Membrane type water-cooled wall climbing device and membrane type water-cooled wall climbing robot

Abstract

The utility model discloses a membrane type water-cooled wall climbing device and a membrane type water-cooled wall climbing robot. The membrane water wall climbing device comprises a vehicle body, a magnetic wheel assembly and a wheel track adjusting assembly. The magnetic wheel assembly comprises a rear wheel assembly and a front wheel assembly which are arranged at intervals in the advancing direction of the vehicle body, and the wheel track adjusting assembly is connected between the rear wheel assembly and the front wheel assembly and used for adjusting the distance between the rear wheel assembly and the front wheel assembly and preventing the front wheel assembly and the rear wheel assembly from being clamped in the interval between the adjacent pipe bodies at the same time. Therefore, the problem that movement is blocked when the vehicle body walks perpendicular to the water wall tube is solved. The front wheel assembly and the rear wheel assembly respectively comprise at least two magnetic wheel units, and each magnetic wheel unit comprises at least two detachably connected magnetic wheels; the axial width of the single magnetic wheel unit can be changed through the at least two detachably connected magnetic wheels, the situation that the left magnetic wheel unit and the right magnetic wheel unit sink into the interval between the adjacent pipe bodies at the same time is avoided, and therefore the problem that a vehicle body cannot steer when walking along the water wall pipe is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to membrane type water cooled wall automation detection technical field especially relates to a kind of membrane type water cooled wall wall climbing device and membrane type water cooled wall wall climbing robot. BACKGROUND

[0002] Wall climbing robot is the automation robot that can climb on vertical wall and complete job.Magnetic wheel type wall climbing robot for boiler water cooled wall detection has the advantages of flexible movement,high speed and reliable adsorption,has become the key research and development direction of current solving water cooled wall maintenance problem of thermal power plant.But the size of the wheel set of the vehicle body of existing wall climbing robot and the spacing between wheel set are fixed,once the pipe diameter and pipe distance of membrane type water cooled wall pipe change,The wheel set of wall climbing robot can be stuck between membrane type water cooled wall pipe during movement,cause robot to walk along water cooled wall pipe cannot turn,or walk perpendicularly to water cooled wall pipe and appear movement obstruction problem,thus seriously limit the application range of wall climbing robot. SUMMARY

[0003] The utility model solves the technical problem in, for at least one defect proposed in the above background art, provide a kind of membrane type water cooled wall wall climbing device and membrane type water cooled wall wall climbing robot.

[0004] The utility model solves the technical problem and adopts the technical scheme that: construct a kind of membrane type water cooled wall wall climbing device, it includes vehicle body, magnetic wheel component, wheel spacing adjusting component;

[0005] The magnetic wheel component includes rear wheel component and front wheel component spaced apart along the advancing direction of the vehicle body, and the wheel spacing adjusting component is connected between the rear wheel component and the front wheel component, for adjusting the spacing between the rear wheel component and the front wheel component;

[0006] The front wheel component and the rear wheel component respectively include at least two magnetic wheel units, and each magnetic wheel unit includes at least two detachably connected magnetic wheels.

[0007] In some embodiments, the front wheel component further includes a first bracket, at least two first drive motors disposed on the first bracket, and the magnetic wheel units of the front wheel component and the first drive motors are connected one by one.

[0008] The rear wheel component further includes a second bracket, at least two second drive motors disposed on the second bracket, and the magnetic wheel units of the rear wheel component and the second drive motors are connected one by one.

[0009] The vehicle body is connected with the first bracket and the second bracket respectively.

[0010] In some embodiments, the first support is provided with a first through hole, and the second support is provided with a second through hole.

[0011] The track adjusting assembly comprises a lead screw, a first bearing arranged in the first through hole, and a second bearing arranged in the second through hole; the lead screw is arranged in the first bearing and the second bearing.

[0012] In some embodiments, the track adjusting assembly further comprises an operation part arranged at one end of the lead screw; the outer contour shape of the operation part in the radial section of the lead screw is polygonal.

[0013] In some embodiments, the vehicle body is provided with a first sliding guide part.

[0014] The first support is provided with a second sliding guide part, and the first sliding guide part and the second sliding guide part are in sliding cooperation; and / or the second support is provided with a third sliding guide part, and the first sliding guide part and the third sliding guide part are in sliding cooperation.

