dual-output shaft motor 21 is connected to the mounting end of the fourth profile 224 in the outer frame via a motor fixing plate 25. The output end of the dual-output shaft motor 21 is connected to the first end of the axle 241 via a coupling 243. The second end of the axle 241 is connected to the mounting end of the first profile 221 in the outer frame via an axle fixing plate 26. Further, the outer frame is composed of the first profile 221, the second profile 222, the third profile 223, and the fourth profile 224, which are respectively fixed by angle brackets 23. The contoured wheels 24 include axle 241 and contoured wheel blocks 242, which are connected to the axle 241.

[0028] The track drive system 3 is symmetrically arranged at the left and right ends of the support frame 1, serving as the working mode for the wall-climbing robot to move across the water-cooled wall pipes circumferentially on the water-cooled wall surface. Figure 4 As shown, the system includes a dual-output-shaft motor 31 for tracks, a track connecting plate 33, a track baffle fixing plate 34, a main gear 37, a track 38, a driven gear 35, and track baffles 36. The output end of the dual-output-shaft motor 31 is connected to the input end of the main gear 37. The main gear 37 is connected to the driven gear 35 via the track 38. The track baffles 36 are located on both sides of the track 38, and the fixing ends of two adjacent track baffles 36 are connected via the track baffle fixing plate 34. The connecting end of the track baffle fixing plate 34 is connected to the first mounting end of the track connecting plate 33. Furthermore, the fixing ends of the main gear 37 and the driven gear 35 are respectively connected to the first and second ends of the track baffles 36, and the fixing end of the dual-output-shaft motor 31 is connected to the mounting end of the track baffles 36 via a motor fixing component 32.

[0029] The motion switching system 4 connects the wheel drive system 2 and the track drive system 3 to the support frame 1 respectively. The wheel drive system 2 and the track drive system 3 can switch between lowering and raising states on the support frame 1 under the control of the motion switching system 4. Figure 5 As shown, the system includes a control wheel system electric cylinder 411, a control track system electric cylinder 412, a guide rail connecting plate 42, guide rails 43, a slider 44, and a slider connector 45. There are six guide rails 43, two at the front and two at the rear of the support frame 1, and one symmetrically distributed on each side of the middle of the support frame 1. The selected control wheel system electric cylinder 411 and control track system electric cylinder 412 have sufficient self-locking capability to ensure that the attraction force of the permanent magnet on the wall surface is converted into the normal pressure of the wheels or tracks on the wall surface, thus giving the wall-climbing robot sufficient driving friction. The guide rails 43 can reduce friction during the switching process and can also withstand lateral loads to protect the control wheel system electric cylinder 411 and control track system electric cylinder 412. The control wheel system electric cylinder 411 is arranged in the middle area of ​​the two contoured wheels 24, and the control track system electric cylinder 412 is arranged on the upper and lower sides of the symmetrical axis between the two tracks 38. This arrangement not only facilitates the compactness of the overall structure but also ensures balanced force during mode switching, avoiding motion interference or structural deformation caused by uneven loading.

[0030] The fixed end of the electric cylinder 411 of the wheel control system is connected to the first fixed end of the fourth sheet metal part 114 in the frame 11. The output end of the electric cylinder 411 of the wheel control system is connected to the first fixed end of the fourth profile 224 in the outer frame. The fixed end of the electric cylinder 412 of the track control system is connected to the first end of the guide rail connecting plate 42. The second end of the guide rail connecting plate 42 is connected to the fixed end of the upper surface of the third sheet metal part 113 in the frame 11. The output end of the electric cylinder 412 of the track control system is connected to the second mounting end of the track connecting plate 33. The guide rail 43 is connected to the fixed end of the upper surface of the fourth sheet metal part 114 in the frame 11. The guide rail 43 and the slider 44 are slidably connected. The slider 44 and the first end of the slider connector 45 are connected. The second end of the slider connector 45 is connected to the second fixed end of the fourth profile 224 in the outer frame.

[0031] In one embodiment of the present invention, the electric cylinder 411 of the wheel control system is symmetrically arranged along the length direction of the support frame 1, and the electric cylinder 412 of the track control system is symmetrically arranged along the width direction of the support frame 1. The electric cylinders 411 and 412 of the wheel control system respectively resist the attraction force between the permanent magnet and the wall surface, serving as the main source of the relative pressure generated between the drive wheels and tracks and the wall surface during the wall crawling process of the wheel drive system 2 and the track drive system 3.

