A water-cooled wall inspection and maintenance system

Abstract

The utility model relates to the technical field of boiler water cooling wall detection, cleaning maintenance, disclose a kind of water cooling wall inspection maintenance system, comprising: suspension rope, cableway car, lifting device and robot body;Suspension rope, transverse setting is in water cooling wall top;Cableway car, movably installed on suspension rope;Lifting device, install on cableway car, it is connected robot body by inside's traction rope, for controlling robot body lifting;Robot body, mounted with magnetic attraction caterpillar band and the driving device of driving magnetic attraction caterpillar band movement;Installed with camera and ultrasonic thickness gauge probe;Inside integrated with laser radar positioning module and control system;The control system is configured as: based on the three-dimensional coordinate system of laser radar positioning module construction, fusion camera's surface image information captured with the thickness distribution data of ultrasonic thickness gauge probe acquisition, can carry out multi-state comprehensive accurate detection to water cooling wall, it is convenient for accurate marking and repair of defect area.

Description

Technical Field

[0001] This utility model relates to the field of boiler water-cooled wall inspection, cleaning, and maintenance technology, and more specifically, to a water-cooled wall inspection and maintenance system. Background Technology

[0002] Boiler water-cooled walls are subject to long-term exposure to high temperatures, flue gas, and ash erosion, making them prone to defects such as wall thinning and corrosion. Traditional inspection methods rely on manual visual inspection and ultrasonic thickness measurement using scaffolding or lifting platforms. This approach suffers from harsh working environments, low efficiency, high-risk high-altitude operations, and discrepancies in inspection data. In recent years, although a few wall-climbing inspection devices have attempted to replace manual labor, they generally suffer from insufficient positioning accuracy and poor environmental adaptability, failing to meet the intelligent maintenance requirements throughout the entire lifecycle of water-cooled walls.

[0003] Utility model patent application CN108032922A discloses a special wall-climbing trolley for measuring the thickness of water-cooled walls. This trolley moves along a vertical wall surface via a magnetic adsorption structure and a traction rope, and is equipped with an EMAT probe for wall thickness detection. The device uses a split magnetic wheel assembly (such as a first magnetic wheel assembly and an auxiliary magnetic wheel) to adapt to the water-cooled wall tube array structure, and a spring-loaded floating design ensures a constant distance between the probe and the tube wall. Its traction system consists of a fixed pulley and a rope, enabling manual up-and-down movement, thus initially solving the problem of low efficiency in traditional manual inspection. As indicated in paragraph 0025 of the specification, which states that "a horizontal slide rail is provided at the top of the water-cooled wall, and the fixed pulley reciprocates along the slide rail," this improved design allows the wall-climbing trolley to move both vertically and horizontally on the water-cooled wall via the slide rail.

[0004] The above-mentioned solutions require welding or bolting the slide rails to the top of the pipe wall. While this provides a stable base for movement, it necessitates multi-point positioning welding / bolting, the overall weight of the slide rails is large, requiring hoisting equipment assistance, and the average installation time per session generally exceeds 3 hours, severely restricting work efficiency. Most existing equipment is multi-functional integrated equipment: integrating detection (such as cameras), cleaning (such as roller brushes), and maintenance (such as spraying devices) into a single robot body. While this design can complete multiple processes at once, it has significant drawbacks: the complexity and weight of the equipment structure increase dramatically, significantly raising manufacturing costs; because water-cooled wall operations rely on magnetic tracks for negative pressure adsorption, the contact area between the tracks and the water-cooled wall decreases when the heavy equipment passes through large height differences between water-cooled wall pipe rows, reducing the adsorption area and easily reaching the critical value of magnetic adsorption force, resulting in a high probability of detachment. This requires continuous manual repositioning, leading to a significant decrease in work efficiency. The above-mentioned solutions require manual traction, which is prone to trajectory deviation, large errors, and cannot guarantee complete coverage of the water-cooled wall by the movement path; furthermore, the degree of automation is low, the labor intensity is high, and the work efficiency is low. Utility Model Content

[0005] This utility model aims to overcome at least one of the defects of the prior art and provides a water-cooled wall inspection and maintenance system to solve the technical problems of existing water-cooled wall operation and maintenance robots, such as long installation time of slide rails, easy trajectory deviation caused by manual traction, inability to ensure full coverage of the water-cooled wall by the movement path, low degree of automation, high labor intensity and low operation efficiency.

