Boiler water-cooled wall maintenance robot and system

Abstract

The utility model relates to a boiler water-cooled wall maintenance robot and system.The boiler water-cooled wall maintenance robot comprises a robot body and a magnetic attraction module arranged on the robot body, and supporting wheels of the robot body at least can provide ascending driving force for the robot body under the first preset working condition; the robot body is connected with the hoisting device through a rope, and the hoisting device is used for providing ascending driving force for the robot body under the second preset working condition. According to the boiler water-cooled wall maintenance robot, the lifting driving force can be provided through the supporting wheels, the lifting driving force can also be provided through the hoisting device, and the situation that when the robot body is in the second preset working condition, the robot body falls off due to insufficient magnetic attraction force between the magnetic attraction module and the boiler water-cooled wall is avoided; and the reliability of the robot main body climbing on the boiler water-cooled wall is improved.

Description

Technical Field

[0001] The present application relates to the technical field of boiler water wall maintenance, and in particular to a boiler water wall maintenance robot and system. Background Art

[0002] Impurities on the water-cooled walls of large boilers need to be cleaned to ensure smooth operation of the boiler.

[0003] In the related art, a wall-climbing robot is usually used to climb the inner wall of the boiler for maintenance. However, due to the structure and shape of the water-cooled wall, there is a situation where the wall-climbing robot does not have enough adhesion to the boiler water-cooled wall when walking on the water-cooled wall and falls, resulting in inconvenience in maintenance. Utility Model Content

[0004] In order to overcome the problems existing in the related art, the present application provides a boiler water wall maintenance robot and system.

[0005] According to a first aspect of an embodiment of the present application, a boiler water wall maintenance robot is provided, comprising:

[0006] The robot body is provided with support wheels, wherein the support wheels are used to provide an upward driving force for the robot body at least under a first preset working condition;

[0007] A magnetic module is provided on the robot body;

[0008] The robot body is further connected to a lifting device via a rope, and the lifting device is used to provide an upward driving force to the robot body under a second preset working condition.

[0009] In some embodiments, the robot body includes a power module, the support wheel is arranged on the power module, and the rope is connected to the power module.

[0010] In some embodiments, the boiler water wall maintenance robot further includes a buffer device, which is disposed between the rope and the robot body.

[0011] In some embodiments, the buffer device comprises:

[0012] a bracket, one end of which is connected to the robot body;

[0013] An elastic component is arranged on the bracket, one end of the elastic component is connected to the bracket, and the other end of the elastic component is connected to the rope.

[0014] In some embodiments, the bracket is in a U-shape and defines an installation space, and a partial structure of the elastic component is located in the installation space.

[0015] In some embodiments, the elastic component comprises:

[0016] a first connecting member, wherein a first end of the first connecting member is connected to the rope, and a second end of the first connecting member passes through the first side wall of the bracket and extends into the installation space;

[0017] A compression spring is located in the installation space and is sleeved on the first connecting member. One end of the compression spring is connected to the inner wall surface of the bracket, and the other end of the compression spring is connected to the second end of the first connecting member.

[0018] In some embodiments, the second side wall of the bracket is provided with a second connecting member, and the second connecting member is used to connect the bracket and the robot body;

[0019] Part of the structure of the second connecting member is located in the installation space and can abut against the second end of the first connecting member.

[0020] In some embodiments, the boiler water wall maintenance robot further includes a tension sensor, which is disposed between the buffer device and the robot body.

[0021] According to a second aspect of an embodiment of the present application, a boiler water wall maintenance system is provided, comprising a hoisting device and a boiler water wall maintenance robot as described in the first aspect.

[0022] In some embodiments, the lifting device includes a winch.

[0023] The technical solution provided by the embodiments of the present application may include the following beneficial effects: the boiler water-cooled wall maintenance robot can provide an upward driving force through the support wheels and can also provide an upward driving force by the lifting device, thereby preventing the robot body from falling due to insufficient magnetic attraction between the magnetic attraction module and the boiler water-cooled wall when the robot body is in the second preset working condition, thereby improving the reliability of the robot body climbing on the boiler water-cooled wall.

[0024] 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

[0025] 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.

[0026] Figure 1 is a schematic diagram of a boiler water wall maintenance robot provided according to an exemplary embodiment.

[0027] Figure 2It is a schematic diagram of a buffer device and a connecting ring buckle provided according to an exemplary embodiment.

[0028] Figure 3 is a schematic diagram of a buffer device provided according to an exemplary embodiment.

