Adjustable water-cooled wall robot

Abstract

The utility model discloses an adjustable water-cooled wall robot, and relates to the technical field of wall-climbing robots. The device comprises a body, a camera is fixedly installed on the side face of the body, detection assemblies are symmetrically arranged on the lower side of the body, and cleaning assemblies are arranged at the positions, corresponding to the lower sides of the detection assemblies, of the lower side of the body. According to the water cooling wall cleaning robot, when the robot vertically moves on the side face of the water cooling wall through the arranged cleaning assembly, the arranged cleaning blocks can polish and clean the side face of the water cooling wall, meanwhile, the arranged cleaning blocks can be driven to adjust the interval to be matched with the water cooling walls with different intervals for use, and the polishing and cleaning effect on the water cooling wall is improved; in addition, the arranged detection assembly can detect the extrusion degree of the cleaning assembly when the cleaning assembly conducts grinding and cleaning, the situation that the cleaning block is damaged due to too large stress is effectively avoided, in this way, the detection effect of the robot is guaranteed, and accurate and precise grinding and cleaning operation can be conducted.

Description

TECHNICAL FIELD

[0001] The utility model relates to wall -climbing robot technical field, concretely relates to an adjustable water cooling wall robot. BACKGROUND

[0002] Water cooling wall is the main heating part of boiler, it is composed of several rows of steel pipes, is distributed in the four around boiler furnace, its inside is flowing water or steam, the outside accepts the heat of boiler furnace flame. Mainly absorb the radiant heat of high temperature combustion product in furnace, working medium makes ascending movement in it, heats up and evaporates, in the process of water cooling, scale will form on the surface of water cooling pipeline, therefore need to detect water cooling pipeline on water cooling wall, the existing water cooling wall detection robot generally carries out visual inspection through camera during the detection, but its vision can only detect obvious impurity and deformation, cannot effectively detect some slight deformation, and the existing water cooling wall side surface steel pipe interval is different, cannot effectively carry out accurate polishing cleaning operation to water cooling wall side surface, for this, an adjustable water cooling wall robot is proposed. SUMMARY

[0003] The utility model discloses a kind of adjustable water cooling wall robots to solve the problems of adjustable water cooling wall robot, and the utility model provides a kind of adjustable water cooling wall robot.

[0004] The utility model discloses a kind of adjustable water cooling wall robots to solve the problems of adjustable water cooling wall robot, and the utility model provides a kind of adjustable water cooling wall robot.

[0005] An adjustable water cooling wall robot, including body, the side surface of body is fixedly installed with camera, the downside of body is symmetrically provided with detection component, the downside of body is provided with detection component, the downside of body corresponds the downside position of detection component and is provided with cleaning component;

[0006] Detection component includes first electric push rod, the side surface of detection component including first electric push rod is provided with movable detection groove, the side surface of detection groove is provided with detectable detection block;

[0007] Cleaning component includes mounting plate, the side surface of mounting plate is provided with rotatable mounting roller, the side surface of mounting roller is provided with movable cleaning block, the side surface of cleaning block is provided with drivable motor, the side surface of motor is provided with movable friction block.

[0008] Further, the detection component includes first electric push rod, first electric push rod is fixedly installed on the downside of body, the downside of first electric push rod is fixedly installed with detection plate, the side surface of detection plate is provided with detection groove, movable plate is movably installed in the inside of detection plate, detection block is fixedly installed on the side surface of movable plate, first support cylinder is fixedly installed between movable plate side surface and detection groove inner wall equidistantly.

[0009] Further, the cleaning assembly comprises a mounting plate fixedly installed on the side of the movable plate, a mounting roller arranged on the inner side of the mounting plate, a constraint groove arranged on the side of the mounting roller, a first constraint block movably installed in the mounting roller, a second constraint block movably installed in the constraint groove, an adjusting rod movably installed in the first constraint block, and a cleaning block movably sleeved on the side of the mounting roller.

[0010] Further, the cleaning assembly further comprises a first protection block fixedly installed on the side of the cleaning block, a second protection block fixedly installed on the other side of the cleaning block, a motor fixedly installed on the side of the mounting plate, an installation groove arranged on the side of the driving shaft of the motor, a second electric push rod movably installed in the installation groove, and a friction block fixedly installed on the side of the second electric push rod.

[0011] Further, the cleaning assembly further comprises a trigger rod arranged in the mounting roller, the trigger rod is a cylindrical rod with a cross-section in the shape of a cross, a second support cylinder is fixedly connected between the side of the trigger rod and the first constraint block and movably sleeved on the side of the trigger rod, and a clamping block is fixedly installed on the side of the trigger rod away from the friction block and abuts against the side of the clamping block.

