Dropping device

Abstract

The utility model relates to a throwing device which comprises a lifting mechanism, a first adjusting mechanism and a second adjusting mechanism, the first adjusting mechanism comprises a mounting frame and a bearing frame slidably connected with the mounting frame, the sliding direction is the first direction, the mounting frame is connected with the lifting mechanism, and a detection robot is arranged on the bearing frame. The second adjusting mechanism is used for adjusting the position of the lifting mechanism in the second direction. According to the device, the height of the detection robot can be increased through the lifting mechanism, so that the detection robot is aligned with the height of the throwing channel to avoid collision between the detection robot and the top wall or the bottom wall of the throwing channel, and the horizontal position of the detection robot can be adjusted through the second adjusting mechanism at the bottom of the lifting mechanism; the detection robot is prevented from colliding with the side wall of the throwing channel, the adjustable directions are multiple when the detection robot is thrown, and the detection robot is prevented from colliding with the throwing channel.

Description

Technical Field

[0001] The present disclosure relates to the technical field of boiler detection, and in particular to a delivery device. Background Art

[0002] The water-cooled wall is the main heat-receiving part of the boiler, which has the important function of absorbing the heat energy generated by the combustion in the furnace and converting water into steam. Therefore, as a key component to ensure the safe operation of the boiler, the water-cooled wall needs to be inspected and maintained at all times.

[0003] In the related art, when a robot is used to enter a boiler for maintenance, it is usually necessary to manually carry the robot into the boiler, and the robot is easily adsorbed to the manhole door of the boiler, causing inconvenience in transportation and increasing the difficulty of subsequent water-cooled wall maintenance. Utility Model Content

[0004] In order to solve the problems existing in the related art, the present disclosure provides a delivery device for delivering a detection robot, the delivery device comprising:

[0005] Lifting mechanism;

[0006] A first adjustment mechanism is arranged on the top of the lifting mechanism, the first adjustment mechanism comprises a mounting frame and a bearing frame slidably connected to the mounting frame, the sliding direction is a first direction, the mounting frame is connected to the lifting mechanism, and the detection robot is arranged on the bearing frame;

[0007] The second adjusting mechanism is arranged at the bottom of the lifting mechanism, and is used to adjust the position of the lifting mechanism along a second direction, and the first direction, the second direction and the lifting direction of the lifting mechanism are perpendicular to each other.

[0008] In some embodiments, the lifting mechanism includes a bottom bracket and a top bracket, and a first connecting arm and a second connecting arm that are hingedly connected;

[0009] The first end of the first connecting arm is rotatably connected to the bottom bracket, and the second end of the first connecting arm is slidably connected to the top bracket, and the sliding direction is parallel to the first direction;

[0010] The first end of the second connecting arm is rotatably connected to the top bracket, and the second end of the second connecting arm is slidably connected to the bottom bracket, and the sliding direction is parallel to the first direction;

[0011] The lifting mechanism also includes an auxiliary bracket and a first screw rod, the auxiliary bracket is connected to the bottom bracket, the first screw rod is rotatably connected to the auxiliary bracket and the bottom bracket, the first screw rod extends along the first direction, and the first screw rod is threadedly matched with the second end of the second connecting arm.

[0012] In some embodiments, the second adjustment mechanism includes a support frame, and a first guide rail and a first slider disposed on the support frame, the support frame is located below the bottom bracket, the first slider is located on the first guide rail, and the first slider is connected to the bottom bracket;

[0013] The second adjustment mechanism also includes a support seat and a second screw rod, the support seat is connected to the support frame, the second screw rod is rotatably connected to the support seat and the first slider, the second screw rod extends along the second direction, and the second screw rod is threadedly matched with the support seat.

[0014] In some embodiments, the extension directions of the first screw rod and the second screw rod are perpendicular to each other, and the gripping ends of the first screw rod and the second screw rod are disposed at the same corner of the bottom bracket.