[0032] The following describes in further detail, with reference to embodiments, a wall-climbing robot with axial and trans-tube motion based on a water-cooled wall and its control method, according to the present invention: In the control method of this invention, there are two modes: wheel drive mode and track drive mode. Taking the wall-climbing robot body as a reference, the wheel drive system 2 and the track drive system 3 are divided into two states: a lowering state and a raising state. In the lowering state of the wheel drive system 2, the electric cylinder 411 of the control wheel system retracts; in the raising state, the electric cylinder 411 of the control wheel system extends. In the lowering state of the track drive system 3, the electric cylinder 412 of the control track system extends; in the raising state, the electric cylinder 412 of the control track system retracts. Figure 8 As shown, in wheel drive mode, wheel drive system 2 is in the lowered state, and track drive system 3 is in the raised state; as Figure 9 As shown, in track drive mode, wheel drive system 2 is in a raised state and track drive system 3 is in a lowered state.

[0033] When the robot is not in operation and is stationary, both the wheel drive system 2 and the track drive system 3 are in the lowered position. During testing, the stationary wall-climbing robot is placed on the water-cooled wall for adhesion. Then, the robot's power is turned on, and the appropriate movement mode is selected according to different situations. If the wheel drive system 2 is selected, the electric cylinder 412 of the track control system is retracted, switching the track drive system 2 from the lowered state to the raised state. While maintaining the lowered state of the wheel drive system 2, the robot can then crawl on the water-cooled wall by controlling the dual output shaft motor 21 of the wheels. Similarly, if the track drive system 3 is selected, the electric cylinder 411 of the wheel control system is extended, switching the wheel drive system 2 from the lowered state to the raised state. While maintaining the lowered state of the track drive system 3, the robot can then crawl on the water-cooled wall by controlling the dual output shaft motor 31 of the tracks. When removing the wall-climbing robot, it must be returned to the stationary state, i.e., both the wheel drive system 2 and the track drive system 3 are in the lowered state.

[0034] If the water-cooled wall is composed of vertically placed straight water-cooled pipes arranged horizontally or horizontally placed straight water-cooled pipes arranged vertically.

[0035] Taking a vertically placed, straight water-cooled pipe arranged horizontally as an example, the workflow of a horizontally placed, straight water-cooled pipe arranged vertically can be adjusted to the same movement pattern by changing its orientation on the water-cooled wall. Starting from the initial point, it moves up and down along the water-cooled wall pipes. After inspecting the first group of pipes, it changes course, and the above actions are repeated until the entire process is complete. Specifically: The wall-climbing robot, which is in a stationary state, is placed on the water-cooled wall surface for adsorption. The electric cylinder 412 of the track control system is retracted, and the original lowered state of the track drive system 3 is switched to the raised state. The electric cylinder 411 of the wheel control system is extended, that is, the wheel drive system 2 is in the lowered state. The contour wheel 24 is made to fit with the water-cooled wall pipe to ensure that the direction of movement does not deviate. At this time, the wall-climbing robot is in wheel drive mode. Then, the wheel dual output shaft motor 21 of the wheel drive system 2 is started to drive the wall-climbing robot to move.

[0036] After inspecting the first set of pipes, a change of lanes is required. After the wall-climbing robot comes to a stop, the electric cylinder 412 of the track control system is extended to switch the track drive system 3 from the raised state to the lowered state. Then, the electric cylinder 411 of the wheel control system is retracted to switch the wheel drive system 2 from the lowered state to the raised state. At this time, the wall-climbing robot is in track drive mode. By moving the two tracks 38 forward and rotating at a differential speed, the wall-climbing robot can be aligned with the water-cooled pipes. Then, the movement mode is switched again. First, the electric cylinder 411 of the wheel control system is extended to switch the wheel drive system 2 from the raised state to the lowered state. Then, the electric cylinder 412 of the track control system is retracted to switch the track drive system 3 from the lowered state to the raised state. At this time, the wall-climbing robot is in wheel drive mode. Repeating the above operation process can achieve cyclic inspection on the water-cooled wall surface.