[0015] In some embodiments, the first driving motor and / or the second driving motor is a brakeless motor.

[0016] In some embodiments, the membrane water-cooled wall climbing device further comprises an indicating unit for indicating the distance between the front wheel assembly and the rear wheel assembly; the indicating unit comprises a plurality of scale lines arranged on the vehicle body and a pointer arranged on the front wheel assembly and / or the rear wheel assembly.

[0017] In some embodiments, each of the magnetic wheels comprises a small-diameter part and a large-diameter part coaxially connected; a clamping groove is arranged on the side of the large-diameter part opposite to the small-diameter part; adjacent magnetic wheels are nested with each other through cooperation of the small-diameter parts and the clamping grooves.

[0018] In some embodiments, each of the magnetic wheel units further comprises a plurality of fasteners; the small-diameter part and the large-diameter part of each of the magnetic wheels are provided with a third through hole; and the fasteners are detachably arranged in the third through holes of the small-diameter part and the large-diameter part of adjacent magnetic wheels.

[0019] In some embodiments, the inner wall surface of the clamping groove of each of the magnetic wheels is provided with a magnetic separation pad.

[0020] The utility model also constructs a membrane water-cooled wall climbing robot, which comprises the membrane water-cooled wall climbing device of any one of the above and at least one sensor carried on the vehicle body of the membrane water-cooled wall climbing device.

[0021] This utility model has at least the following beneficial effects: By connecting the wheel track adjustment component between the rear wheel assembly and the front wheel assembly, the distance between the rear wheel assembly and the front wheel assembly can be adjusted, preventing the front wheel assembly and the rear wheel assembly from being stuck in the gap between adjacent tubes at the same time, thereby solving the problem of obstructed movement when the vehicle body travels perpendicular to the water-cooled wall tube; By using at least two detachably connected magnetic wheels, the axial width of a single magnetic wheel unit can be changed, preventing the left and right magnetic wheel units from being stuck in the gap between adjacent tubes at the same time, thereby solving the problem of the vehicle body being unable to turn when traveling along the water-cooled wall tube. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this utility model, the following will further describe this utility model in conjunction with the accompanying drawings and embodiments. In the drawings:

[0023] Figure 1 This is a schematic diagram of the structure of a wall-climbing robot when it moves along the central axis of a tube perpendicular to the membrane water-cooled wall, with both the front and rear wheels embedded in the gaps between adjacent tubes;

[0024] Figure 2 This is a schematic diagram of the structure of a wall-climbing robot when both its left and right wheels are embedded in the gaps between adjacent tubes as it moves along the central axis of the tube parallel to the membrane water-cooled wall.

[0025] Figure 3 This is a three-dimensional structural schematic diagram of the membrane water-cooled wall climbing device according to some embodiments of the present invention;

[0026] Figure 4 yes Figure 3 The diagram shows a three-dimensional structure of the membrane water-cooled wall climbing device after it has been concealed.

[0027] Figure 5 This is a schematic diagram of the structure of the membrane water-cooled wall climbing device in some embodiments of this utility model when the distance between the front wheel assembly and the rear wheel assembly is not equal to an integer multiple of the distance between adjacent pipes;

[0028] Figure 6 This is a schematic diagram of the structure of the membrane water-cooled wall climbing device in some embodiments of this utility model when the distance between the left and right wheels is equal to the distance between adjacent tubes;

[0029] Figure 7 yes Figure 4 An exploded view of the front wheel assembly of the membrane water-cooled wall climbing device shown.

[0030] Figure 8 yes Figure 7 A schematic diagram of the structure of one of the magnetic wheels in the front wheel assembly shown. Detailed Implementation

[0031] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings.

[0032] The terms "first", "second", "third", etc. are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] Please refer to Figure 1 and Figure 2 , the membrane water wall includes a plurality of parallel spaced tubes 10, adjacent tubes 10 are connected by fins 11. The utility model provides a kind of membrane water wall wall-climbing robot (hereinafter referred to as wall-climbing robot), it includes membrane water wall wall-climbing device, and at least one sensor (not shown) carried on membrane water wall wall-climbing device. The membrane water wall wall-climbing device is used to climb on membrane water wall. Specifically, the at least one sensor can include image sensor (camera), attitude sensor, position sensor, speed sensor and the like. By carrying the sensor of specific function, membrane water wall wall-climbing robot can clean and detect the tube 10 of membrane water wall, replace traditional manual cleaning and detection work, compared with traditional manual, membrane water wall wall-climbing robot has many advantages, such as high work efficiency, high detection precision, can reduce operating cost, shorten construction period and labor intensity, and it is important means to solve the problem of current boiler tube explosion.