[0015] In some embodiments, in the first direction, the length of the support frame is greater than the length of the lifting mechanism.

[0016] In some embodiments, a carrying plate is disposed on the carrying frame, and one side of the carrying plate has a rough surface.

[0017] In some embodiments, a flipping mechanism is provided on the support frame, and the flipping mechanism is connected to the support frame. A second guide rail is provided between the flipping mechanism and the support frame, one side of the second guide rail is fixedly connected to the support frame, and the other side of the second guide rail is slidably connected to the flipping mechanism.

[0018] In some embodiments, a second slider is disposed on the second guide rail, and a locking member is installed on the second slider. The locking member is located on one side of the second slider, and the locking member is used to fix the flipping mechanism;

[0019] Wherein, the second guide rail is a linear guide rail, and the flipping mechanism can slide along the first direction through the second sliding block.

[0020] In some embodiments, a flip plate is provided on the flip mechanism, the flip plate is connected to the second guide rail, and the detection robot is located on the flip plate.

[0021] In some embodiments, a transmission assembly is disposed on one side of the flip plate, and the transmission assembly is used to adjust the angle of the flip plate.

[0022] The beneficial effects of the present disclosure are: the height of the detection robot can be raised by the lifting mechanism, so that the height of the detection robot is aligned with that of the delivery channel to avoid the detection robot colliding with the top wall or bottom wall of the delivery channel; the horizontal position of the detection robot can be adjusted by the second adjustment mechanism at the bottom of the lifting mechanism to avoid the detection robot colliding with the side wall of the delivery channel; there are many adjustable directions when delivering the detection robot to avoid the detection robot colliding with the delivery channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0024] Figure 1 is a schematic diagram of a delivery device provided by an embodiment of the present disclosure;

[0025] Figure 2 is a structural diagram of a delivery device provided by an embodiment of the present disclosure;

[0026] Figure 3 is a schematic diagram of a lifting mechanism and a second adjustment mechanism provided in an embodiment of the present disclosure;

[0027] Figure 4 yes Figure 3 A magnified structural diagram of the middle A area;

[0028] Figure 5 is a structural diagram of a lifting mechanism and a second adjustment mechanism provided in an embodiment of the present disclosure;

[0029] Figure 6 is a partial structural diagram of a delivery device provided by an embodiment of the present disclosure;

[0030] Figure 7 yes Figure 6 The enlarged structure of the middle I region;

[0031] Figure 8 It is a partial schematic diagram of a delivery device provided in an embodiment of the present disclosure.

[0032] Description of the drawings: 1. Lifting mechanism; 11. Bottom bracket; 12. Top bracket; 13. First connecting arm; 14. Second connecting arm; 15. Auxiliary bracket; 16. First screw; 17. Pulley; 18. Slide rail; 2. First adjusting mechanism; 21. Mounting frame; 22. Carrying frame; 23. Second guide rail; 24. Second slider; 3. Second adjusting mechanism; 31. Support frame; 32. First guide rail; 33. First slider; 34. Support seat; 35. Second screw; 4. Flipping mechanism; 41. Locking piece; 42. Flipping plate; 5. Transmission assembly; 6. Detection robot; 7. Delivery channel; 8. First handle; 9. Second handle; 10. Third handle; 110. Auxiliary delivery device; 1101. Auxiliary plate. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. It should be noted that, in the absence of conflict, the embodiments in this disclosure and the feature vectors in the embodiments can be arbitrarily combined with each other.

[0034] In the related art, when a robot is used to enter a boiler for maintenance, it is usually necessary to manually carry the robot into the boiler, and the robot is easily adsorbed to the manhole door of the boiler, causing inconvenience in transportation and making subsequent water-cooled wall maintenance difficult.

