CN105365912A - Wall-climbing robot for cladding layer multi-point synchronous thickness measurement of boiler water cooling wall - Google Patents

Abstract

The invention discloses a wall-climbing robot for cladding layer multi-point synchronous thickness measurement of a boiler water cooling wall, and belongs to the field of boiler water cooling wall detection. The wall-climbing robot aims to solve the problems that in existing water cooling wall tube thickness detection, the area is large, the positions are dispersed, measurement is inconvenient, and thus great difficulty is brought to workers. According to the wall-climbing robot for cladding layer multi-point synchronous thickness measurement of the boiler water cooling wall, synchronous belts are arranged on the outer sides of compressing wheels, the outer sides of driven shafts and the outer sides of driving shafts in a sleeving mode at the same time; a plurality of magnet supports are evenly fixed to the outer surface of each synchronous belt, and the magnet supports are elastic supports; a plurality of magnets are arranged on the inner sides of two side walls, the robot is attracted to the water cooling wall through a plurality of magnets on the magnet supports, and therefore the robot can walk freely on the boiler water cooling wall in the vertical direction of the tube wall for collecting the thickness of a tube, and data are provided for recording the abrasion condition of the tube subsequently.

Description

A kind of climbing robot of boiler water wall overlay Multipoint synchronous thickness measuring

Technical field

The invention belongs to boiler water wall detection field, particularly relate to a kind of climbing robot of boiler water wall overlay Multipoint synchronous thickness measuring.

Background technology

In station boiler, Bailey wall runs throughout the year, especially during workload height, goods fluid amount is large, under the material circulated washes away, boiler water-wall tube is very easy to be worn, especially the situation that many positions pipe is worn bottom boiler wear resistant crook, Bailey wall smoke outlet, pendant superheater etc. is very serious, power station staff needs accurately to measure pipe wall thickness and changes the safe and stable operation guaranteeing boiler in time, but the area of water screen tube Thickness sensitivity is large, position disperses, is inconvenient to measure and brings very large difficulty to staff.Further, carry out the thickness measurement of boiler water of electric power plant cold wall surface, superficial dust process, to work such as situation shootings in stove time, work under bad environment in boiler, manual operation work efficiency is low, burner hearth very high manual operation time there is personal safety hidden danger.

Summary of the invention

The present invention is that the area in order to solve water screen tube Thickness sensitivity is large, position disperses, is inconvenient to measure the problem bringing very large difficulty to staff, now provides a kind of climbing robot of boiler water wall overlay Multipoint synchronous thickness measuring.

A climbing robot for boiler water wall overlay Multipoint synchronous thickness measuring, it comprises: the wheels of wireless transmission circuit one, amplifier, comparator, tracing analysis instrument, connecting portion and two symmetrical structures;

Connecting portion comprises: vibration damping sheet group, vibration damping sheet bracing frame 16 and leading screw 21;

Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame 16 comprises the two parts be separated from each other, the two ends of vibration damping sheet group are hinged with two parts of vibration damping sheet bracing frame 16 respectively, leading screw 21 carries out fore and aft motion for driving vibration damping sheet group, and two wheels are separately fixed on two parts of vibration damping sheet bracing frame 16;

Each wheels comprise: wireless transmission circuit two, Timing Belt 4, multiple magnet holder 5, contact roller 7, compression wheel shaft 8, actuator 9, carbon fiber support 10, driving wheel carrier 11, Timing Belt main wheel 12, Timing Belt trailing wheel 14, Timing Belt are from wheeling supporting frame 17, contact roller stay bearing plate 18, DC servo motor 19, ultrasonic thickness gauge 20, driven shaft 22 and imput shaft 23;

Compress wheel shaft 8, driven shaft 22 and imput shaft 23 to be parallel to each other, and compress the top that wheel shaft 8 is positioned at driven shaft 22 and imput shaft 23, contact roller 7 is fixed on and compresses wheel shaft 8 end, Timing Belt main wheel 12 is fixed on imput shaft 23 end, Timing Belt trailing wheel 14 is fixed on driven shaft 22 end, Timing Belt 4 is socketed in outside contact roller 7, driven shaft 22 and imput shaft 23 simultaneously, and multiple magnet holder 5 is evenly fixed on Timing Belt 4 outside face;