[0034] Since the tube spacing of the membrane water wall of each thermal power plant is different, when the same wall-climbing robot is suitable for the membrane water wall of different thermal power plants, the tube spacing of the membrane water wall and the front and rear wheel spacing and wheel width of the wall-climbing robot will not be adapted, for example Figure 1 and Figure 2 as shown.

[0035] Please refer to Figure 1 At this time, the advancing direction A of the wall-climbing robot is perpendicular to the central axis of the tube 10 of the membrane water wall, and the extension direction of the wheel axis of the wall-climbing robot is consistent with the extension direction of the central axis of the tube 10. The distance D1 between the front and rear magnetic wheel groups of the wall-climbing robot is equal to or slightly equal to an integer multiple of the spacing D2 between adjacent tubes 10 (for example Figure 1As shown in the case of D1 = 4 x D2, both the front and rear magnetic wheel groups are stuck in the interval between adjacent tube bodies 10, at this time each magnetic wheel 301 is simultaneously subjected to the magnetic attraction of the front and rear two tube bodies 10, so the wall climbing robot will be subjected to a great forward resistance, and it is likely to cause the overload protection of the drive motor and cause the wall climbing robot to lose power.

[0036] Please refer to Figure 2 At this time, the advancing direction of the wall climbing robot is parallel to the central axis of the tube body 10 of the membrane water cooling wall, and the extension direction Y-Y of the wheel axis of the wall climbing robot is perpendicular to the extension direction of the central axis of the tube body 10. When the distance D3 between the left and right magnetic wheel groups of the wall climbing robot is equal to or slightly equal to an integer multiple of the interval D2 between adjacent tube bodies 10 and the axial width D4 of the magnetic wheel 301 is less than the interval D2 between adjacent tube bodies 10, the left and right magnetic wheel groups are also extremely easy to be stuck between adjacent tube bodies 10 at the same time, which will make it very difficult for the vehicle body 2 to turn.

[0037] As shown in Figure 3 and Figure 4 To solve the above problems, the utility model provides an improved membrane water cooling wall climbing device (hereinafter sometimes referred to as a wall climbing device), which comprises a vehicle body 2, a magnetic wheel assembly and a wheel spacing adjusting assembly. The magnetic wheel assembly comprises a rear wheel assembly 32 and a front wheel assembly 31 arranged at intervals along the advancing direction of the vehicle body 2. At least one sensor is carried on the vehicle body 2, and the vehicle body 2 moves with the rolling of the rear wheel assembly 32 and the front wheel assembly 31.

[0038] The wheel spacing adjusting assembly is connected between the rear wheel assembly 32 and the front wheel assembly 31 and is used for adjusting the interval between the rear wheel assembly 32 and the front wheel assembly 31. For Figure 1 As shown in the problem that both the front and rear magnetic wheel groups are stuck in the interval between adjacent tube bodies 10, it is only necessary to adjust the interval between the rear wheel assembly 32 and the front wheel assembly 31 through the wheel spacing adjusting assembly, so that the interval D1 between the rear wheel assembly 32 and the front wheel assembly 31 is not equal to an integer multiple of the interval D2 between adjacent tube bodies 10, for example Figure 5 As shown in the embodiment, the interval D1 between the rear wheel assembly 32 and the front wheel assembly 31 is less than 4 x D2 and greater than 3 x D2, so that during the advancing process of the wall climbing device, the front wheel assembly 31 and the rear wheel assembly 32 will not be stuck in the interval between adjacent tube bodies 10 at the same time, thereby reducing the risk of forward resistance and loss of power of the wall climbing device.