[0035] In order to solve the problems existing in the related art, the embodiment of the present disclosure provides a delivery device for delivering a detection robot, the delivery device includes a lifting mechanism, a first adjustment mechanism and a second adjustment mechanism, wherein the first adjustment mechanism is arranged at the top of the lifting mechanism, the first adjustment mechanism includes a mounting frame and a bearing frame slidably connected to the mounting frame, the sliding direction is a first direction, the mounting frame is connected to the lifting mechanism, the detection robot is arranged on the bearing frame, the second adjustment mechanism is arranged at the bottom of the lifting mechanism, the second adjustment mechanism is used to adjust the position of the lifting mechanism along the second direction, and the first direction, the second direction and the lifting direction of the lifting mechanism are perpendicular to each other. In the present disclosure, the height of the detection robot can be raised by the lifting mechanism, so that the height of the detection robot is aligned with the delivery channel to avoid the detection robot from colliding with the top wall or bottom wall of the delivery channel, the horizontal position of the detection robot can be adjusted by the second adjustment mechanism at the bottom of the lifting mechanism to avoid the detection robot from colliding with the side wall of the delivery channel, and there are many adjustable directions when delivering the detection robot to avoid the detection robot from colliding with the delivery channel.

[0036] In order to make the purpose, technical solution and beneficial effects of the embodiments of the present disclosure more clear, a delivery device provided by the embodiments of the present disclosure is described in detail below with reference to the accompanying drawings.

[0037] According to the disclosed exemplary embodiments, Figures 1 to 8 As shown, a delivery device is provided for delivering a detection robot 6. The delivery device includes a lifting mechanism 1, a first adjustment mechanism 2 and a second adjustment mechanism 3. The lifting mechanism 1 can be moved along the Figure 1 The first adjusting mechanism 2 is arranged on the top of the lifting mechanism 1, and the first adjusting mechanism 2 includes a mounting frame 21 and a bearing frame 22. The bearing frame 22 is located above the mounting frame 21, and the bearing frame 22 is slidably connected to the mounting frame 21. The sliding connection can be slidably connected by a pin shaft or a slider, and can be adaptively set according to needs, wherein the sliding direction is the first direction (such as Figure 1 In the x direction shown in FIG. 1 , the detection robot 6 is arranged on the carrier 22, the mounting frame 21 is located between the carrier 22 and the lifting mechanism 1, and the mounting frame 21 is connected to the lifting mechanism 1, and the connection mode can be fixed connection or detachable connection. In an example, as Figure 6 As shown, the mounting frame 21 is located above the lifting mechanism 1, and the mounting frame 21 is fixedly connected to the lifting mechanism 1 through a threaded connector (such as a bolt), so that during the operation of the delivery device, the lifting mechanism 1 can be moved in the height direction (such as Figure 6 The detection robot 6 on the first adjustment mechanism 2 moves upward and downward (in the z direction as shown in FIG. 2 ).

[0038] Continue to refer Figure 1 and Figure 2 The second adjusting mechanism 3 is arranged at the bottom of the lifting mechanism 1, and the second adjusting mechanism 3 is used to adjust the lifting mechanism 1 along the second direction (such as Figure 1 In one example, as shown in the y direction, the position of the lifting mechanism 1 is adjusted. Figure 1 and Figure 4 As shown, the lifting mechanism 1 is located between the first adjusting mechanism 2 and the second adjusting mechanism 3, and the second adjusting mechanism 3 is connected to the lifting mechanism 1. The connection method can be connected by a pin shaft, a fixed connection by a fixed block, or a sliding connection by a slider, etc. The second adjusting mechanism 3 is adjusted to drive the lifting mechanism 1 to move along the second direction (such as Figure 4 It should be noted that the first direction (as shown in the y direction) moves the position. Figure 1 x direction as shown), the second direction (as shown Figure 1 y direction as shown) and the lifting direction of the lifting mechanism 1 (as shown Figure 1 The z directions shown are perpendicular to each other.

