Fast-assembly type mechanical arm assembly and boiler water-cooled wall maintenance robot

Abstract

The utility model relates to a quick-mounting type mechanical arm assembly and a boiler water wall maintenance robot, the quick-mounting type mechanical arm assembly comprises a mechanical arm, a first mounting part and a second mounting part, the first mounting part is used for mounting the mechanical arm, and in the first direction, part of the side wall face of the first side of the first mounting part extends outwards to form a first protruding structure; the second installation part is connected with a robot body of the boiler water wall maintenance robot, and in the first direction, a limiting space is defined by the first side of the second installation part. According to the mechanical arm, the mechanical arm is detachably connected with the second mounting part through the first mounting part, in the assembly state, one side of the first mounting part and one side of the second mounting part are in clamping connection, the other side of the first mounting part and the other side of the second mounting part are in fastener connection, only the fastener on one side needs to be operated in the disassembly and assembly process, and the disassembly and assembly efficiency is high.

Description

Technical Field

[0001] The present application relates to the technical field of boiler water-cooled wall maintenance, and in particular to a quick-installation robotic arm assembly and a boiler water-cooled wall maintenance robot. Background Art

[0002] Maintenance of boiler water-cooled walls is a key link in ensuring safe and efficient operation of boilers. Currently, boiler water-cooled wall maintenance robots are used to maintain boiler water-cooled walls.

[0003] Boiler water-wall maintenance robots primarily use a robotic arm to approach the boiler water-wall for maintenance. This arm is prone to malfunction after prolonged operation, often requiring disassembly to troubleshoot the problem. The installation and disassembly process is complex and time-consuming in related technologies, disrupting normal operational time. Utility Model Content

[0004] In order to overcome the problems existing in the related art, the present application provides a quick-installation robotic arm assembly and a boiler water-cooled wall maintenance robot.

[0005] According to a first aspect of an embodiment of the present disclosure, a quick-installation robotic arm assembly is applied to a boiler water wall maintenance robot, the quick-installation robotic arm assembly comprising:

[0006] robotic arm;

[0007] A first mounting portion, for mounting the robotic arm, wherein a portion of a sidewall of a first side of the first mounting portion extends outwardly in a first direction to form a first protruding structure;

[0008] a second mounting portion connected to the robot body of the boiler water wall maintenance robot, wherein a first side of the second mounting portion defines a limited space in the first direction;

[0009] In the assembled state, the first mounting portion and the second mounting portion are stacked, the opening direction of the limiting space is opposite to the extension direction of the first protruding structure, the first protruding structure extends into the limiting space, and the second side of the first mounting portion is connected to the second side of the second mounting portion by fasteners.

[0010] In some embodiments, the first mounting portion includes a first mounting plate and a transition structure, the first mounting plate and the second mounting portion are stacked, the transition structure is disposed on the second side of the first mounting plate, and the transition structure is located on a surface of the first mounting plate facing the second mounting portion;

[0011] A first through hole for setting the fastener is provided in the transition structure, and a first threaded hole for setting the fastener is provided on the second side of the second mounting portion. In the assembled state, the first through hole and the first threaded hole are opposite to each other.

[0012] In some embodiments, the adapter structure and the first mounting plate are integrally formed.

[0013] In some embodiments, a handle is provided on a side of the transition structure facing away from the first mounting plate.

[0014] In some embodiments, a portion of the sidewall of the second side of the second mounting portion extends outward to form a second protruding structure, and two transition structures are provided;

[0015] In the assembled state, the two transition structures are respectively arranged on both sides of the second protruding structure and abut against the second protruding structure.

[0016] In some embodiments, the second mounting portion includes a second mounting plate and a limiting structure, the first mounting portion and the second mounting plate are stacked, and the limiting structure is provided on a first side of the second mounting plate;

[0017] In the first direction, a limiting groove is provided on the side of the limiting structure facing the first mounting portion;

[0018] In the assembled state, the limiting groove and the second mounting plate enclose the limiting space.