[0039] The front wheel assembly 31 and the rear wheel assembly 32 respectively comprise at least two magnetic wheel units 30. That is, the front wheel assembly 31 comprises at least two magnetic wheel units 30; the rear wheel assembly 32 comprises at least two magnetic wheel units 30. Each magnetic wheel unit 30 comprises at least two detachably connected magnetic wheels 301. Specifically, the at least two magnetic wheels 301 are detachably connected in the direction of the wheel axis, and by adjusting the number of magnetic wheels 301, the axial width of a single magnetic wheel unit 30 can be changed.Figure 2 The problem that the left and right magnetic wheel groups are stuck in the interval of the adjacent pipe body 10 is solved by adjusting the number of the magnetic wheels 301 through the detachable connection, so as to change the axial width D1 of the single magnetic wheel unit 30, so that the axial width D4 of the single magnetic wheel unit 30 is greater than or equal to the interval D2 of the adjacent pipe body 10, for example Figure 6 In the embodiment shown, the axial width D4 of the single magnetic wheel unit 30 is equal to the interval D2 of the adjacent pipe body 10, so as to avoid that the left and right magnetic wheel units 30 are stuck in the interval of the adjacent pipe body 10 at the same time, and ensure that the magnetic wheel unit 30 can normally turn, and reduce the difficulty of turning of the vehicle body 2.

[0040] In summary, the membrane water cooling wall climbing device can adjust the interval between the rear wheel assembly 32 and the front wheel assembly 31 through the wheel track adjusting assembly connected between the rear wheel assembly 32 and the front wheel assembly 31, so as to avoid that the front wheel assembly 31 and the rear wheel assembly 32 are stuck in the interval of the adjacent pipe body 10 at the same time, thereby solving the problem that the movement of the vehicle body 2 is blocked when the vehicle body 2 moves perpendicular to the water cooling wall pipe. The axial width of the single magnetic wheel unit 30 can be changed through the at least two detachable magnetic wheels 301, so as to avoid that the left and right magnetic wheel units 30 are stuck in the interval of the adjacent pipe body 10 at the same time, thereby solving the problem that the vehicle body 2 cannot turn when the vehicle body 2 moves along the water cooling wall pipe.

[0041] As shown in Figure 3 and Figure 4 In some embodiments, the front wheel assembly 31 further comprises a first support 311 and at least two first driving motors 312 arranged on the first support 311, and the magnetic wheel unit 30 of the front wheel assembly 31 and the first driving motor 312 are connected one by one. The rear wheel assembly 32 further comprises a second support 321 and at least two second driving motors 322 arranged on the second support 321, and the magnetic wheel unit 30 of the rear wheel assembly 32 and the second driving motor 322 are connected one by one. The vehicle body 2 is connected with the first support 311 and the second support 321 respectively. Specifically, the number of the first driving motor 312 is consistent with the number of the magnetic wheel unit 30, and each first driving motor 312 is used to drive the rotation of one magnetic wheel unit 30. That is, each magnetic wheel unit 30 of the front wheel assembly 31 or the rear wheel assembly 32 is connected with the output shaft of one first driving motor 312, and the torque output by the first driving motor 312 is transmitted to the magnetic wheel unit 30, so as to drive the magnetic wheel unit 30 to rotate, so that the membrane water cooling wall climbing device can move on the membrane water cooling wall.

[0042] As shown in Figure 3 and Figure 4As shown, in some embodiments, the first support 311 is provided with a first through hole 313, and the second support 321 is provided with a second through hole 323. The wheel track adjusting assembly comprises a lead screw 40, a first bearing arranged in the first through hole 313, and a second bearing arranged in the second through hole 323. The lead screw 40 passes through the first bearing and the second bearing. That is, one end of the lead screw 40 passes through the first bearing, and the other end passes through the second bearing, forming a lead screw 40 transmission mechanism. The lead screw 40 can rotate about the central axis of the lead screw 40 relative to the first support 311 and the second support 321, so as to drive the first support 311 and the second support 321 to move closer to each other or move away from each other. Specifically, as shown in the embodiment, Figure 4 In the embodiment shown, the wheel track adjusting assembly further comprises a lead screw support seat 41, which is installed at one end of the lead screw 40, for example, can be installed at the end of the lead screw 40 close to the first support 311, or can be installed at the end of the lead screw 40 close to the second support 321. The lead screw support seat 41 is used to support one end of the lead screw 40, reduce the bending deformation of the lead screw 40, and ensure the accuracy of the lead screw 40. As shown in the embodiment, Figure 4 In the embodiment shown, the lead screw 40 is a ball screw 40, the first support 311 serves as one of the support seats of the ball screw 40, and the second support 321 serves as the nut seat of the ball screw 40. The operator can rotate the end of the lead screw 40 close to the second support 321, drive the ball screw 40 to rotate, and drive the second support 321 to move towards the first support 311, thereby reducing the distance between the front wheel assembly 31 and the rear wheel assembly 32. Similarly, when the operator reversely rotates the end of the lead screw 40 close to the second support 321, drives the ball screw 40 to rotate in the opposite direction, and drives the second support 321 to move away from the first support 311, thereby increasing the distance between the front wheel assembly 31 and the rear wheel assembly 32. Thus, the distance between the front wheel assembly 31 and the rear wheel assembly 32 can be adjusted by the lead screw 40 transmission mechanism, which is simple, reliable and easy to operate.