[0039] like Figures 1 to 8As shown, the delivery device is also provided with an auxiliary delivery device 110, and the delivery device cooperates with the auxiliary delivery device 110. For example, when the delivery device is working, the detection robot 6 can be placed on the auxiliary delivery device 110 first, and the auxiliary delivery device 110 can place the detection robot 6 on the carrier 22 of the delivery device again, and then the detection robot 6 is placed inside the boiler through the delivery channel 7 for maintenance. For another example, when the delivery device completes the work, the detection robot 6 can be placed on the carrier 22 of the delivery device first, and the delivery device can place the detection robot 6 on the auxiliary delivery device 110 again, and then the detection robot 6 is moved to the ground through the auxiliary delivery device 110, thereby completing the delivery work. It should be noted that the delivery channel 7 is a channel of an open structure for operators to enter and exit the equipment for installation or maintenance and inspection. In the present disclosure, the delivery channel 7 can be a manhole door, which is arranged on one side of the boiler. The boiler manhole door is a hole for entering the boiler for boiler maintenance or cleaning.

[0040] In the present disclosure, the height of the detection robot can be raised by a lifting mechanism so that the height of the detection robot is aligned with that of the delivery channel to avoid the detection robot colliding with the top wall or bottom wall of the delivery channel. The horizontal position of the detection robot can be adjusted by a second adjustment mechanism at the bottom of the lifting mechanism to avoid the detection robot colliding with the side wall of the delivery channel. There are many adjustable directions when delivering the detection robot to avoid the detection robot colliding with the delivery channel.

[0041] In some embodiments, Figures 3 to 5 As shown, the lifting mechanism 1 includes a bottom bracket 11 and a top bracket 12, the bottom bracket 11 and the top bracket 12 are arranged opposite to each other, and the shapes of the bottom bracket 11 and the top bracket 12 can be square, round, etc., and can be adaptively set as needed. In one example, as Figure 3 As shown, the bottom bracket 11 is square in shape, and the bottom bracket 11 is a square frame formed by welding a plurality of cubes. The top bracket 12 is arranged opposite to the bottom bracket 11, and the shape of the top bracket 12 is consistent with the shape of the bottom bracket 11. In this regard, no further elaboration is made in the present disclosure. The bottom bracket 11 and the top bracket 12 are both below and above the lifting mechanism 1.

[0042] Continue to refer Figure 3 The lifting mechanism 1 further includes a first connecting arm 13 and a second connecting arm 14 which are hingedly connected. The first connecting arm 13 and the second connecting arm 14 are hingedly connected by a connecting member (such as a bolt). The first end of the first connecting arm 13 is rotatably connected to the bottom bracket 11, the second end of the first connecting arm 13 is slidably connected to the top bracket 12, the first end of the second connecting arm 14 is rotatably connected to the top bracket 12, and the second end of the second connecting arm 14 is slidably connected to the bottom bracket 11. In one example, Figures 3 to 5As shown, the first connecting arm 13 and the second connecting arm 14 are arranged along the second direction (eg Figure 3 The first connecting arm 13 and the second connecting arm 14 on each side are arranged to rotate crosswise, that is, the first connecting arm 13 and the second connecting arm 14 are X-shaped, and the first end of the first connecting arm 13 is rotatably connected to the bottom bracket 11 through a connecting member (such as a bearing), and the second end of the first connecting arm 13 is slidably connected to the top bracket 12, and the sliding direction (such as Figure 3 x direction) and the first direction (as shown Figure 3 The first end of the second connecting arm 14 is rotatably connected to the top bracket 12 through a connecting member (such as a bearing), and the second end of the second connecting arm 14 is slidably connected to the bottom bracket 11. The sliding direction (such as Figure 3 x direction) and the first direction (as shown Figure 3 The x-direction is shown).