[0006] The technical solution adopted by this utility model is a water-cooled wall inspection and maintenance system, including: a suspension rope, a cable car, a lifting device, and a robot body; the suspension rope is horizontally arranged on the top of the water-cooled wall; the cable car is movably installed on the suspension rope; the lifting device is installed on the cable car and is connected to the robot body through an internal traction rope for controlling the lifting and lowering of the robot body; the robot body is equipped with magnetic tracks and a drive device for driving the magnetic tracks; it is equipped with a camera and an ultrasonic thickness measuring probe; it integrates a laser radar positioning module and a control system; the control system is configured to: coordinate the lateral movement of the cable car, the lifting and lowering of the lifting device, and the movement of the robot body, and generate a three-dimensional coordinate system of the water-cooled wall based on the laser radar positioning module, and simultaneously trigger the camera to acquire surface images and the ultrasonic thickness measuring probe to detect the wall thickness.

[0007] This solution utilizes suspension ropes, which only require fixing both ends to the top of the water-cooled wall during installation. This eliminates the cumbersome process of welding and bolting rigid slide rails, and requires no additional hoisting equipment, significantly shortening installation time and greatly improving work efficiency. The three-dimensional coordinate system of the water-cooled wall generated by the lidar positioning module ensures comprehensive coverage of the movement path, eliminating trajectory deviations caused by manual traction and improving operational reliability. The coordinated actions of the drive cable car's lateral movement, the lifting device's raising and lowering, and the robot's movement completely replace manual traction operations, achieving fully automated inspection and maintenance, effectively reducing labor intensity and human error. Based on the three-dimensional coordinate system constructed by the lidar positioning module, and integrating surface image information captured by the camera with thickness distribution data collected by the ultrasonic thickness gauge, it can perform comprehensive and accurate multi-state inspection of the water-cooled wall, facilitating precise marking and repair of defective areas.

[0008] Furthermore, at least one suspension rope is provided at the top of the water-cooled wall, a drive wheel is provided inside the cable car, the drive wheel is in rolling cooperation with the suspension rope, and a tensioning wheel is provided inside the cable car for tensioning the suspension rope.

[0009] Furthermore, an encoder is installed on the drive wheel or tension wheel, and the rotation amount obtained by the encoder is converted to obtain the lateral position coordinates of the robot body.

[0010] Furthermore, it also includes a ranging device, which includes a lidar generator installed on the cable car and a lidar receiver installed on the robot body. The lidar receiver receives the laser signal emitted by the lidar generator, and after analysis and processing, generates a longitudinal distance, which is used as the longitudinal position coordinate of the robot body.

[0011] Furthermore, two lifting devices are installed on the left and right sides of the cable car, and the two lifting devices synchronously control the raising and lowering of the robot body.

[0012] Furthermore, the lifting device incorporates a tension sensor to monitor the tension of the traction rope in real time. The control system adjusts the speed at which the lifting device extends and retracts the traction rope based on the tension value to maintain a preset tension value, and triggers an emergency stop or alarm when abnormal fluctuations in the tension value are detected. When the tension sensor detects low tension on the traction rope, it indicates that the traction rope is in a relatively slack state, allowing the robot to move. When high tension is detected, it indicates that the traction rope is taut, restricting the robot's movement. Without a tension sensor, the state of the traction rope between the cable car and the robot cannot be determined, potentially leading to excessive slack, excessive spread, or excessive tautness preventing movement. This design is based on safety considerations, ensuring that the traction rope between the cable car and the robot is not excessively slack. In the event of a fall, the feedback adjustment mechanism allows the traction rope to immediately generate tension, preventing a large fall and avoiding a significant impact on the water-cooled wall. The preset tension value is generally 1.2-1.5 times the robot's weight, but can be determined based on actual conditions.