[0029] Reference numerals:

[0030] 10. Robot body;

[0031] 11. Power module; 111. Support wheel; 112. Magnetic module; 12. Crossbeam; 121. Maintenance device;

[0032] 20. Buffer device; 21. Bracket; 21a. Installation space; 22. Compression spring; 23. First connecting member; 24. First nut; 25. First cover plate; 26. Second cover plate; 27. Second connecting member; 28. Second nut;

[0033] 30. Connecting ring buckle. DETAILED DESCRIPTION

[0034] 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.

[0035] To address the problems existing in the related art, an embodiment of the present application provides a boiler water-cooled wall maintenance robot and system. The boiler water-cooled wall maintenance robot includes a robot body and a magnetic suction module disposed on the robot body. The support wheels of the robot body are capable of providing an upward driving force for the robot body under at least a first preset working condition. The robot body is connected to a hoisting device via a rope, and the hoisting device is used to provide an upward driving force for the robot body under a second preset working condition. In the present application, the boiler water-cooled wall maintenance robot can provide an upward driving force both through the support wheels and by the hoisting device, thereby preventing the robot body from falling due to insufficient magnetic attraction between the magnetic suction module and the boiler water-cooled wall when in the second preset working condition, thereby improving the reliability of the robot body climbing on the boiler water-cooled wall.

[0036] According to an exemplary embodiment of the present application, Figure 1 As shown, this embodiment provides a boiler water wall maintenance robot, which can be equipped with a variety of maintenance-related maintenance devices 121, such as a spray marking device, a thickness measuring device, a cleaning device, etc.

[0037] like Figure 1 As shown, the boiler water-cooled wall maintenance robot includes a robot body 10, and a support wheel 111 and a magnetic module 112 are provided on the robot body 10. The boiler water-cooled wall is usually made of ferromagnetic material, and the robot body 10 can be magnetically adsorbed on the boiler water-cooled wall through the magnetic module 112. The magnetic module 112 in this embodiment can not only fix the robot on the boiler water-cooled wall, but also provide the robot body 10 with an upward driving force to climb in the vertical direction under a first preset working condition. The first preset working condition is, for example, a water-cooled wall section of the boiler water-cooled wall with a flat surface and reliable magnetic attraction. In some optional embodiments, the magnetic module 112 can be a plurality of magnetic steel blocks, and is evenly distributed on the support wheel 111 along the circumferential direction of the support wheel 111.

[0038] like Figure 1 As shown, the robot body 10 is also provided with a ring for fixing a rope. The robot body 10 can be connected to the lifting device through the rope. The lifting device is used to provide an upward driving force to the robot body 10 under the second preset working condition. The second preset working condition is, for example, a water-cooled wall section on the boiler water-cooled wall that is uneven, has a low content of ferromagnetic material, or has no ferromagnetic material. It is understandable that when the boiler water-cooled wall maintenance robot moves to the second preset working condition, the magnetic attraction between the support wheel 111 and the boiler water-cooled wall is unreliable or does not exist, resulting in the risk of the boiler water-cooled wall maintenance robot falling. Therefore, when the robot body 10 moves to the second preset working condition, the lifting device can provide an upward driving force to the robot body 10 to prevent the water-cooled wall maintenance robot from falling.

[0039] This does not limit the technical solution of the present application. In some optional implementations, when the robot body 10 moves to the second preset working condition, the support wheel 111 and the lifting device simultaneously provide an upward driving force for the robot body 10.

[0040] In the embodiment of the present application, the boiler water-cooled wall maintenance robot can provide an upward driving force through the support wheel 111, and can also provide an upward driving force by the lifting device, thereby preventing the robot body 10 from falling due to insufficient magnetic attraction between the magnetic attraction module 112 and the boiler water-cooled wall when it is in the second preset working condition, thereby improving the reliability of the robot body 10 climbing on the boiler water-cooled wall.

[0041] In an exemplary embodiment, Figure 1 As shown, the boiler water-cooled wall maintenance robot includes a robot body 10 and a magnetic suction module 112 arranged on the robot body 10. The support wheel 111 of the robot body 10 can at least provide an upward driving force for the robot body 10 under a first preset working condition. The robot body 10 is connected to the lifting device through a rope, and the lifting device is used to provide an upward driving force for the robot body 10 under a second preset working condition.

[0042] In this embodiment, Figure 1 As shown, the robot body 10 includes a power module 11, a support wheel 111 is provided on the power module 11, and a rope is connected to the power module 11. Figure 1 The robot body 10 also includes a crossbeam 12, on which a variety of maintenance devices 121 are arranged. The power module 11 is arranged on the crossbeam 12. It can be understood that the power module 11 is usually provided in multiple and separately arranged at multiple positions on the crossbeam 12. The multiple power modules 11 can provide balanced support force for the crossbeam 12. Therefore, the rope is set to be connected to the power module 11 and then provide tension to the robot body 10, which can ensure the reliability of the connection.