[0019] In some embodiments, the limiting structure is detachably connected to the second mounting plate.

[0020] In some embodiments, the limiting structure extends toward the second mounting plate to form a third protruding structure;

[0021] A second groove body corresponding to the third protruding structure is provided on one side of the second mounting plate facing the limiting structure;

[0022] In the assembled state, the third protrusion structure extends into the second groove body.

[0023] In some embodiments, in a stacking direction of the first mounting portion and the second mounting plate, a thickness of the limiting structure is less than or equal to a thickness of the first mounting portion.

[0024] A boiler water wall maintenance robot comprises a robot body and at least one of the quick-installation robotic arm components, wherein the at least one quick-installation robotic arm component is arranged on the robot body.

[0025] The technical solution provided by the embodiments of the present application may include the following beneficial effects: the robotic arm forms a detachable connection with the second mounting part through the first mounting part. In the assembled state, one side of the first mounting part and the second mounting part is a snap-on connection, and the other side is a fastener connection. During the disassembly and assembly process, only the fasteners on one side need to be operated, and the disassembly and assembly efficiency is high.

[0026] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0028] Figure 1 Schematic diagram of a boiler water wall maintenance robot provided according to an exemplary embodiment;

[0029] Figure 2 is a schematic diagram of a quick-install robotic arm assembly provided according to an exemplary embodiment;

[0030] Figure 3 is a structural schematic diagram of a first mounting portion provided according to an exemplary embodiment;

[0031] Figure 4 is a schematic structural diagram of a second mounting plate provided according to an exemplary embodiment;

[0032] Figure 5 The figure is a schematic structural diagram of a limiting mechanism provided according to an exemplary embodiment.

[0033] Reference numerals:

[0034] a. Quick-release robotic arm assembly; b. Robot body; b1. Moving device; b2. Track;

[0035] 100. Robotic arm;

[0036] 200, first mounting portion; 210, first mounting plate; 211, first protruding structure; 220, transition structure; 221, first through hole; 230, handle;

[0037] 300, second mounting portion; 310, second mounting plate; 311, first threaded hole; 312, second groove; 313, second protruding structure; 320, limiting structure; 321, limiting groove; 322, third protruding structure. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0039] To address the problems in the related art, the present application relates to a quick-installation robotic arm assembly and a boiler water-cooled wall maintenance robot. The quick-installation robotic arm assembly includes a robotic arm, a first mounting portion, and a second mounting portion. The first mounting portion is used to mount the robotic arm. In a first direction, a portion of the sidewall surface of a first side of the first mounting portion extends outward to form a first protruding structure. The second mounting portion is connected to the robot body of the boiler water-cooled wall maintenance robot. In the first direction, the first side of the second mounting portion defines a limited space. In the present application, the robotic arm is detachably connected to the first mounting portion and the second mounting portion. In the assembled state, the first mounting portion and the second mounting portion are connected by a snap-fit ​​connection on one side and a fastener on the other side. During assembly and disassembly, only the fastener on one side needs to be operated, resulting in high assembly and disassembly efficiency.

[0040] According to an exemplary embodiment of the present application, Figure 1 and Figure 2 As shown, this embodiment provides a quick-installation robotic arm assembly a, which can be applied to a boiler water-cooled wall maintenance robot. The boiler water-cooled wall maintenance robot can climb on the boiler water-cooled wall, and the quick-installation robotic arm assembly a can perform maintenance-related operations such as defect detection and defect marking.

[0041] like Figure 1 and Figure 2 As shown, the quick-install robotic arm assembly (a) comprises a robotic arm 100, a first mounting portion 200, and a second mounting portion 300, which are sequentially connected. The second mounting portion 300 is mounted on the robot body (b) of the boiler water wall maintenance robot. The robotic arm 100 is multi-axis, and the position and orientation of its free end can be flexibly adjusted to perform maintenance on various locations on the boiler water wall. The robotic arm 100 is mounted on the first mounting portion 200 and is detachably connected to the second mounting portion 300 via the first mounting portion 200.