[0043] like Figure 4 As shown, a pulley 17 is disposed at the second end of the second connecting arm 14, and a slide rail 18 cooperating with the pulley 17 is disposed on the bottom bracket 11. The slide rail 18 moves along a first direction (such as Figure 4 The second connecting arm 14 cooperates with the bottom bracket 11 and is slidably connected through the pulley 17 and the slide rail 18, wherein the sliding manner of the second end of the first connecting arm 13 and the top bracket 12 is consistent with the sliding setting manner of the second connecting arm 14. In this regard, no further details are given in the present disclosure. When the lifting mechanism 1 is driven by an external force, the first connecting arm 13 and the second connecting arm 14 can be driven to move along the first direction (as shown in the x direction). Figure 4 The lifting mechanism 1 slides in the x direction (as shown), thereby driving the lifting mechanism 1 to rise and fall.

[0044] Continue to refer Figures 3 to 5 The lifting mechanism 1 further includes an auxiliary bracket 15 and a first screw 16. The auxiliary bracket 15 is connected to the bottom bracket 11 through a connecting member (such as a bearing). The first screw 16 is rotatably connected to the auxiliary bracket 15 and the bottom bracket 11. The first screw 16 is rotated along a first direction (such as Figure 3 The first screw rod 16 is threadedly engaged with the second end of the second connecting arm 14. Figure 3 As shown, the auxiliary bracket 15 is arranged along the second direction (such as Figure 3 The auxiliary bracket 15 extends in the y direction as shown in the figure, so that both ends of the auxiliary bracket 15 are connected to the bottom bracket 11 through connecting members (such as bearings), and the first screw 16 is connected to the auxiliary bracket 15 and the bottom bracket 11. The first screw 16 extends in the first direction (such as the y direction as shown in the figure). Figure 3The first screw 16 is rotatably connected to the bottom bracket 11 and the auxiliary bracket 15 through a bearing. A gripping end, such as a first handle 8, is installed at one end of the first screw 16. The auxiliary bracket 15 drives the second connecting arm 14 to approach or move away from the first handle 8 by rotating the first handle 8, so that the lifting mechanism 1 moves along the direction shown in FIG. Figure 3 The z direction shown in FIG.

[0045] In some embodiments, Figure 3 and Figure 4 As shown, the second adjustment mechanism 3 includes a support frame 31 and a first guide rail 32 and a first slider 33 arranged on the support frame 31. The support frame 31 is located below the bottom bracket 11. The support frame 31 can be formed by splicing a plurality of cubes or connecting a plurality of round bodies. The first guide rail 32 is arranged on the top of the support frame 31 and is located on both sides of the support frame 31. The first slider 33 is located on the first guide rail 32, and the first slider 33 is connected to the bottom bracket 11. In one example, continue to refer to Figures 3 to 5 The support frame 31 can be a frame formed by welding a plurality of cubes along Figure 3 The frames are stacked in the z direction as shown in FIG. 1 , and adjacent frames can be connected by plugging. The two first guide rails 32 are arranged along the first direction (such as Figure 4 The two first guide rails 32 are arranged on the support frame 31 at intervals, and the two first guide rails 32 are arranged along the second direction (as shown in the x direction) Figure 4 y direction) and in the second direction (as shown in Figure 4 In the y direction shown in FIG, the first slider 33 is disposed on the first guide rail 32 and is slidably connected to the first guide rail 32.

[0046] Continue to refer Figures 3 to 5 The second adjustment mechanism 3 also includes a support seat 34 and a second screw 35. The support seat 34 is connected to the support frame 31. The connection method can be fixed connection, sliding connection and detachable connection, etc. The second screw 35 is rotatably connected to the support seat 34 and the first slider 33. The second screw 35 moves along the second direction (such as Figure 4 The second screw rod 35 is threadedly engaged with the support seat 34. In one example, Figure 4 As shown, the support base 34 is fixedly connected to the support frame 31, and the support base 34 is arranged along the second direction (such as Figure 4 The second screw 35 passes through the support seat 34 and is rotatably connected to the first slider 33, and the second screw 35 is threadedly matched with the support seat 34 and the first slider 33. One end of the second screw 35 is provided with a gripping end, such as a second handle 9. The second handle 9 is rotated so that the first slider 33 drives the lifting mechanism 1 to move closer to or away from the support seat 34, so that the lifting mechanism 1 moves along the direction shown in FIG. Figure 4As shown in the figure, the detection robot 6 moves horizontally in the y direction. During the operation of the delivery device, the second adjustment mechanism 3 is adjusted so that the detection robot 6 can be located at the center of the delivery channel 7, thereby preventing the detection robot 6 from being adsorbed by the delivery channel 7 and being unable to move.