[0012] Further, one side of the mounting roller is rotatably connected to the side of the mounting plate through a cylindrical rod, the first constraint block is clamped in the corresponding constraint groove, the second constraint block is arranged in the mounting roller, the second constraint block is a circular block with a cross-section in the shape of a trapezoid and a circular thread groove arranged on the side of the circular block, the adjusting rod is a cylindrical rod with a cross-section in the shape of a continuous cross and threads with different rotation directions are arranged on the two sides of the adjusting rod, and the trigger rod penetrates through the first constraint block and the second constraint block.

[0013] The beneficial effects of the utility model are as follows:

[0014] 1、The detection assembly can detect the flatness of the water cooling wall when the robot moves horizontally on the side of the water cooling wall, the slight deformation cannot be detected by the camera visual detection, the detection effect is improved, the cleaning assembly can be used when the robot moves vertically on the side of the water cooling wall, the cleaning block can polish and clean the side of the water cooling wall, the cleaning block can be driven to adjust the interval and be used in cooperation with the water cooling wall with different intervals, the polishing and cleaning effect of the water cooling wall is improved, the detection assembly can detect the extrusion degree when the cleaning assembly polishes and cleans, the cleaning block is effectively prevented from being damaged due to excessive stress, the detection effect of the robot is ensured, and accurate and precise polishing and cleaning operation can be performed. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a three-dimensional structure schematic view of the utility model;

[0016] Figure 2It is a partial structure schematic view of the utility model;

[0017] Figure 3 It is an explosion structure schematic view of the detection assembly of the utility model;

[0018] Figure 4 It is an explosion structure schematic view of the cleaning assembly of the utility model;

[0019] Reference signs: 1, main body;2, camera;3, magnetic attraction wheel;4, detection assembly;41, first electric push rod;42, detection plate;43, detection groove;44, movable plate;45, detection block;46, first support cylinder;5, cleaning assembly;51, mounting plate;52, mounting roller;53, constraint groove;54, first constraint block;55, second constraint block;56, adjusting rod;57, cleaning block;571, first protection block;572, second protection block;58, motor;581, mounting groove;582, second electric push rod;583, friction block;59, trigger rod;591, second support cylinder;592, clamping block. DETAILED DESCRIPTION

[0020] 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 described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. The components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the utility model.

[0022] It should be noted that: similar signs and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the embodiments of the utility model, it needs to be explained that the directions or position relations indicated by the terms "inner", "outer", "upper" and the like are based on the directions or position relations shown in the drawings, or are the directions or position relations in which the utility model product is usually placed during use, and are only for the convenience of describing the utility model and simplifying the description, and thus cannot be understood as limiting the utility model in that the indicated devices or elements must have a specific direction, be constructed and operated in a specific direction.

[0024] As shown in Figures 1 to 4 , an adjustable water cooling wall robot, comprising a body 1, the body 1 is internally integrated with controller, battery pack and other electrical devices Rectangular body, the side surface of body 1 is fixedly installed with camera 2, the lower side of body 1 is symmetrically provided with detection assembly 4, detection assembly 4 is driven wheel and drive machine etc. that can be magnetically attracted, the lower side of body 1 is provided with detection assembly 4 that can detect flatness, the lower side of body 1 is provided with cleaning assembly 5 corresponding to the lower side position of detection assembly 4 that can be adjusted and cleaned;

[0025] Specifically, the magnetic attraction wheel 3 can drive the body 1 to move horizontally and vertically on the side of the water cooling wall, the detection assembly 4 can detect the flatness of the side of the water cooling wall when moving horizontally, the camera 2 is arranged to assist in detecting the side of the water cooling wall, the cleaning assembly 5 can be used for cleaning operation when moving vertically on the side of the water cooling wall, and the detection assembly 4 can detect the stability of the cleaning assembly 5 when cleaning.

[0026] As shown in Figure 2 and Figure 3 , the detection assembly 4 comprises a first electric push rod 41, the lower side of the body 1 is symmetrically fixedly installed with the first electric push rod 41, the lower side of the first electric push rod 41 is fixedly installed with the detection plate 42, the detection plate 42 is a rectangular plate, the side of the detection plate 42 away from the first electric push rod 41 is provided with a detection groove 43, the detection groove 43 is a rectangular groove with convex section, the inside of the detection plate 42 is movably installed with a movable plate 44, the movable plate 44 is a rectangular plate with convex section, the movable plate 44 is fixedly installed with a detection block 45 at the side center position close to the first electric push rod 41, the detection block 45 is a distance sensor (D66-BG), the first support cylinder 46 is fixedly installed between the side of the movable plate 44 and the inner wall of the detection groove 43, and the first support cylinder 46 is arranged at the inner position of the detection groove 43, the first support cylinder 46 is a spring steel material cylinder with continuous "W" section;

[0027] Specifically, the movable plate 44 can slide in the detection groove 43 under force, the first supporting cylinder 46 elastically supports the movable plate 44, the detection block 45 detects the distance position of the movable plate 44 in the detection groove 43, and the external controller can reflect the flatness of the water-cooled wall side, so that the visual detection is not only performed by the camera 2, and the detection precision and reliability are improved.