[0037] like Figure 10 As shown, if the water-cooled wall surface consists of vertically placed water-cooled pipes arranged horizontally or horizontally placed water-cooled pipes arranged vertically, then the specific details are as follows: The movement process of the wall-climbing robot in the straight section is the same as above. When the wall-climbing robot moves along the water-cooled wall axis to the front of the bend, the movement mode is switched. After the wall-climbing robot stops, the electric cylinder 412 of the control track system extends, switching the original lifting state of the track drive system 3 to the lowering state. Then, the electric cylinder 411 of the control wheel system retracts, switching the original lowering state of the wheel drive system 2 to the lifting state. At this time, it is in track drive mode. The contour wheel 24 is aligned with the next stage of the water-cooled wall by the differential rotation of the two tracks 38. After alignment, the movement mode is switched by the movement switching system 4. First, the electric cylinder 411 of the control wheel system extends, switching the original lifting state of the wheel drive system 2 to the lowering state. Then, the electric cylinder 412 of the control track system retracts, switching the original lowering state of the track drive system 3 to the lifting state. At this time, it is in wheel drive mode, and it can work on the next corresponding stage of the water-cooled wall by using the contour wheel 24.

[0038] like Figure 11 As shown, if the water-cooled wall surface consists of vertically placed water-cooled pipes arranged horizontally with continuous bends, or horizontally placed water-cooled pipes arranged vertically with continuous bends, or alternating arrangements of two adjacent water-cooled pipes of different diameters, then specifically: In the case of continuous bending, after the wall-climbing robot in its stationary state is placed on the water-cooled wall surface for adsorption, the electric cylinder 411 of the control wheel system is extended, switching the original lowering state of the wheel drive system 2 to the lifting state. At this time, the wall-climbing robot is in tracked drive mode, and can use tracked drive mode for movement detection throughout the continuous bending situation.

[0039] If the water-cooled pipes are placed vertically, horizontally, or horizontally, or if they are vertically arranged but have different diameters or different spacings, they can be used directly if the contour wheel 24 can fit the water-cooled wall surface. Alternatively, the size of the contour wheel 24 can be changed to adapt to the complex water-cooled wall surface. The entire movement is carried out using the track drive mode.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A wall-climbing robot based on a water-cooled wall with axial and trans-tube motion, comprising a support frame, a wheel drive system, a track drive system, and a motion switching system, characterized in that: The wheel drive system is symmetrically arranged at the front and rear ends of the supporting frame. It includes a dual-output shaft motor for wheels, an outer frame, and a contoured wheel. The fixed end of the dual-output shaft motor for wheels is connected to the mounting end of the fourth profile in the outer frame through a motor mounting plate. The output end of the dual-output shaft motor for wheels is connected to the first end of the wheel axle through a coupling. The second end of the wheel axle is connected to the mounting end of the first profile in the outer frame through a wheel axle mounting plate. The track drive system is symmetrically arranged at the left and right ends of the supporting frame. It includes a dual output shaft motor for the track, a track connecting plate, a track baffle fixing plate, a main gear, a driven gear, and track baffles. The output end of the dual output shaft motor for the track is connected to the input end of the main gear. The main gear is connected to the driven gear through the track. The track baffles are located on both sides of the track. The fixing ends of two adjacent track baffles are connected through the track baffle fixing plate. The connecting end of the track baffle fixing plate is connected to the first mounting end of the track connecting plate. The motion switching system includes a wheel control system electric cylinder, a track control system electric cylinder, a guide rail connecting plate, a guide rail, a slider, and a slider connector. The fixed end of the wheel control system electric cylinder is connected to the first fixed end of the fourth sheet metal part in the frame. The output end of the wheel control system electric cylinder is connected to the first fixed end of the fourth profile in the outer frame. The fixed end of the track control system electric cylinder is connected to the first end of the guide rail connecting plate. The second end of the guide rail connecting plate is connected to the fixed end of the upper surface of the third sheet metal part in the frame. The output end of the track control system electric cylinder is connected to the second mounting end of the track connecting plate. The guide rail is connected to the fixed end of the upper surface of the fourth sheet metal part in the frame. The guide rail and the slider are slidably connected. The slider and the first end of the slider connector are connected. The second end of the slider connector is connected to the second fixed end of the fourth profile in the outer frame.

2. The wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 1, characterized in that: The supporting frame includes a frame, a wheel hub, a first permanent magnet, and a second permanent magnet. The frame is welded together from a first sheet metal part, a second sheet metal part, a third sheet metal part, and a fourth sheet metal part. The wheel hub includes a small wheel hub, a wheel hub frame, and a wheel hub axle. The small wheel hub is connected to the first mounting end of the wheel hub frame via the wheel hub axle. The second mounting end of the wheel hub frame is connected to the mounting end of the frame. The first permanent magnet is connected to the fixed end of the lower surface of the fourth sheet metal part, and the second permanent magnet is connected to the fixed end of the lower surface of the third sheet metal part.