[0013] Furthermore, it also includes an ultrasonic ranging sensor installed at the end of the robot body, which is used to detect the edge position of the water-cooled wall tube array in real time and send boundary signals to the control system to prevent the robot body from falling off the edge.

[0014] Furthermore, the robot body includes a lower rotary table and an upper rotary table, the upper rotary table is rotatably mounted on the lower rotary table, the traction rope is fixedly connected to the upper rotary table, and the lower part of the robot body is provided with a load changing structure; a cleaning device or a spraying device is detachably installed through the load changing structure.

[0015] Furthermore, the load replacement structure includes an insert arm mounted on the lower rotary table, and the cleaning device or spraying device is inserted into the insert arm and fixedly connected by bolts.

[0016] Furthermore, a climbing track is installed on the outer side of the magnetic track near the end of the vehicle body.

[0017] Compared with existing technologies, the beneficial effects of this utility model are as follows: This solution uses a suspension rope, which only requires fixing both ends to the top of the water-cooled wall during installation, eliminating the cumbersome process of welding and bolting the rigid slide rail, and requiring no other hoisting equipment, thus significantly shortening the installation time and improving work efficiency; the three-dimensional coordinate system of the water-cooled wall generated by the laser radar positioning module ensures full coverage of the movement path, eliminates trajectory deviation caused by manual traction, and improves operational reliability; the coordinated actions of the drive cable car's lateral movement, the lifting device's raising and lowering, and the robot's walking completely replace manual traction operations, achieving fully automated inspection and maintenance, and effectively reducing labor intensity and human error; the three-dimensional coordinate system constructed based on the laser radar positioning module, which integrates surface image information captured by the camera and thickness distribution data collected by the ultrasonic thickness measuring probe, enables comprehensive and accurate multi-state detection of the water-cooled wall, facilitating accurate marking and repair of defective areas. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0019] Figure 2 This is a schematic diagram of the cable car and lifting device of this utility model.

[0020] Figure 3 This is a schematic diagram of the structure of the robot body of this utility model.

[0021] Figure 4 This is a schematic diagram showing the positions of the ultrasonic ranging sensor, camera, ultrasonic thickness probe, and lidar positioning module of this utility model.

[0022] Figure 5 This is a schematic diagram of the insert arm in the load replacement structure of this utility model.

[0023] Figure 6 This is a route map for the inspection and maintenance of the robot body of this utility model.

[0024] In the diagram: 1. Suspension rope; 2. Cable car; 21. Drive wheel; 22. Tensioner wheel; 3. Robot body; 31. Load changing structure; 311. Insertion arm; 32. Roller brush; 33. Magnetic track; 34. Climbing track; 35. Upper turntable; 36. Lower turntable; 4. Lifting device; 41. Traction mechanism; 42. Traction rope; 5. Ranging device; 51. LiDAR generator; 52. LiDAR receiver; 6. Ultrasonic ranging sensor; 7. Camera; 8. Ultrasonic thickness probe; 9. LiDAR positioning module; 10. Connection hole. Detailed Implementation

[0025] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0026] like Figure 1-5 As shown, this solution discloses a water-cooled wall inspection and maintenance system, which is installed on the boiler water-cooled wall and used to perform intelligent inspection, detection and repair of the boiler water-cooled wall.

[0027] The water-cooled wall inspection and maintenance robot includes a suspension rope 1 horizontally installed on the top of the water-cooled wall, a cable car 2 installed on the suspension rope 1 and capable of moving horizontally left and right on the suspension rope 1, a lifting device 4 installed on the cable car 2, a traction rope 42 installed inside the lifting device 4, and the pulling end of the traction rope 42 is connected to the robot body 3. The lifting device 4 generates traction force, which can pull the robot body 3 up to the cable car 2 or lower it away from the cable car 2.