[0043] As shown in the embodiments, Figure 3 and Figure 4 In some embodiments, the wheel track adjusting assembly further comprises an operating portion 42 arranged at one end of the lead screw 40. For example, the operating portion 42 can be arranged at the end of the lead screw 40 close to the first support 311, or the operating portion 42 can be arranged at the end of the lead screw 40 close to the second support 321. The outer contour shape of the operating portion 42 in the radial cross section of the lead screw 40 is a polygon, which can be a quadrilateral, a hexagon, etc. This facilitates the operator to rotate the lead screw 40 using a hand tool or an electric tool.

[0044] As shown in the embodiments, Figure 3 and Figure 4As shown, in some embodiments, the first sliding guide 21 is arranged on the vehicle body 2. The second sliding guide is arranged on the first support 311, and the first sliding guide 21 and the second sliding guide are in sliding cooperation. Alternatively, the third sliding guide 324 is arranged on the second support 321, and the first sliding guide 21 and the third sliding guide 324 are in sliding cooperation. Alternatively, the second sliding guide is arranged on the first support 311, and the third sliding guide 324 is arranged on the second support 321, and the second sliding guide and the third sliding guide 324 are respectively in sliding cooperation with the first sliding guide 21. In this way, the sliding cooperation of the first sliding guide 21 and the second sliding guide and the third sliding guide 324 provides linear guidance for the relative movement of the first support 311 and the second support 321. Specifically, one of the first sliding guide 21 and the second sliding guide is a convex linear slide rail, and the other is a concave linear slide groove; similarly, one of the first sliding guide 21 and the third sliding guide 324 is a convex linear slide rail, and the other is a concave linear slide groove. The cooperation of the linear slide rail and the linear slide groove provides linear guidance for the relative movement of the first support 311 and the second support 321.

[0045] In some embodiments, the first driving motor 312 and / or the second driving motor 322 is a no-hold motor. That is, one of the first driving motor 312 and the second driving motor 322 can be a no-hold motor, or both the first driving motor 312 and the second driving motor 322 can be no-hold motors. The no-hold motor refers to a motor without a hold device. The hold is a kind of brake device, which is usually used for the stop and position keeping of the motor, and its main function is to quickly apply a brake force when the motor is powered off, so that the motor shaft stops rotating, preventing the load from continuing to move due to gravity or inertia. The no-hold motor does not have such built-in brake function, and after the motor is powered off, its shaft will continue to rotate freely due to inertia until it stops completely. Therefore, after the no-hold motor is powered off, the corresponding magnetic wheel unit 30 driven by the no-hold motor can still continue to rotate. Thus, when the wall climbing device is adsorbed to the membrane water cooling wall and the distance between the front wheel assembly 31 and the rear wheel assembly 32 needs to be adjusted, the magnetic wheel unit 30 driven by the no-hold motor can rotate synchronously to prevent the generation of sliding friction force between the magnetic wheel 301 and the membrane water cooling wall during the adjustment of the distance between the front wheel assembly 31 and the rear wheel assembly 32, which prevents the relative movement of the first support 311 and the second support 321.

