Self-adaptive pipeline walking mechanism
By designing an adaptive pipeline walking mechanism, using internal curved wheels and independent rotating middleware, the problem of wall-climbing robots in the prior art cannot effectively fit the deformed and bent pipes, and higher adsorption is achieved force and lower drop risk.
Patent Information
- Application Number
- CN202421074832.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-17
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-05-17
AI Technical Summary
The magnetic walking mechanism of existing wall climbing robots cannot effectively fit the pipe when the water-cooled wall pipe is deformed and bent, resulting in a decrease in adsorption force and an increase in the risk of falling.
An adaptive pipeline walking mechanism is designed, including an inner arc-shaped wheel body, an independently rotatable middleware, a shaft, a frame member and a fixture, which can be rotated independently in four directions to adapt to the deformation and bending of the pipeline.
The mechanism can better fit deformed and bent pipes, improve adsorption, reduce fall risks, and enhance the stability and safety of the wall-climbing robot.
Smart Images
Figure CN222452388U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to an adaptive pipeline walking mechanism. Background Art
[0002] The water-cooled wall is the main heat-receiving part of the boiler. It is composed of several rows of steel pipes distributed around the boiler furnace. The long-term operation of the water-cooled wall tubes of the boiler in coal-fired power plants will cause wear and high-temperature corrosion. Some accidents are caused by the bursting of the "four tubes" of the boiler. The water-cooled wall tube burst accident will disrupt the normal power generation order and reduce the power generation output value. At present, the inspection of water-cooled walls in China is mainly carried out manually. The traditional manual inspection has a large workload and a long inspection time. In addition, the data obtained is a random inspection, and the data is not very complete. Therefore, it has become a development trend for wall-climbing robots to replace manual labor.
[0003] The water-cooled wall tubes will deform and bend when exposed to high temperature for a long time. During the actual walking process, the magnetic walking mechanism of the existing wall-climbing robot will not fit the pipes due to the deformation and bending of the water-cooled wall tubes, resulting in a significant decrease in the adsorption force and even falling. Utility Model Content
[0004] The purpose of the utility model is to provide an adaptive pipeline running mechanism to solve the problems raised in the above background technology.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an adaptive pipeline walking mechanism, used on a water-cooled wall tube climbing robot, including a wheel body, an intermediate piece, an axis, a frame piece, and a fixing piece; the wheel body and the intermediate piece are connected at both ends in the vertical direction through the axis, the axis is fixed to the wheel body by screws, and the axis and the intermediate piece are loosely matched; the intermediate piece has two protruding cylindrical structures at both ends in the horizontal direction, and the intermediate piece is loosely matched with the frame piece and the fixing piece through the protruding cylindrical structures; the fixing piece is fixed to the frame piece by screws.
[0006] Preferably, the surface of the wheel body in contact with the pipe is in an inner arc shape, which fits the size of the pipe.
[0007] Preferably, the frame member is fixed to the robot body.
[0008] Compared with the prior art, the utility model provides an adaptive pipeline traveling mechanism, which has the following beneficial effects.
[0009] 1. A single wheel can rotate independently in four directions, which can better fit deformed and curved pipes. BRIEF DESCRIPTION OF THE DRAWINGS
[0010] Figure 1 It is an exploded view of the utility model.
[0011] Figure 2 It is a structural schematic diagram of the utility model.
[0012] Figure 3 It is a structural schematic diagram of the utility model with a robot main body.
[0013] In the figure: 1. Pipe; 2. Wheel body; 3. Shaft; 4. Middle piece; 5. Frame piece; 6. Fixing piece; 7. Robot body. DETAILED DESCRIPTION
[0014] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0015] The utility model provides an adaptive pipeline walking mechanism embodiment: an adaptive pipeline walking mechanism, used in a water-cooled wall tube climbing robot, including a wheel body 2, a middle piece 4, an axis 3, a frame piece 5, and a fixing piece 6; the wheel body 2 and the middle piece 4 are connected at both ends in the vertical direction through the axis 3, the axis 3 is fixed to the wheel body 2 by screws, and the axis 3 and the middle piece 4 are clearance-matched; the middle piece 4 has two protruding cylindrical structures at both ends in the horizontal direction, and the middle piece 4 is clearance-matched with the frame piece 5 and the fixing piece 6 through the protruding cylindrical structures; the fixing piece 6 is fixed to the frame piece by screws. During the driving process of the wall-climbing robot, a single wheel can rotate independently in four directions, which can better fit the deformed and curved pipelines.
[0016] In this embodiment, the surface of the wheel body 2 that contacts the pipe 1 is in an inner arc shape, which fits the size of the pipe 1.
[0017] In this embodiment, the frame member 5 is fixed to the robot body 7 .
[0018] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.
[0019] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two, and the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third" and the like are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
Claims
1. An adaptive pipeline walking mechanism, used in a water-cooled wall tube climbing robot, characterized in that: It includes a wheel body, a middle piece, a shaft, a frame piece, and a fixing piece; the wheel body and the middle piece are connected at both ends in the vertical direction through the shaft, the shaft is fixed to the wheel body by screws, and the shaft and the middle piece are loosely matched; the middle piece has two protruding cylindrical structures at both ends in the horizontal direction, and the middle piece is loosely matched with the frame piece and the fixing piece through the protruding cylindrical structures; the fixing piece is fixed to the frame piece by screws.
2. The adaptive pipeline running mechanism according to claim 1, characterized in that: The surface of the wheel body in contact with the pipeline is in an inner arc shape and fits the size of the pipeline.
3. The adaptive pipeline running mechanism according to claim 1, characterized in that: The frame member is fixed to the robot body.