[0028] Two suspension ropes 1 are arranged horizontally from top to bottom at the top of the water-cooled wall. Corresponding to the two suspension ropes 1, two rows of drive wheels 21 are arranged from top to bottom inside the cable car 2. Each row has at least two drive wheels 21, which roll in cooperation with the corresponding suspension rope 1. The lower row is also equipped with tension wheels 22, which can work with the bottom drive wheels 21 to tension the bottom suspension rope 1, ensuring that the cable car 2 runs stably on the suspension ropes 1 and preventing lateral drift that would cause inaccurate lateral position coordinates. The lateral position coordinates here can be obtained by installing encoders on the drive wheels 21 or tension wheels 22. The tension of the suspension ropes 1 must be significantly greater than the total weight of the cable car 2 and the robot body 3 to ensure stability. In practice, it is recommended that the tension be at least twice the total weight, but it needs to be adjusted according to the actual span.

[0029] Two lifting devices 4 are installed on the left and right sides of the cable car 2, respectively connected to the robot body 3. The robot body 3 can be pulled closer to the cable car 2 by the synchronous action of the two lifting devices 4. The synchronous action is realized by the encoder feedback signal to achieve dual motor synchronous closed-loop control or mechanical linkage of the winding roller of the traction rope 42, such as by using a chain or gear set. The two lifting devices 4 can ensure that the cable car 2 is kept in a relatively stable plane, preventing the robot body 3 from swaying left and right below the suspension rope 1, which would cause the lateral position coordinate deviation. The lateral position coordinate is the coordinate of the lateral position of the cable car 2. When the robot body 3 is suspended vertically below, this lateral position coordinate also represents the coordinate of the lateral position of the robot body 3.

[0030] The lifting device 4 includes a traction mechanism 41 and a traction rope 42. The traction rope 42 is wound inside the traction mechanism 41, and the traction mechanism 41 can shorten or lengthen the traction rope 42. The lifting device 4 is installed on the cable car 2, and the pulling end of the traction rope 42 is fixed to the robot body 3. The traction mechanism 41 can be an electric hoist, winch, etc., and the traction rope 42 can be a wire rope, steel cable, etc., which are well known in the art and will not be described in detail here.

[0031] The lifting device 4 is also equipped with a tension sensor (such as a strain gauge, hydraulic, or fiber optic ultrasonic ranging sensor) to measure the tension of the traction rope 42 and provide high-precision data feedback. Combined with a PLC (programmable logic controller) or a dedicated controller, it can dynamically adjust the traction mechanism 41 to raise and lower the traction rope 42, realize feedback regulation control, ensure that the traction rope 42 is always under a certain tension, and avoid the traction rope 42 from stacking and knotting. When the tension sensor detects abnormal tension fluctuations (such as sudden load or rope breakage risk), it triggers an alarm or emergency stop.

[0032] A ranging device 5 is installed between the cable car 2 and the robot body 3. The ranging device 5 includes a laser radar generator 51 and a laser radar receiver 52. The laser radar generator 51 is installed on the cable car 2, and the laser radar receiver 52 is installed on the robot body 3. The laser radar receiver 52 is used to receive the laser signal from the laser radar generator 51. The two work together. The longitudinal position coordinates of the robot body 3 can be obtained through the laser radar generator 51 and the laser radar receiver 52. At the same time, it can also ensure that the robot body 3 is vertically suspended below the cable car 2 so that the lateral position coordinates can accurately reflect the lateral position of the robot body 3 (to prevent the robot body from swaying and causing the lateral position coordinates to be inaccurate). If the laser radar receiver 52 cannot receive the laser from the laser radar generator 51, it means that the robot body 3 and the cable car 2 are not in the same vertical direction, and the lateral position coordinates cannot accurately reflect the lateral position of the robot body 3.