[0047] In some embodiments, Figure 4 As shown, the extension direction of the first screw 16 (as shown in Figure 4 The x direction shown in FIG. 1 ) and the extension direction of the second screw 35 (as shown in FIG. Figure 4 The first screw rod 16 and the second screw rod 35 are perpendicular to each other in the y direction as shown in FIG. 1 , and the gripping ends of the first screw rod 16 and the second screw rod 35 are arranged at the same corner of the bottom bracket 11, that is, the first handle 8 on the first screw rod 16 is located at the corner of the bottom bracket 11 close to the second handle 9 of the second screw rod 35. The first handle 8 and the second handle 9 are arranged to facilitate manual adjustment by the operator, and the delivery device can be adjusted along the lifting direction (such as Figure 4 ) and a second direction (as shown in the z direction in Figure 4 y direction as shown in FIG. 8 ) to an appropriate position.

[0048] In some embodiments, Figure 1 and Figure 6 As shown, in the first direction (such as Figure 6 In the first direction (as shown in the x direction), the length of the carrier 22 is greater than or equal to the length of the lifting mechanism 1. Figure 6 In the x direction shown in ), the length of the carrier 22 is greater than the length of the lifting mechanism 1, so that there is enough space to place the detection robot 6 on the carrier 22 later, and the lifting mechanism 1 can be stably supported on the carrier 22.

[0049] In some embodiments, Figures 6 to 8 As shown, an auxiliary plate 1101 is provided on the top of the auxiliary delivery device 110. The material of the auxiliary plate 1101 can be plastic material, wooden material, etc., wherein one side of the auxiliary plate 1101 has a rough surface. Figure 8 As shown, the auxiliary plate 1101 can be a wooden board, which is durable and has no magnetic attraction and is not easily adsorbed by magnets. The wooden board is fixedly connected to the carrier frame 22. The side of the wooden board away from the auxiliary delivery device 110, that is, the side of the wooden board in contact with the detection robot 6, is provided with a raised pattern. When the detection robot 6 is placed on the wooden board of the auxiliary delivery device 110, the wooden board with the raised pattern can increase the friction between the wheels of the detection robot 6 and the wooden board, thereby preventing the detection robot 6 from slipping during the process of being placed on the delivery device.

[0050] In some embodiments, Figure 6As shown, a flip mechanism 4 is disposed on the carrier 22, and the flip mechanism 4 is connected to the carrier 22. A second guide rail 23 is disposed between the flip mechanism 4 and the carrier 22. One side of the second guide rail 23 is fixedly connected to the carrier 22, and the other side of the second guide rail 23 is slidably connected to the flip mechanism 4. In one example, the second guide rail 23 is arranged along the second direction (such as Figure 6 The second guide rail 23 is fixedly mounted on both sides of the support frame 22 by fasteners (such as screws or fixing blocks), and the second guide rail 23 is fixedly mounted on both sides of the support frame 22 along the first direction (such as Figure 6 The flip mechanism 4 extends in the x direction as shown in the figure, and is slidably connected to the second guide rail 23. The sliding connection can be a pin connection sliding, a slider connection sliding, etc., which can be adaptively set according to needs.