Carbon fiber support 10 is longitudinally arranged, wheels are fixedly connected with by the part of carbon fiber support 10 with vibration damping sheet bracing frame 16, wheel carrier 11 is driven to be fixed on the end of carbon fiber support 10, the head end of imput shaft 23 is rotationally connected with driving wheel carrier 11, and imput shaft 23 is mutually vertical with carbon fiber support 10, Timing Belt is fixed on the head end of carbon fiber support 10 from wheeling supporting frame 17, the head end of driven shaft 22 and Timing Belt are rotationally connected from wheeling supporting frame 17, contact roller stay bearing plate 18 is fixed on and drives on wheel carrier 11, the head end and the contact roller stay bearing plate 18 that compress wheel shaft 8 are rotationally connected, wireless transmission circuit two and actuator 9 are fixed on and drive on wheel carrier 11,

Magnet holder 5 comprises the end and two sidewalls, two sidewalls are separately fixed at the both sides at the end and facing each other, two angles at sidewall and the end are obtuse angle, the below of two inside sidewalls is connected the end of with respectively by two return springs, magnet holder 5 is elastic support, and two inside sidewalls are equipped with multiple magnet 6;

The probe of ultrasonic thickness gauge 20 is array arrangement, the thickness signal mouth of ultrasonic thickness gauge 20 connects the thickness signal input end of wireless transmission circuit two, the control signal mouth of wireless transmission circuit two connects the control signal mouth of actuator 9, the drive singal mouth of actuator 9 connects the driving signal input of DC servo motor 19, DC servo motor 19 drives Timing Belt main wheel 12 to rotate by imput shaft 23, ultrasonic thickness gauge 20 is fixed in carbon fiber support 10, ultrasonic thickness gauge 20 is for detecting the thickness of water screen tube overlay on Bailey wall,

Wireless data is realized mutual between wireless transmission circuit one and wireless transmission circuit two, the thickness signal mouth of wireless transmission circuit one connects the thickness signal input end of amplifier, and the amplifying signal mouth of amplifier connects the amplifying signal input end of comparator and the amplifying signal input end of tracing analysis instrument simultaneously.

Beneficial effect: the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring of the present invention, freely can walk along tube wall vertical direction on boiler water wall, gather material thickness, and then provide data for tube wear situation under trailer record, whether change Bailey wall pipe for power plant staff provides reference is provided, degree of automation of the present invention is high, build small volume and less weight.

Accompanying drawing explanation

Fig. 1 is the perspective view of the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring of the present invention;

Fig. 2 is the front view of the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring of the present invention;

Fig. 3 is the structural representation of the magnet holder containing spring;

Fig. 4 is A portion enlarged drawing in Fig. 1;

Fig. 5 is B portion enlarged drawing in Fig. 1;

Fig. 6 is the electrical structure schematic diagram of the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring of the present invention.

Detailed description of the invention

Detailed description of the invention one: illustrate present embodiment referring to figs. 1 through Fig. 6, the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring described in present embodiment, it comprises: the wheels of wireless transmission circuit one, amplifier, comparator, tracing analysis instrument, connecting portion and two symmetrical structures;

Connecting portion comprises: vibration damping sheet group, vibration damping sheet bracing frame 16 and leading screw 21;

Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame 16 comprises the two parts be separated from each other, the two ends of vibration damping sheet group are hinged with two parts of vibration damping sheet bracing frame 16 respectively, leading screw 21 carries out fore and aft motion for driving vibration damping sheet group, and two wheels are separately fixed on two parts of vibration damping sheet bracing frame 16;