[0033] like Figure 3 As shown, the robot body 3 includes a lower rotary table 36 and an upper rotary table 35. The upper rotary table 35 is rotatably mounted on the lower rotary table 36. The pulling end of the traction rope 42 is fixedly connected to the upper rotary table 35. The upper rotary table 35 has connecting holes 10 near both sides on its side end. The bottom surface of the upper rotary table 35 has bolt holes that communicate with the connecting holes 10. Locking bolts are threaded into the bolt holes. When connecting, the pulling end of the traction rope 42 is inserted into the connecting hole 10, and the traction rope 42 is fixed to the upper rotary table 35 by tightening the locking bolts. To facilitate connection, a cylindrical block can be fixed to the pulling end of the traction rope 42. When connecting, the cylindrical block is directly inserted into the connecting hole 10 and locked by the locking bolts.

[0034] Two magnetic tracks 33 are installed on both sides of the lower rotary table 36. These two magnetic tracks 33 are independently driven by two drive devices (e.g., motors) inside the robot body 3. The two motors move the magnetic tracks 33 by differential speed or opposite rotation, allowing the lower rotary table 36 to turn, thereby changing the robot body 3's direction of travel. This enables the robot to rotate from horizontal to vertical, or from vertical to horizontal. The above description primarily focuses on the magnetic tracks 33. It is understood that the magnetic track 33 structure is not the only way to achieve the purpose of this invention. As an equivalent alternative, a magnetic wheel can also be used. The magnetic wheel includes a hub and multiple magnetic units circumferentially arranged on the hub. The magnetic units can be permanent magnets, electromagnets, or combinations thereof. During operation, the magnetic wheel magnetically adheres to the water-cooled wall, achieving the same magnetic adsorption movement. Those skilled in the art will understand that replacing "magnetic track 33" with "magnetic wheel" is a conventional technical substitution; the fundamental inventive concept of moving on the water-cooled wall based on the principle of magnetic adsorption remains unchanged.

[0035] A climbing track 34 is also installed on the outer side of the magnetic track 33 near the end of the vehicle body. Since the water-cooled wall is composed of several rows of steel pipes distributed around the boiler furnace, and there are other structural components in some places, when there is a large height difference, the robot can move across heights with the help of the climbing track 34. The climbing track 34 is a conventional track structure, which will not be described in detail here.

[0036] like Figure 4 As shown, the robot body 3 is also equipped with an ultrasonic ranging sensor 6 for edge identification; the bottom of the robot body 3 is also equipped with a camera 7, an ultrasonic thickness probe 8, and a lidar positioning module 9. The camera 7 is used for taking pictures and videos, the ultrasonic thickness probe 8 is used to measure the thickness of the water-cooled wall, and the lidar positioning module 9 is used to position the robot body 3.

[0037] A cleaning device is installed on the lower rotary table 36. The cleaning device includes a roller brush 32. The roller brush (32) is driven by a motor and the speed is adjustable from 0 to 200 rpm. The roller brush 32 can be detachably installed on the lower rotary table 36 through a load replacement structure 31. Through this load replacement structure 31, a water spraying device, a spraying device or other devices can also be installed on the robot body 3 to perform inspection, maintenance and other operations on the water-cooled wall.

[0038] like Figure 5 As shown, the load replacement structure 31 includes an arm 311 mounted on the lower rotary table 36. The load can be inserted into the arm 311 and fixed together with bolts. The robot body 3 has two replaceable loads, a cleaning device, and a spraying device. The spraying device is used to spray a layer of rust-removing and rust-preventing liquid onto the surface of the water-cooled wall, which can effectively maintain the water-cooled wall.

[0039] This invention incorporates a real-time microcontroller that can process data from cameras, lidar, and ultrasonic ranging sensors, generate cleaning paths and dynamically avoid obstacles based on the SLAM algorithm, control the motor drive of the lower rotary table 36 to achieve precise positioning and cleaning, and interact with a host computer via 5G or industrial Ethernet to support remote monitoring.