[0051] In some embodiments, Figure 6 and Figure 7 As shown, the second guide rail 23 is provided with a second slider 24. The shape of the second slider 24 can be a cube, a special shape, etc., as long as it can be adapted to the second guide rail 23 and can slide. In this regard, the present disclosure does not make too many restrictions. The second slider 24 is installed with a locking member 41. The locking member 41 is located on one side of the second slider 24. The locking member 41 is used to fix the flip mechanism 4. In one example, continue to refer to Figure 6 and Figure 7 The second guide rail 23 is a linear guide rail, and the flip mechanism 4 is slidably connected to the second guide rail 23 through the second slider 24. The flip mechanism 4 can move along the first direction (such as Figure 6 The locking member 41 can be a locking screw, which is located in the middle of the side of the second slide block 24. The locking screw is used to lock and fix the flip mechanism 4 when it is moved to a desired position, so as to prevent the flip mechanism 4 from sliding randomly during operation on the second guide rail 23, thereby affecting the work efficiency. The flip mechanism 4 is also provided with a third handle 10, which is provided on the side of the flip mechanism 4, so that the operator can hold the third handle 10 to move the flip mechanism 4.

[0052] In some embodiments, Figure 6 As shown, a flip plate 42 is provided on the flip mechanism 4, and one side of the flip plate 42 is rotatably connected to the second guide rail 23. For example, the flip plate 42 is connected to the second guide rail 23 by a pin shaft, so that the flip plate 42 can rotate relative to the second guide rail 23, wherein the flip plate 42 is an iron plate, and the wheels of the detection robot 6 have adsorption force and can be stably adsorbed on the flip plate 42, and the flip plate 42 has an inclined surface. When the delivery device is working, it is convenient for the detection robot 6 to drive onto the flip plate 42 and fix the detection robot 6 by the adsorption force, so that the detection robot 6 can enter the boiler to inspect the water-cooled wall tubes at a later time.

[0053] In some embodiments, continue to refer to Figure 6A transmission assembly 5 is provided on one side of the flip plate 42 , and the transmission assembly is connected to the flip plate 42 . The transmission assembly 5 can be a motor, and the motor is connected to the flip plate 42 through a coupling. The motor is used to adjust the angle of the flip plate 42 .

[0054] The working principle of a delivery device disclosed in the present invention is as follows:

[0055] like Figures 1 to 8 As shown, first, the detection robot 6 is placed on the auxiliary plate 1101 of the auxiliary delivery device 110, so that the raised pattern on the auxiliary plate 1101 of the auxiliary delivery device 110 can increase the friction with the detection robot 6, so that the detection robot 6 can be stably placed on the auxiliary plate 1101, and the height of the auxiliary delivery device 110 is adjusted, and the height of the flip plate 42 of the delivery device and the auxiliary plate 1101 of the auxiliary delivery device 110 are adjusted to the same horizontal position.

[0056] Next, the detection robot 6 is driven onto the flip plate 42 of the delivery device, and the position is adjusted by the first screw 16 and the second screw 35 of the second adjustment mechanism 3, and the lifting mechanism 1 of the delivery device is moved along the direction as shown in FIG. Figure 1 The z direction and the second direction (as shown in Figure 1 The detection robot 6 is adjusted to a height and position that matches the delivery channel 7, so that the detection robot 6 is located at the center of the delivery channel 7 and is not magnetically attracted by the inner wall of the delivery channel 7. Then, the detection robot 6 is moved along the first direction (as shown in the y direction) by the second guide rail 23 of the first adjustment mechanism 2. Figure 1 The detection robot 6 is pushed to a suitable position (in the x direction shown in FIG).

[0057] Then, the detection robot 6 is flipped by controlling the flip plate 42 through the motor in the transmission assembly 5, and the detection robot 6 and the flip plate 42 are attached to the surface of the water-cooled wall in the boiler. After that, the detection robot 6 is driven from the flip plate 42 to the water-cooled wall for maintenance work.

[0058] Finally, after the inspection robot 6 is inspected and repaired, it is driven onto the flip plate 42, and the motor in the transmission assembly 5 is used to flip the inspection robot 6 and the flip plate 42 again, so that the angle between the flip plate 42 and the second guide rail 23 becomes smaller, and the delivery device is pushed out of the delivery channel 7, thereby completing the delivery work.