Each wheels comprise: wireless transmission circuit two, Timing Belt 4, multiple magnet holder 5, contact roller 7, compression wheel shaft 8, actuator 9, carbon fiber support 10, driving wheel carrier 11, Timing Belt main wheel 12, Timing Belt trailing wheel 14, Timing Belt are from wheeling supporting frame 17, contact roller stay bearing plate 18, DC servo motor 19, ultrasonic thickness gauge 20, driven shaft 22 and imput shaft 23;

Compress wheel shaft 8, driven shaft 22 and imput shaft 23 to be parallel to each other, and compress the top that wheel shaft 8 is positioned at driven shaft 22 and imput shaft 23, contact roller 7 is fixed on and compresses wheel shaft 8 end, Timing Belt main wheel 12 is fixed on imput shaft 23 end, Timing Belt trailing wheel 14 is fixed on driven shaft 22 end, Timing Belt 4 is socketed in outside contact roller 7, driven shaft 22 and imput shaft 23 simultaneously, and multiple magnet holder 5 is evenly fixed on Timing Belt 4 outside face;

Carbon fiber support 10 is longitudinally arranged, wheels are fixedly connected with by the part of carbon fiber support 10 with vibration damping sheet bracing frame 16, wheel carrier 11 is driven to be fixed on the end of carbon fiber support 10, the head end of imput shaft 23 is rotationally connected with driving wheel carrier 11, and imput shaft 23 is mutually vertical with carbon fiber support 10, Timing Belt is fixed on the head end of carbon fiber support 10 from wheeling supporting frame 17, the head end of driven shaft 22 and Timing Belt are rotationally connected from wheeling supporting frame 17, contact roller stay bearing plate 18 is fixed on and drives on wheel carrier 11, the head end and the contact roller stay bearing plate 18 that compress wheel shaft 8 are rotationally connected, wireless transmission circuit two and actuator 9 are fixed on and drive on wheel carrier 11,

Magnet holder 5 comprises the end and two sidewalls, two sidewalls are separately fixed at the both sides at the end and facing each other, two angles at sidewall and the end are obtuse angle, the below of two inside sidewalls is connected the end of with respectively by two return springs, magnet holder 5 is elastic support, and two inside sidewalls are equipped with multiple magnet 6;

The probe of ultrasonic thickness gauge 20 is array arrangement, the thickness signal mouth of ultrasonic thickness gauge 20 connects the thickness signal input end of wireless transmission circuit two, the control signal mouth of wireless transmission circuit two connects the control signal mouth of actuator 9, the drive singal mouth of actuator 9 connects the driving signal input of DC servo motor 19, DC servo motor 19 drives Timing Belt main wheel 12 to rotate by imput shaft 23, ultrasonic thickness gauge 20 is fixed in carbon fiber support 10, ultrasonic thickness gauge 20 is for detecting the thickness of water screen tube overlay on Bailey wall,

Wireless data is realized mutual between wireless transmission circuit one and wireless transmission circuit two, the thickness signal mouth of wireless transmission circuit one connects the thickness signal input end of amplifier, and the amplifying signal mouth of amplifier connects the amplifying signal input end of comparator and the amplifying signal input end of tracing analysis instrument simultaneously.

The probe of ultrasonic thickness gauge 20 is array arrangement, realize Multipoint synchronous thickness measuring, once obtain the overlay thickness in large area, wireless data is realized mutual between wireless transmission circuit one and wireless transmission circuit two, to detect that large-area overlay thickness signal gathers out, then amplify in input curve analyser by amplifier, direct acquisition thickness map, data analysis is carried out for operating personal, be provided with the standard value of overlay in comparator simultaneously, obtain overlay currency more afterwards and whether meet standard, and then realize the action of Long-distance Control climbing robot, staff is avoided to enter control in burner hearth, decrease the work capacity of staff, also ensure that personal security.