[0043] Among them, such as Figure 1 As shown, the boiler water-wall maintenance robot also includes a buffer device 20, which is disposed between the rope (not shown) and the robot body 10. When the robot body 10 moves to the second preset working condition and the hoisting device is activated and applies tension to the robot through the rope, the buffer device 20 can provide a buffering function to prevent damage to the robot body 10 caused by rigid connections. Moreover, when the second preset working condition is an uneven surface, the buffer device 20 can also absorb the impact of the robot body 10 shaking due to bumps and depressions of varying sizes, thereby improving hoisting stability.

[0044] Among them, such as Figure 2 and Figure 3 As shown, the buffer device 20 includes a bracket 21 and an elastic component, and the elastic component is installed on the bracket 21. Figure 2 and Figure 3 One end of the bracket 21 is connected to the robot body 10 , for example, it can be connected to the robot body 10 through a connecting ring 30 .

[0045] In some embodiments (not shown in the drawings), the elastic component includes a tension spring, one end of the tension spring is connected to the bracket, and the other end of the tension spring is connected to the rope.

[0046] In other embodiments, Figure 2 and Figure 3 As shown, the bracket 21 is in a U-shaped shape and defines an installation space 21a. The first side wall of the bracket 21 is provided with a first through hole. Figure 2 and Figure 3The elastic component includes a first connector 23 and a compression spring 22. The first end of the first connector 23 has a ring-shaped structure for installing a rope. The second end of the first connector 23 extends through the through hole and into the installation space 21a. The compression spring 22 is located in the installation space 21a and is sleeved on the first connector 23. One end of the compression spring 22 is connected to the inner wall surface of the bracket 21, and the other end of the compression spring 22 is connected to the second end of the first connector 23. In this embodiment, by configuring the bracket 21 into a U-shaped structure and arranging the compression spring 22 within the installation space 21a enclosed by the bracket 21, the bracket 21 protects the compression spring 22 from external impact and damage. In addition, the compression spring 22 has stronger compression resistance than the tension spring and can provide stronger buffering performance.

[0047] In one example, if Figure 2 and Figure 3 As shown, the second end of the first connecting member 23 is provided with a first cover plate 25 and at least one first nut 24, the first nut 24 is threadedly engaged with the first connecting member 23, and the first cover plate 25 is located between the compression spring 22 and the first nut 24. When the pulling force provided by the hoisting device to the robot body 10 is too large, the rope will drive the first connecting member 23 and the first nut 24 and the first cover plate 25 connected to the first connecting member 23 to squeeze the compression spring 22, thereby achieving a buffering effect. In some optional embodiments, see Figure 2 and Figure 3 A second cover plate 26 is provided between the compression spring 22 and the inner wall surface of the bracket 21. The first cover plate 25 and the second cover plate 26 are separately provided on both sides of the compression spring 22 to guide and limit the compression spring 22 to prevent irregular deformation of the compression spring 22 when compressed, which affects its service life.

[0048] Among them, such as Figure 2 and Figure 3 As shown, the bracket 21 is in the shape of a Chinese character "回" and defines an installation space 21a. The second side wall of the bracket 21 is provided with a second through hole. Figure 2 and Figure 3 A second connecting member 27 is provided on the second side wall of the bracket 21, and a first end of the second connecting member 27 is provided with a ring structure for connecting to the connecting ring buckle 30, and the second end of the second connecting member 27 extends into the installation space 21a through the through hole, and the second end of the second connecting member 27 is provided with at least one second nut 28, and the second nut 28 is threadedly engaged with the second connecting member 27. When the lifting device does not provide pulling force to the robot body 10, the compression spring 22 is in a state of small compression, so that the second end of the first connecting member 23 abuts against the second end of the second connecting member 27.