[0042] like Figure 3As shown, a portion of the sidewall of the first side of the first mounting portion 200 extends outward to form a first protruding structure 211, and the first side of the second mounting portion 300 defines a limiting space, which has an opening. The protruding extension direction of the first protruding structure 211 is opposite to the opening direction of the limiting space. As can be seen from the above, when the first mounting portion 200 and the second mounting portion 300 are stacked (i.e., assembled), the first protruding structure 211 and the limiting space can be located in the first direction ( Figure 3 When the first protrusion structure 211 is inserted into the limiting space, the first protrusion structure 211 can form a snap connection with the limiting space, so that the first side of the quick-install robot arm 100 is locked. In one example, in the height direction ( Figure 3 In the y direction shown in the figure, the height of the first protrusion structure 211 is lower than the height of the first mounting portion 200, and the first protrusion structure 211 has a cross-section that tapers toward the first direction, so that the first protrusion structure 211 can be placed in the limited space during assembly.

[0043] like Figure 2 As shown, the first side of the first mounting portion 200 is the first direction of the first mounting portion 200 ( Figure 2 The second side of the first mounting portion 200 is the first direction (x direction) of the first mounting portion 200. Figure 2 The first side of the second mounting portion 300 is the opposite side of the x-direction (shown in FIG). The same is true for the first side of the second mounting portion 300, and no further details are given. For example, the main body of the first mounting portion 200 is a rectangular plate, the length direction of the rectangular plate is parallel to the first direction, and the first side is the side of the rectangular plate in the length direction.

[0044] like Figure 2 As shown, the second side of the first mounting portion 200 and the second side of the second mounting portion 300 can be connected by fasteners. The fasteners are, for example, bolts. It can be confirmed that when disassembling and assembling the quick-install robotic arm assembly a provided in the embodiment of the present application, since the first sides of the first mounting portion 200 and the second mounting portion 300 are connected by a snap-fit ​​connection, it is only necessary to operate the fasteners on the second sides of the first mounting portion 200 and the second mounting portion 300 to complete the disassembly and assembly.

[0045] The robotic arm 100 forms a detachable connection with the second mounting part 300 through the first mounting part 200. In the assembled state, the first side of the first mounting part 200 and the second mounting part 300 is a snap-on connection, and the second side is a fastener connection. During the disassembly and assembly process, only the fasteners on the second side need to be operated, and the disassembly and assembly efficiency is high.

[0046] In an exemplary embodiment, Figure 2As shown, this embodiment provides a quick-installation robotic arm assembly a, which includes a robotic arm 100, a first mounting portion 200 and a second mounting portion 300. The first mounting portion 200 is used to install the robotic arm 100, and the second mounting portion 300 is connected to the robot body b of the boiler water-cooled wall maintenance robot.

[0047] The robotic arm 100 forms a detachable connection with the first mounting part 200 and the second mounting part 300. In the assembled state, one side of the first mounting part 200 and the second mounting part 300 is a snap-on connection, and the other side is a fastener connection. During the disassembly and assembly process, only the fasteners on one side need to be operated, and the disassembly and assembly efficiency is high.

[0048] In this embodiment, Figure 3 As shown, the first mounting portion 200 includes a first mounting plate 210 and a transition structure 220 connected to each other, and the first mounting plate 210 is used to mount the robot arm 100. Set the first direction ( Figure 3 The x direction shown in ), the second direction ( Figure 3 y direction) and the third direction ( Figure 3 The first direction is the z direction shown in FIG, and the second direction is the direction of the thickness of the first mounting plate 210 , wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0049] like Figure 3 As shown, along the first direction ( Figure 3 The sidewall of the second side of the first mounting plate 210 is recessed inward to form a first groove structure. There are two transition structures 220. In the third direction ( Figure 3 In the z direction shown in FIG, the two transition structures 220 are respectively located on both sides of the first groove structure. In the first direction, the two transition structures 220 are both arranged on the second side of the first mounting plate 210. In the second direction ( Figure 3 The adapter structure 220 is located on one side of the first mounting plate 210 and on the surface of the first mounting plate 210. The adapter structure 220 is provided with a first through hole 221. The adapter structure 220 and the first mounting plate 210 can be an integrally formed structure.