[0028] As Figure 2 and Figure 4As shown, the cleaning assembly 5 comprises a mounting plate 51, the mounting plate 51 is fixedly mounted on the side of the movable plate 44 away from the first electric push rod 41, the mounting plate 51 is a "C" shaped plate, the inner side of the mounting plate 51 is provided with a mounting roller 52, one side of the mounting roller 52 is rotatably connected to the side of the mounting plate 51 through a cylindrical through hole, the mounting roller 52 is a hollow cylindrical roller, equidistantly arranged circumferential grooves 53 are formed on the side of the mounting roller 52, and the circumferential grooves 53 extend to the inner side of the mounting roller 52, the circumferential grooves 53 are rectangular grooves, a first constraint block 54 is movably mounted at the center of the inner side of the mounting roller 52, and the first constraint block 54 is clamped in the corresponding circumferential groove 53, the first constraint block 54 is a circular ring block with a triangular cross section, a second constraint block 55 is movably mounted in the inner side of the mounting roller 52 except the position of the first constraint block 54, and the second constraint block 55 is arranged in the inner side of the mounting roller 52, the second constraint block 55 is a circular ring block with a triangular cross section and a circular threaded groove formed on the side thereof, an adjusting rod 56 is movably mounted in the inner side of the first constraint block 54 and is threadedly engaged in the circular threaded groove of the second constraint block 55, the adjusting rod 56 is a cylindrical rod with a continuous cross shape, and threads with different rotation directions are formed on the two sides of the adjusting rod 56, cleaning blocks 57 are movably sleeved on the side of the mounting roller 52 equidistantly, and the cleaning blocks 57 are fixedly mounted on the side of the second constraint block 55 and the first constraint block 54 respectively, the cleaning blocks 57 are circular ring abrasive blocks with arc-shaped sides, a first protection block 571 is fixedly mounted on the side of the cleaning block 57, the first protection block 571 is a rubber circular ring block with a "U" shaped cross section, a second protection block 572 is fixedly mounted on the other side of the cleaning block 57, the second protection block 572 is a rubber circular ring block with a "T" shaped cross section, a motor 58 is fixedly mounted on the side of the mounting plate 51 and penetrates into the inner side of the mounting roller 52, an installation groove 581 is formed on the side of the driving shaft of the motor 58, the installation groove 581 is a cylindrical groove, a second electric push rod 582 is movably mounted in the inner side of the installation groove 581, the second electric push rod 582 is an electric push rod provided with a rechargeable battery block on the side thereof, a friction block 583 is fixedly mounted on the side of the second electric push rod 582, the friction block 583 is a circular block made of a material resistant to friction, a trigger rod 59 is arranged in the inner side of the mounting roller 52 and penetrates through the first constraint block 54 and the second constraint block 55, the trigger rod 59 is a cylindrical rod with a cross-shaped cross section, a second support cylinder 591 is fixedly connected between the side of the trigger rod 59 and the first constraint block 54 and movably sleeved on the side of the trigger rod 59, the second support cylinder 591 is a spring steel cylinder with a continuous "W" shaped cross section, a clamping block 592 is fixedly mounted on the side of the trigger rod 59 away from the friction block 583 and abuts against the side of the clamping block 592, the clamping block 592 is a rectangular block made of rubber;

[0029] Specifically, when the friction block 583 is pulled to adhere to the inside of the mounting roller 52 by the second electric push rod 582, the motor 58 drives the friction block 583 to rotate, which can drive the mounting roller 52 to rotate. When the friction block 583 is pushed to adhere to the side of the adjusting rod 56 by the second electric push rod 582, the motor 58 rotates to drive the adjusting rod 56 to be constrained by the first constraint block 54 and engaged with the second constraint block 55, so that the adjusting rod 56 drives the second constraint block 55 to slide in the constraint groove 53, and the second constraint block 55 on both sides of the adjusting rod 56 drives the cleaning block 57 to move in opposite directions, so that the cleaning block 57 can be uniformly adjusted in distance for use. The first protection block 571 and the second protection block 572 can be matched and clamped together to protect the constraint groove 53 from entering dust. In addition, when the trigger rod 59 is extruded by the friction block 583, the clamping block 592 moves away from the adjusting rod 56 to facilitate rotation. When the trigger rod 59 is not extruded, the second supporting cylinder 591 supports the clamping block 592 to reset, which blocks and limits the adjusting rod 56. In this way, the distance between the cleaning blocks 57 is adjusted to cooperate with the different distances of the water cooling wall for polishing and cleaning operation. The detection assembly 4 can detect the degree of extrusion of the cleaning block 57 when polishing the water cooling wall, so as to avoid damage of the cleaning block 57 due to excessive force.