[0059] In the description of the present disclosure, it is necessary to understand that the orientations or positional relationships indicated by terms such as "top", "bottom", "up", "down", "vertical", and "horizontal" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0060] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", and "third" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0061] In the present disclosure, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like 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, a direct connection, or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0062] Descriptions with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" etc. mean that specific features, structures, steps or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, steps or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A delivery device, characterized in that: Used for placing the detection robot, the placing device comprises: Lifting mechanism; A first adjustment mechanism is arranged on the top of the lifting mechanism, the first adjustment mechanism comprises a mounting frame and a bearing frame slidably connected to the mounting frame, the sliding direction is a first direction, the mounting frame is connected to the lifting mechanism, and the detection robot is arranged on the bearing frame; The second adjusting mechanism is arranged at the bottom of the lifting mechanism, and is used to adjust the position of the lifting mechanism along a second direction, and the first direction, the second direction and the lifting direction of the lifting mechanism are perpendicular to each other.

2. The delivery device according to claim 1, characterized in that: The lifting mechanism comprises a bottom bracket and a top bracket, and a first connecting arm and a second connecting arm which are hingedly connected; The first end of the first connecting arm is rotatably connected to the bottom bracket, and the second end of the first connecting arm is slidably connected to the top bracket, and the sliding direction is parallel to the first direction; The first end of the second connecting arm is rotatably connected to the top bracket, and the second end of the second connecting arm is slidably connected to the bottom bracket, and the sliding direction is parallel to the first direction; The lifting mechanism also includes an auxiliary bracket and a first screw rod, the auxiliary bracket is connected to the bottom bracket, the first screw rod is rotatably connected to the auxiliary bracket and the bottom bracket, the first screw rod extends along the first direction, and the first screw rod is threadedly matched with the second end of the second connecting arm.

3. The delivery device according to claim 2, characterized in that: The second adjustment mechanism includes a support frame, and a first guide rail and a first slider disposed on the support frame, wherein the support frame is located below the bottom bracket, the first slider is located on the first guide rail, and the first slider is connected to the bottom bracket; The second adjustment mechanism also includes a support seat and a second screw rod, the support seat is connected to the support frame, the second screw rod is rotatably connected to the support seat and the first slider, the second screw rod extends along the second direction, and the second screw rod is threadedly matched with the support seat.

4. The delivery device according to claim 3, characterized in that: The extending directions of the first screw rod and the second screw rod are perpendicular to each other, and the gripping ends of the first screw rod and the second screw rod are arranged at the same corner of the bottom bracket.

5. The delivery device according to claim 1, characterized in that: In the first direction, the length of the supporting frame is greater than the length of the lifting mechanism.

6. The delivery device according to claim 5, characterized in that: The carrier frame is provided with a carrier plate, and one side of the carrier plate has a rough surface.

7. The delivery device according to claim 1, characterized in that: The support frame is provided with a flipping mechanism, the flipping mechanism is connected to the support frame, a second guide rail is provided between the flipping mechanism and the support frame, one side of the second guide rail is fixedly connected to the support frame, and the other side of the second guide rail is slidably connected to the flipping mechanism.

8. The delivery device according to claim 7, characterized in that: A second slider is disposed on the second guide rail, and a locking piece is installed on the second slider. The locking piece is located on one side of the second slider, and the locking piece is used to fix the flipping mechanism; Wherein, the second guide rail is a linear guide rail, and the flipping mechanism can slide along the first direction through the second sliding block.

9. The delivery device according to claim 7, characterized in that: The flip mechanism is provided with a flip plate, the flip plate is connected to the second guide rail, and the detection robot is located on the flip plate.

10. The delivery device according to claim 9, characterized in that: A transmission assembly is disposed on one side of the flip plate, and the transmission assembly is used to adjust the angle of the flip plate.

Images