[0049] Among them, such as Figure 1As shown, the boiler water wall maintenance robot further includes a tension sensor (not shown in the drawings), which is disposed between the buffer device 20 and the robot body 10. The tension sensor is used to detect the tension applied by the hoisting device to the robot body 10 via the rope. It is understood that the hoisting device only applies an upward tension to the robot body 10 via the rope when the robot body 10 is in the second preset working condition. However, the working condition on the boiler water wall is not fixed. When the robot body 10 is moving in the first preset working condition, the hoisting device needs to retract the rope so that the rope and the robot body 10 rise synchronously, keeping the rope between the hoisting device and the robot body 10 in a taut state to prevent the robot body 10 from falling due to the rope's inability to provide tension when the robot body 10 moves to the second preset working condition. The tension sensor reading can be used to determine the magnitude of the pulling force exerted by the rope on the robot body 10, and then determine whether the speed at which the hoisting device retracts the rope is synchronized with the driving speed of the support wheel on the robot body 10. When the tension sensor reading is too large, it indicates that the speed at which the hoisting device retracts the rope is greater than the driving speed of the support wheel 111, which can easily cause the robot body 10 to tip over. Therefore, when the control unit (not shown in the drawings) obtains a tension sensor reading exceeding a certain threshold, it can control the hoisting device to reduce the pulling speed. When the tension sensor reading is small, it indicates that the speed at which the hoisting device retracts the rope is less than the driving speed of the support wheel 111. When the control unit obtains a tension sensor reading less than a certain threshold, it can control the hoisting device to accelerate the rope retraction.

[0050] In the embodiment of the present application, the specific setting position of the tension sensor is not limited. The tension sensor can be set between the connecting ring buckle 30 and the robot body 10, or between the second connecting member 27 of the buffer device 20 and the connecting ring buckle 30.

[0051] According to an exemplary embodiment of the present application, Figure 1 As shown, this embodiment provides a boiler water wall maintenance system, comprising a hoisting device and a boiler water wall maintenance robot according to any of the aforementioned embodiments of this application. The hoisting device is connected to the boiler water wall maintenance robot via a rope. The hoisting device is configured to provide an upward driving force for the robot body 10 when the boiler water wall maintenance robot is in a second preset operating condition, which is when the boiler water wall surface is uneven or has little ferromagnetic material. In some embodiments, the hoisting device is, for example, a winch.

[0052] The boiler water-cooled wall maintenance system provided in this embodiment has all the characteristics and technical effects of a boiler water-cooled wall maintenance robot. For example, the boiler water-cooled wall maintenance robot can provide an upward driving force through the support wheel 111 and can also provide an upward driving force by a lifting device, thereby preventing the robot body 10 from falling due to insufficient magnetic attraction between the magnetic attraction module 112 and the boiler water-cooled wall when the robot body 10 is in the second preset working condition, thereby improving the reliability of the robot body 10 climbing on the boiler water-cooled wall.

[0053] 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.

[0054] 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 boiler water wall maintenance robot, characterized in that: include: The robot body is provided with support wheels, and the support wheels are used to provide an upward driving force for the robot body at least under a first preset working condition; A magnetic module is provided on the robot body; The robot body is further connected to a lifting device via a rope, and the lifting device is used to provide an upward driving force to the robot body under a second preset working condition.

2. The boiler water wall maintenance robot according to claim 1, characterized in that: The robot body includes a power module, the support wheel is arranged on the power module, and the rope is connected to the power module.

3. The boiler water wall maintenance robot according to claim 1 or 2, characterized in that: The boiler water wall maintenance robot further includes a buffer device, which is arranged between the rope and the robot body.

4. The boiler water wall maintenance robot according to claim 3, characterized in that: The buffer device comprises: a bracket, one end of which is connected to the robot body; An elastic component is arranged on the bracket, one end of the elastic component is connected to the bracket, and the other end of the elastic component is connected to the rope.

5. The boiler water wall maintenance robot according to claim 4, characterized in that: The bracket is in a U-shape and defines an installation space, and a partial structure of the elastic component is located in the installation space.

6. The boiler water wall maintenance robot according to claim 5, characterized in that: The elastic component comprises: a first connecting member, wherein a first end of the first connecting member is connected to the rope, and a second end of the first connecting member passes through the first side wall of the bracket and extends into the installation space; A compression spring is located in the installation space and is sleeved on the first connecting member. One end of the compression spring is connected to the inner wall surface of the bracket, and the other end of the compression spring is connected to the second end of the first connecting member.

7. The boiler water wall maintenance robot according to claim 6, characterized in that: The second side wall of the bracket is provided with a second connecting piece, and the second connecting piece is used to connect the bracket and the robot body; Part of the structure of the second connecting member is located in the installation space and can abut against the second end of the first connecting member.

8. The boiler water wall maintenance robot according to claim 3, characterized in that: The boiler water wall maintenance robot further includes a tension sensor, which is arranged between the buffer device and the robot body.

9. A boiler water wall maintenance system, characterized in that: It comprises a hoisting device and a boiler water-cooled wall maintenance robot as described in any one of claims 1 to 8.

10. The boiler water wall maintenance system according to claim 9, characterized in that: The hoisting device includes a winch.

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