[0050] Among them, such as Figure 3 As shown, in the first direction ( Figure 3 A handle 230 is provided on a side of the transfer structure 220 facing away from the first mounting plate 210 , and the handle 230 facilitates moving the first mounting plate 210 .

[0051] Among them, such as Figure 4 and Figure 5As shown, the second mounting portion 300 includes a second mounting plate 310 and a limiting structure 320. The second mounting plate 310 and the first mounting plate 210 are stacked along the second direction. Figure 4 and Figure 5 ), the limiting structure 320 is arranged on a first side of the second mounting plate 310, and a limiting groove 321 is provided on the side of the limiting structure 320 facing the first mounting plate 210. In the assembled state, a limiting space is formed by the limiting groove 321 and the second mounting plate 310, and the first protrusion structure 211 extends into the limiting space.

[0052] like Figure 4 and Figure 5 As shown, in the second direction ( Figure 4 and Figure 5 In the y direction shown in FIG, a second groove 312 is provided on the side of the second mounting plate 310 facing the limiting structure 320. The limiting structure 320 extends toward the second mounting plate 310 to form a third protruding structure 322. The third protruding structure 322 corresponds to the second groove 312. In the assembled state, the third protruding structure 322 extends into the second groove 312. To prevent the second mounting plate 310 and the limiting structure 320 from being aligned in the first direction ( Figure 4 and Figure 5 x direction) and the third direction ( Figure 4 and Figure 5 Relative movement occurs between the stop structure 320 and the second mounting plate 310 (in the z-direction shown in FIG), further improving the stability of the installation. In the first direction, a first threaded hole 311 is provided on the second side of the second mounting plate 310. The first through-hole 221 corresponds to the first threaded hole 311. A fastener (such as a bolt) passes through the first through-hole 221 and is threadedly engaged with the first threaded hole 311, thereby forming a secure connection between the adapter structure 220 and the second mounting plate 310. In the first direction, a portion of the sidewall of the second side of the second mounting plate 310 extends outward to form a second protruding structure 313. In the assembled state, the two adapter structures 220 are located on either side of the second protruding structure 313 and abut against it.

[0053] like Figure 2 As shown, in the second direction ( Figure 2 y direction shown in ), the thickness of the limiting structure 320 is less than or equal to the thickness of the first mounting portion 200, so as to prevent the limiting structure 320 from being easily impacted by foreign objects due to protrusion from the surface of the first mounting portion 200, thereby causing connection failure. In addition, since the limiting structure 320 is provided with a limiting groove 321 on the side facing the first mounting plate 210, by reducing the thickness of the limiting structure 320, the side wall surface of the first mounting plate 210 can also be abutted against the edge of the limiting groove 321, which is conducive to closing the limiting groove 321 and preventing impurities from entering.

[0054] like Figure 1 As shown, the boiler water-cooled wall maintenance robot includes a robot body b and at least one quick-installation robotic arm assembly a. The boiler water-cooled wall maintenance robot body b includes a moving device b1 and a track b2. The track b2 is set on the moving device b1. The at least one quick-installation robotic arm assembly a is set on the track b2. The at least one quick-installation robotic arm assembly a can slide along the track b2 or be fixed at one position of the track b2.

[0055] One embodiment:

[0056] like Figure 2 As shown, first, along the second direction ( Figure 2 The third protrusion 322 of the retaining structure 320 is inserted into the second groove 312 of the second mounting plate 310 (in the y direction shown in FIG). The retaining structure 320 is connected to the second mounting plate 310 using fasteners. The first mounting plate 210 is then slid toward the retaining structure 320, aligned with one side of the second mounting plate 310, so that the first protrusion 211 extends into the retaining space. The adapter structure 220 is then connected to the second mounting plate 310 using fasteners to complete the installation. The installation sequence of this embodiment is to first install the retaining structure 320 on the second mounting plate 310, and then install the first mounting plate 210.