[0046] As shown in FIG. 1, the wall climbing device 1 comprises a vehicle body 2, a first support 311, a second support 321, a first driving motor 312, a second driving motor 322, a first sliding guide 21, a second sliding guide, a third sliding guide 324, a front wheel assembly 31, a rear wheel assembly 32, and a magnetic wheel unit 30. Figure 3 and Figure 4As shown in some embodiments, the membrane water wall climbing device further comprises an indicating unit for indicating the interval value between the rear wheel assembly 32 and the front wheel assembly 31, the indicating unit comprising a plurality of scale lines 51 arranged on the vehicle body 2 and a pointer 52 arranged on the front wheel assembly 31 and / or the rear wheel assembly 32. That is, the pointer 52 can be arranged on one of the front wheel assembly 31 and the rear wheel assembly 32, or the pointer 52 can be arranged on both the front wheel assembly 31 and the rear wheel assembly 32. When the first support 311 and the second support 321 move relative to each other, the relative positions of the pointer 52 and the scale lines 51 change accordingly, so that the scale value pointed to by the pointer 52 changes with the interval value between the front wheel assembly 31 and the rear wheel assembly 32. The operator can determine the interval value between the front wheel assembly 31 and the rear wheel assembly 32 by observing the scale value pointed to by the pointer 52. In this way, the interval value between the front wheel assembly 31 and the rear wheel assembly 32 can be adjusted in advance according to the interval value of the pipe body 10 of the membrane water wall (a known standard parameter), and the adjusted climbing device is installed on the membrane water wall, so that the front wheel assembly 31 and the rear wheel assembly 32 will not fall into the interval between adjacent pipe bodies 10 at the same time. Similarly, for the detachable connection of a plurality of magnetic wheels 301, the axial width of each magnetic wheel 301 is also known, and the axial width of the single magnetic wheel unit 30 can be adjusted in advance according to the interval value of the pipe body 10 of the membrane water wall (a known standard parameter), so that the left and right magnetic wheel units 30 will not fall into the interval between adjacent pipe bodies 10 at the same time.

[0047] As shown in some embodiments, Figure 7 and Figure 8 In some embodiments, each magnetic wheel 301 comprises a small-diameter portion 302 and a large-diameter portion 303 coaxially connected. The radial dimension of the small-diameter portion 302 is smaller than that of the large-diameter portion 303. The side of the large-diameter portion 303 facing away from the small-diameter portion 302 is recessed with a clamping groove 304, and adjacent magnetic wheels 301 are nested with each other through the cooperation of the small-diameter portion 302 and the clamping groove 304, thereby realizing the detachable connection of the plurality of magnetic wheels 301. Specifically, in some embodiments, the small-diameter portion 302 and the clamping groove 304 can be interference fit or threaded fit. For example, Figure 7 In the shown embodiment, two adjacent magnetic wheels 301 are a first magnetic wheel 301 and a second magnetic wheel 301, respectively, and the clamping grooves 304 on the small-diameter portion 302 of the first magnetic wheel 301 and the large-diameter portion 303 of the second magnetic wheel 301 are nested and fitted.

[0048] As shown in some embodiments, Figure 7 and Figure 8As shown, further, in some embodiments, each magnetic wheel unit 30 further comprises a plurality of fasteners (not shown) for reinforcing the connection strength between adjacent magnetic wheels 301. Each magnetic wheel 301 is provided with a third through hole 306 on the small-diameter portion 302 and the large-diameter portion 303, and the fasteners are detachably arranged in the third through holes 306 on the small-diameter portion 302 and the large-diameter portion 303 of adjacent magnetic wheels 301, thereby fastening and connecting the adjacent magnetic wheels 301. When the magnetic wheels 301 need to be disassembled, the fasteners arranged in the small-diameter portion 302 and the large-diameter portion 303 of adjacent magnetic wheels 301 are removed.

[0049] As shown in the drawings, Figure 8 As shown, further, in some embodiments, the inner wall surface of the clamping groove 304 of each magnetic wheel 301 is provided with a magnetic shielding pad 305 for reducing the interference of the magnetic fields of adjacent magnetic wheels 301 with each other. Specifically, the magnetic shielding pad 305 can be made of a magnetic shielding material such as Mu-Metal, pure iron, silicon steel, soft magnetic ferrite, etc.