[0040] Working on the boiler water-cooled wall, camera 7 captures video images, and the real-time microcontroller inside the robot body 3 processes the video images. Ultrasonic thickness probe 8 detects the steel pipes of the water-cooled wall. When the surface of a pipe is found to be damaged or severely corroded and the thickness is not up to standard, the lidar positioning module 9 records the current position information and saves the photos taken with the fault location. At the same time, the horizontal coordinate of the current position of the robot body 3 is determined according to the position of the cable car 3 on the suspension rope 1 (obtained by the encoder), and the vertical coordinate is determined according to the height of the robot body 3, that is, the vertical distance measured by the ranging device 5.

[0041] During the cleaning process, if surface stains are difficult to remove, the LiDAR positioning module 9 will record the current position, and the robot will focus on cleaning that position. Alternatively, manual intervention can be used to control and perform targeted cleaning. Figure 6 The diagram shown illustrates the route for the robot body 3 during inspection and maintenance. The robot body 3 and the cable car 2 work together, using a lidar generator 51 and a lidar receiver 52 to maintain them in the same vertical direction, ensuring safety and accuracy of their lateral coordinates.

[0042] A method for intelligent inspection and maintenance of water-cooled walls includes the following steps:

[0043] S1. Control the cable car 2, lifting device 4, and robot body 3 to coordinate their actions (e.g., through communication protocols or control algorithms, which are well-known to those skilled in the art and will not be detailed here) to move along a preset path (e.g. Figure 6 (As shown) The system moves while simultaneously generating three-dimensional coordinates of the water-cooled wall surface by scanning the LiDAR positioning module 9, capturing images of the water-cooled wall surface by the camera 7, and measuring the thickness of the water-cooled wall by the ultrasonic thickness probe 8. The generated three-dimensional coordinates, acquired image data, and thickness data are transmitted to an external computer through the control system.

[0044] Meanwhile, the lateral position coordinates of the robot body 3 are obtained through the encoder on the drive wheel or tension wheel 22 of the cable car 2, and the longitudinal position coordinates of the robot body 3 are obtained through the ranging device 5 and transmitted to an external computer.

[0045] S2. An external computer establishes a three-dimensional coordinate system for the water-cooled wall using three-dimensional coordinates (such as the SLAM algorithm), establishes two-dimensional coordinates for the movement of the robot body 3 using lateral and longitudinal position coordinates, analyzes the image data and thickness data to obtain the three-dimensional coordinates of the defect area, marks the corresponding three-dimensional coordinates of the defect area in the three-dimensional coordinate system, records the corresponding image data and thickness data, judges the severity of the damage to the defect area based on the three-dimensional coordinates, image data and thickness data, and marks the two-dimensional coordinates of the robot body 3 in this defect area.

[0046] S3. The robot body 3 is equipped with a cleaning device. Based on the two-dimensional coordinates of the defective area, the robot body 3 is controlled to move to the defective area and clean the defective area according to the severity of the damage. In severe cases, manual intervention can be performed and cleaning can be carried out through remote control.

[0047] S4. According to the pre-screening path (e.g.) Figure 6 (As shown) After cleaning all the defective areas on the water-cooled wall, the cleaning device is disassembled, the spraying device is installed, and the cable car 2, the lifting device 4 and the robot body 3 are controlled to move along the preset path again. The robot body 3 moves to the defective area according to the two-dimensional coordinates of the defective area, and sprays the defective area to repair it according to the severity of the damage.

[0048] The robot body 3 integrates only a lightweight detection unit camera 7 and a lidar positioning module 9, eliminating the traditional all-in-one cleaning / spraying execution mechanism. It uses lightweight specialized equipment to perform detection, cleaning, and repair tasks in stages, which can effectively reduce the weight of the single machine and the number of times the wall is removed. It eliminates the need for constant manual resetting and can effectively improve work efficiency. Based on the lidar positioning module 9, a three-dimensional spatial coordinate system is directly generated. Combined with the camera 7 and the ultrasonic thickness probe 8, the degree of damage at the defect location is judged simultaneously. Then, according to the degree of damage, the defect location is cleaned, sprayed, and repaired accordingly. A system of "water-cooled wall three-dimensional spatial coordinate system + vision + thickness + robot body movement two-dimensional plane coordinates" is constructed to ensure that the spraying and repair equipment can accurately reproduce the coordinates of the initially detected defect area in each operation, so as to accurately clean and repair it.