[0057] Another embodiment:

[0058] like Figure 2 As shown, first, the first mounting plate 210 is placed on one side of the second mounting plate 310, so that the second mounting plate 310 and the first mounting plate 210 are stacked along the second direction, and the adapter structure 220 and the second mounting plate 310 are connected by fasteners. Figure 2 The first mounting plate 210 is mounted on the second mounting plate 310, and the second mounting plate 310 is connected to the first mounting plate 210 by fasteners. The installation sequence of this embodiment is to first install the first mounting plate 210 on the second mounting plate 310, and then install the limiting structure 320 on the second mounting plate 310, while the limiting structure 320 limits the first mounting plate 210.

[0059] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0060] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A quick-install robotic arm assembly, characterized in that: Applied to a boiler water wall maintenance robot, the quick-install robotic arm assembly includes: robotic arm; A first mounting portion, for mounting the robotic arm, wherein a portion of a sidewall of a first side of the first mounting portion extends outwardly in a first direction to form a first protruding structure; a second mounting portion connected to the robot body of the boiler water wall maintenance robot, wherein a first side of the second mounting portion defines a limited space in the first direction; In the assembled state, the first mounting portion and the second mounting portion are stacked, the opening direction of the limiting space is opposite to the extension direction of the first protruding structure, the first protruding structure extends into the limiting space, and the second side of the first mounting portion is connected to the second side of the second mounting portion by fasteners.

2. The quick-install robotic arm assembly according to claim 1, characterized in that: The first mounting portion includes a first mounting plate and a transition structure, the first mounting plate and the second mounting portion are stacked, the transition structure is arranged on the second side of the first mounting plate, and the transition structure is located on the surface of the first mounting plate facing the second mounting portion; A first through hole for setting the fastener is provided in the transition structure, and a first threaded hole for setting the fastener is provided on the second side of the second mounting portion. In the assembled state, the first through hole is opposite to the first threaded hole.

3. The quick-install robotic arm assembly according to claim 2, characterized in that: The adapter structure and the first mounting plate are integrally formed.

4. The quick-install robotic arm assembly according to claim 2, wherein: A handle is provided on a side of the transition structure facing away from the first mounting plate.

5. The quick-install robotic arm assembly according to claim 2, characterized in that: A portion of the side wall of the second side of the second mounting portion extends outward to form a second protruding structure, and two transition structures are provided; In the assembled state, the two transition structures are respectively arranged on both sides of the second protruding structure and abut against the second protruding structure.

6. The quick-install robotic arm assembly according to claim 1, characterized in that: The second mounting portion includes a second mounting plate and a limiting structure, the first mounting portion and the second mounting plate are stacked, and the limiting structure is arranged on a first side of the second mounting plate; In the first direction, a limiting groove is provided on the side of the limiting structure facing the first mounting portion; In the assembled state, the limiting groove and the second mounting plate enclose the limiting space.

7. The quick-install robotic arm assembly according to claim 6, characterized in that: The limiting structure is detachably connected to the second mounting plate.

8. The quick-install robotic arm assembly according to claim 6, wherein: The limiting structure extends toward the second mounting plate to form a third protruding structure; A second groove body corresponding to the third protruding structure is provided on one side of the second mounting plate facing the limiting structure; In the assembled state, the third protrusion structure extends into the second groove body.

9. The quick-install robotic arm assembly according to claim 6, wherein: In a stacking direction of the first mounting portion and the second mounting plate, a thickness of the limiting structure is less than or equal to a thickness of the first mounting portion.

10. Boiler water wall maintenance robot, characterized in that: The boiler water wall maintenance robot includes a robot body and at least one quick-installation robotic arm assembly according to any one of claims 1 to 9, wherein the at least one quick-installation robotic arm assembly is arranged on the robot body.

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