[0050] It can be understood that the above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the present application, and a number of modifications and improvements can be made, which all belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A membrane water wall climbing device, characterized in that, The vehicle body (2), a magnetic wheel assembly, a wheel track adjusting assembly; The magnetic wheel assembly comprises a rear wheel assembly (32) and a front wheel assembly (31) arranged at intervals along the advancing direction of the vehicle body (2), and the wheel track adjusting assembly is connected between the rear wheel assembly (32) and the front wheel assembly (31) and used for adjusting the interval between the rear wheel assembly (32) and the front wheel assembly (31). The front wheel assembly (31) and the rear wheel assembly (32) each comprise at least two magnetic wheel units (30), and each magnetic wheel unit (30) comprises at least two detachably connected magnetic wheels (301).

2. The membrane water wall climbing device according to claim 1, characterized in that, The front wheel assembly (31) further comprises a first support (311) and at least two first driving motors (312) arranged on the first support (311), and the magnetic wheel units (30) of the front wheel assembly (31) are connected to the first driving motors (312) in one-to-one correspondence. The rear wheel assembly (32) further comprises a second support (321) and at least two second driving motors (322) arranged on the second support (321), and the magnetic wheel units (30) of the rear wheel assembly (32) are connected to the second driving motors (322) in one-to-one correspondence. The vehicle body (2) is connected to the first support (311) and the second support (321) respectively.

3. The membrane water wall climbing device according to claim 2, characterized in that, The first support (311) is provided with a first through hole (313), and the second support (321) is provided with a second through hole (323). The wheel track adjusting assembly comprises a lead screw (40), a first bearing arranged in the first through hole (313), and a second bearing arranged in the second through hole (323); and the lead screw (40) is arranged in the first bearing and the second bearing.

4. The membrane water wall climbing device according to claim 3, characterized in that, The wheel track adjusting assembly further comprises an operation part (42) arranged at one end of the lead screw (40), and the outer contour shape of the operation part (42) in the radial section of the lead screw (40) is a polygon.

5. The membrane water wall climbing device according to claim 2, characterized in that, The vehicle body (2) is provided with a first sliding guide part (21). The first support (311) is provided with a second sliding guide part, the first sliding guide part (21) and the second sliding guide part are in sliding cooperation; and / or the second support (321) is provided with a third sliding guide part (324), and the first sliding guide part (21) and the third sliding guide part (324) are in sliding cooperation.

6. The membrane water wall climbing device according to claim 2, characterized in that, The first driving motor (312) and / or the second driving motor (322) is a non-brake motor.

7. The membrane water wall climbing device of claim 1, wherein The membrane water-cooled wall climbing device further comprises an indicating unit for indicating the interval value between the rear wheel assembly (32) and the front wheel assembly (31), and the indicating unit comprises a plurality of scale lines (51) arranged on the vehicle body (2) and a pointer (52) arranged on the front wheel assembly (31) and / or the rear wheel assembly (32).

8. The membrane water wall climbing device of claim 1, wherein, Each of the magnetic wheels (301) comprises a small-diameter part (302) and a large-diameter part (303) coaxially connected, and a clamping groove (304) is arranged on the side of the large-diameter part (303) away from the small-diameter part (302), and adjacent magnetic wheels (301) are nested with each other through cooperation of the small-diameter part (302) and the clamping groove (304).

9. The membrane water wall climbing device according to claim 8, characterized in that Each of the magnetic wheel units (30) further comprises a plurality of fasteners, and the small-diameter part (302) and the large-diameter part (303) of each of the magnetic wheels (301) are provided with third through holes (306), and the fasteners are detachably arranged in the third through holes (306) of the small-diameter part (302) and the large-diameter part (303) of adjacent magnetic wheels (301). And / or, the inner wall surface of the clamping groove (304) of each of the magnetic wheels (301) is provided with a magnetic shielding pad (305).

10. A membrane water wall climbing robot, characterized in that, The membrane water wall climbing device comprises a vehicle body (2), a plurality of magnetic wheel units (30) arranged on the vehicle body (2), and a plurality of magnetic wheels (301) arranged on each of the magnetic wheel units (30). The membrane water wall climbing device comprises a vehicle body (2), a plurality of magnetic wheel units (30) arranged on the vehicle body (2), and a plurality of magnetic wheels (301) arranged on each of the magnetic wheel units (30).

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