[0049] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the technical solution of this utility model, and are not intended to limit the specific implementation of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A water-cooled wall inspection and maintenance system, characterized in that, include: Suspension rope (1), cable car (2), lifting device (4) and robot body (3); Suspension rope (1) is horizontally installed at the top of the water-cooled wall; The cable car (2) is movably mounted on the suspension rope (1); The lifting device (4) is installed on the cable car (2) and is connected to the robot body (3) through the internal traction rope (42) to control the lifting of the robot body (3); The robot body (3) is equipped with magnetic tracks (33) and a drive device for driving the magnetic tracks (33) to move; it is equipped with a camera (7) and an ultrasonic thickness probe (8); it integrates a laser radar positioning module (9) and a control system; the control system is configured as follows: The cable car (2) moves laterally, the lifting device (4) lifts and lowers, and the robot body (3) walks. Based on the laser radar positioning module (9), a three-dimensional coordinate system of the water-cooled wall is generated by scanning. The camera (7) is triggered to collect surface images and the ultrasonic thickness probe (8) is used to detect the wall thickness.

2. The water-cooled wall inspection and maintenance system according to claim 1, characterized in that: At least one suspension rope (1) is provided at the top of the water-cooled wall. A drive wheel (21) is provided inside the cable car (2). The drive wheel (21) rolls with the suspension rope (1). A tension wheel (22) is provided inside the cable car (2) for tensioning the suspension rope (1).

3. The water-cooled wall inspection and maintenance system according to claim 2, characterized in that: An encoder is installed on the drive wheel (21) or tension wheel (22), and the rotation amount obtained by the encoder is converted to obtain the lateral position coordinates of the robot body (3).

4. The water-cooled wall inspection and maintenance system according to claim 3, characterized in that: It also includes a ranging device (5), which includes a laser radar generator (51) installed on the cable car (2) and a laser radar receiver (52) installed on the robot body (3). The laser radar receiver (52) receives the laser signal emitted by the laser radar generator (51), and generates a longitudinal distance after analysis and processing. This longitudinal distance is used as the longitudinal position coordinate of the robot body (3).

5. The water-cooled wall inspection and maintenance system according to claim 1, characterized in that: Two lifting devices (4) are provided on the left and right sides of the cable car (2), and the two lifting devices (4) synchronously control the robot body (3) to rise and fall.

6. The water-cooled wall inspection and maintenance system according to claim 5, characterized in that: The lifting device (4) has a built-in tension sensor for real-time monitoring of the tension value of the traction rope (42); the control system adjusts the speed at which the lifting device (4) raises and lowers the traction rope (42) according to the tension value to maintain the preset tension value.

7. The water-cooled wall inspection and maintenance system according to claim 1, characterized in that: It also includes an ultrasonic ranging sensor (6) installed at the end of the robot body (3) to detect the edge position of the water-cooled wall tube bank in real time and send boundary signals to the control system.

8. A water-cooled wall inspection and maintenance system according to any one of claims 1-7, characterized in that: The robot body (3) includes a lower rotary table (36) and an upper rotary table (35). The upper rotary table (35) is rotatably mounted on the lower rotary table (36). The traction rope (42) is fixedly connected to the upper rotary table (35). The lower part of the robot body (3) is provided with a load replacement structure (31). A cleaning device or a spraying device is detachably installed through the load replacement structure (31).

9. A water-cooled wall inspection and maintenance system according to claim 8, characterized in that: The load replacement structure (31) includes an insert arm (311) mounted on the lower rotary table (36), and the cleaning device or spraying device is inserted into the insert arm (311) and fixedly connected by bolts.

10. A water-cooled wall inspection and maintenance system according to claim 8, characterized in that: A climbing track (34) is installed on the outer side of the magnetic track (33) near the end of the vehicle body.

Images