[0030] In summary, the detection assembly 4 can detect the flatness of the water cooling wall when the robot moves horizontally on the side of the water cooling wall, so as to avoid the visual detection of the camera 2 from detecting slight deformation and improve the detection effect. The cleaning assembly 5 can make the robot move vertically on the side of the water cooling wall, and the cleaning block 57 can polish and clean the side of the water cooling wall. The cleaning block 57 can be driven to adjust the distance to cooperate with the different distances of the water cooling wall for use, so as to improve the polishing and cleaning effect of the water cooling wall. In addition, the detection assembly 4 can detect the degree of extrusion of the cleaning block 57 when the cleaning assembly 5 polishes and cleans, so as to effectively avoid damage of the cleaning block 57 due to excessive force. In this way, the detection effect of the robot is ensured, and accurate and precise polishing and cleaning operation can be performed.

[0031] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection required by the present application is defined by the appended claims and their equivalents.

Claims

1. An adjustable water-cooled wall robot, comprising a body (1), a camera (2) is fixedly installed on the side of the body (1), a detection assembly (4) is symmetrically arranged on the lower side of the body (1), a detection assembly (4) is arranged on the lower side of the body (1), a cleaning assembly (5) is arranged on the lower side of the body (1) corresponding to the lower side of the detection assembly (4), characterized in that: the detection assembly (4) comprises a first electric push rod (41), the side of the detection assembly (4) comprising the first electric push rod (41) is provided with a movable detection groove (43), and the side of the detection groove (43) is provided with a detectable detection block (45); the cleaning assembly (5) comprises a mounting plate (51), a rotatable mounting roller (52) is arranged on the side of the mounting plate (51), a movable cleaning block (57) is arranged on the side of the mounting roller (52), a drivable motor (58) is arranged on the side of the cleaning block (57), and a movable friction block (583) is arranged on the side of the motor (58).

2. An adjustable waterwall robot as claimed in claim 1, wherein, The detection assembly (4) comprises a first electric push rod (41), the first electric push rod (41) is fixedly installed on the lower side of the body (1), a detection plate (42) is fixedly installed on the lower side of the first electric push rod (41), a detection groove (43) is formed in the side of the detection plate (42), a movable plate (44) is movably installed in the detection plate (42), a detection block (45) is fixedly installed on the side of the movable plate (44), and a first supporting cylinder (46) is fixedly installed between the side of the movable plate (44) and the inner wall of the detection groove (43) at equal intervals.

3. The adjustable waterwall robot of claim 1, wherein, The cleaning assembly (5) comprises a mounting plate (51), the mounting plate (51) is fixedly installed on the side of the movable plate (44), a mounting roller (52) is arranged on the inner side of the mounting plate (51), a constraint groove (53) is formed in the side of the mounting roller (52), a first constraint block (54) is movably installed in the mounting roller (52), a second constraint block (55) is movably installed in the constraint groove (53), an adjusting rod (56) is movably installed in the first constraint block (54), and a cleaning block (57) is movably sleeved on the side of the mounting roller (52).

4. An adjustable waterwall robot as claimed in claim 3, wherein, The cleaning assembly (5) further comprises a first protection block (571) fixedly installed on the side of the cleaning block (57), a second protection block (572) is fixedly installed on the other side of the cleaning block (57), a motor (58) is fixedly installed on the side of the mounting plate (51), an installation groove (581) is formed in the side of the driving shaft of the motor (58), a second electric push rod (582) is movably installed in the installation groove (581), and a friction block (583) is fixedly installed on the side of the second electric push rod (582).

5. An adjustable waterwall robot as claimed in claim 4, wherein, The cleaning assembly (5) further comprises a trigger rod (59) arranged in the mounting roller (52), a second supporting cylinder (591) is fixedly connected between the side of the trigger rod (59) and the first constraint block (54) and movably sleeved on the side of the trigger rod (59), a clamping block (592) is fixedly installed on the side of the trigger rod (59) away from the friction block (583) and abuts against the side of the clamping block (592).

6. An adjustable waterwall robot as claimed in claim 5, wherein, The installation roller (52) is rotatably connected to the side of the installation plate (51) through a cylindrical through hole, the first constraint block (54) is clamped in the corresponding constraint groove (53), the second constraint block (55) is arranged in the inside of the installation roller (52), the second constraint block (55) is a trapezoidal block with a circular threaded groove on the side, the adjusting rod (56) is a cylindrical rod with a continuous cross-shaped cross section, and the adjusting rod (56) is provided with threads with different rotation directions on both sides, and the trigger rod (59) penetrates the first constraint block (54) and the second constraint block (55).

Images