3. The wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 2, characterized in that: The fourth sheet metal part is symmetrically distributed on both sides of the first sheet metal part, and the axis of the wheel hub located on the fourth sheet metal part is perpendicular to the axis of the wheel hub located on the third sheet metal part.

4. The wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 1, characterized in that: The track drive system is located inside the fourth sheet metal part of the chassis, symmetrically arranged on both sides of the third sheet metal part of the chassis. The wheel drive system is located outside the fourth sheet metal part of the chassis, symmetrically arranged on both sides of the fourth sheet metal part of the chassis.

5. The wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 1, characterized in that: In the wheel drive system, the outer frame is composed of a first profile, a second profile, a third profile, and a fourth profile, which are fixed by angle brackets. The contour wheel includes a wheel axle and a contour wheel block, and the contour wheel block is connected to the wheel axle.

6. The wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 1, characterized in that: In the track drive system, the fixed end of the main gear and the fixed end of the driven gear are connected to the first and second ends of the track baffle, respectively. The fixed end of the track dual output shaft motor is connected to the mounting end of the track baffle through the motor fixing component.

7. The wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 1, characterized in that: In the motion switching system, the electric cylinders of the wheel control system are symmetrically arranged along the length of the support frame, and the electric cylinders of the track control system are symmetrically arranged along the width of the support frame.

8. A method for controlling a wall-climbing robot with axial and trans-tube motion based on a water-cooled wall as described in any one of claims 1-7, characterized in that, The specific steps include: In the initial state, both the wheel drive system and the track drive system are in the lowered position, and are attracted to the water-cooled wall surface by the first and second permanent magnets located on the frame. The corresponding working mode is selected according to the water-cooled wall surface. If the water-cooled wall consists of vertically placed straight water-cooled pipes arranged horizontally or horizontally placed straight water-cooled pipes arranged vertically, the specific steps are as follows: The electric cylinder of the control track system retracts, and the track drive system switches from the lowered state to the raised state. At this time, the contour wheel in the wheel drive system matches the water-cooled wall pipes. The dual output shaft motor of the wheel drive system drives the contour wheel to detect the pipes in the water-cooled wall. After the first set of pipes is detected, the motion switching system switches the wheel drive mode to the track drive mode. The track drive system is used to move across the pipes along the water-cooled wall to change lanes. After changing lanes, the motion switching system switches the track drive mode back to the wheel drive mode. Then the wheel drive system is started to detect the pipes. The above process is repeated to achieve cyclic detection on the water-cooled wall. If the water-cooled wall surface consists of vertically placed water-cooled pipes arranged horizontally or horizontally placed water-cooled pipes arranged vertically, the specific steps are as follows: The electric cylinder of the control track system retracts, switching the track drive system from the lowered state to the raised state. At this time, the contour wheel in the wheel drive system aligns with the water-cooled wall pipes. The dual output shaft motor of the wheel drive system is started to drive the contour wheel to detect the straight pipes in the water-cooled wall surface. Before moving to the curved section, the motion switching system switches the wheel drive mode to the track drive mode. The differential rotation of the two tracks symmetrically arranged on the support frame in the track drive system is used to align the contour wheel in the wheel drive system with the pipe to be detected in the water-cooled wall surface. After alignment, the wheel drive system is started again to detect the pipe at the curved section. If the water-cooled wall surface consists of vertically placed water-cooled pipes arranged horizontally with continuous bends, or horizontally placed water-cooled pipes arranged vertically with continuous bends, or alternating arrangements of two adjacent water-cooled pipes of different diameters, then the specific procedure is as follows: the electric cylinder of the control wheel system extends, switching the wheel drive system from the lowered state to the raised state, and at this time, the track drive system is used for movement monitoring.

9. The control method for a wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 8, characterized in that: The lowered state involves the retraction of the electric cylinders of the control wheel system and the extension of the electric cylinders of the control track system; the raised state involves the extension of the electric cylinders of the control wheel system and the retraction of the electric cylinders of the control track system. The operating modes include wheel drive mode and track drive mode.

10. The control method for a wall-climbing robot with axial and trans-tube motion based on a water-cooled wall according to claim 8, characterized in that: The specific process of changing lanes is as follows: the electric cylinder of the track control system extends to switch the track drive system from the raised state to the lowered state, and the electric cylinder of the wheel control system extends to switch the wheel drive system from the lowered state to the raised state.

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