In present embodiment, vibration damping sheet group comprises 2 damping grid, and each damping grid comprise 4 vibration damping sheets 15; 2 vibration damping sheet 15 mid points in each damping grid are hinged, two vibration damping sheet ends of a damping grid head end are hinged with two vibration damping sheet ends of another damping grid head end respectively, the scalable trellis work of this vibration damping sheet group makes vibration damping sheet group can simultaneous retractable on horizontal and vertical, in order to adjust the spacing of two wheels, leading screw 21 is positioned at the longitudinal direction of 2 damping grid, drive vibration damping sheet group longitudinally to stretch, and then make vibration damping sheet group laterally produce expanding-contracting action simultaneously.Vibration damping sheet group can prevent from occurring seismism in the process of walking.And vibration damping sheet 15 is elastic component, can also ensure when Bailey wall is uneven, vibration damping sheet 15 is due to its elasticity generation slight deformation, the magnet holder 5 of robot still can be adsorbed on water cooling tube closely, and can regulate the change of the Thicknesser probe distance pipe surface distance caused because of pipeline bulging deformation.

In the structure of Timing Belt 4, Timing Belt main wheel 12, Timing Belt trailing wheel 14 and compression wheel shaft 8, when Timing Belt main wheel 12 rotates, drive Timing Belt trailing wheel 14 and compression wheel shaft 8 to rotate by Timing Belt 4 simultaneously simultaneously, realize robot ambulation function.

Magnet holder 5 is inlayed multiple magnet 6, these magnet 6 rely on magnetic-adsorption on Bailey wall surface, the structure of magnet holder 5 can adapt with the radian of water cooling tube just simultaneously, and because magnet holder 5 is elastic component, when magnet holder 5 is connected on water cooling tube, return spring inwardly tightens up, and adds the dynamics that magnet holder 5 clamps water cooling tube, further raising robot, at the grasp of Bailey wall surface creep, prevents robot from falling.Adsorption affinity makes climbing robot be adsorbed on boiler water-cooling screen simultaneously, and plays the effect of guiding, and climbing robot is creeped along the track of boiler water-wall tube.

Each wheels also comprise: contact roller spring 13, and this contact roller spring 13 is for providing buffering for contact roller 7.Contact roller 7, driven shaft 22 and imput shaft 23 are common by Timing Belt 4 tensioning.

The stage casing of carbon fiber support 10 is provided with thickness indicator bracing frame, and ultrasonic thickness gauge 20 and contact roller stay bearing plate 18 are all fixed on this thickness indicator bracing frame.Thickness indicator bracing frame is provided with thickness indicator clip, for clamping thickness indicator, makes thickness indicator be detouchable structure.

Detailed description of the invention two: present embodiment is described further the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring described in detailed description of the invention one, in present embodiment, it also comprises: front probe bracket 1, probe sleeve 2 and rear probe bracket 3;

Rear probe bracket 3 is fixed on Timing Belt from wheeling supporting frame 17, and front probe bracket 1 is fixed on rear probe bracket 3, and probe sleeve 2 is fixed on front probe bracket 1, and probe sleeve 2 is for supporting the probe of ultrasonic thickness gauge 20.

Detailed description of the invention three: present embodiment is described further the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring described in detailed description of the invention one, in present embodiment, the cross-sectional plane of Timing Belt main wheel 12 and Timing Belt trailing wheel 14 is trapezoidal.

Timing Belt main wheel 12 and Timing Belt trailing wheel 14 are the primary members driving Timing Belt 4 to move, and the section of Timing Belt main wheel 12 and Timing Belt trailing wheel 14 in echelon; Contact roller 7 mainly plays the effect of tensioning Timing Belt 4, and when this climbing robot can be made in the process of creeping to run into obstacle, plays the effect of damping.

Detailed description of the invention four: present embodiment is described further the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring described in detailed description of the invention one, and in present embodiment, the section of Timing Belt 4 is trapezoidal, and material is silaatic.

In echelon, material is silaatic to Timing Belt 4 section, by wheel driven rotary and Bailey wall surface walking, play the effect of damping.

Claims (4)

1. the climbing robot of a boiler water wall overlay Multipoint synchronous thickness measuring, it is characterized in that, a climbing robot for boiler water wall overlay Multipoint synchronous thickness measuring, it comprises: the wheels of wireless transmission circuit one, amplifier, comparator, tracing analysis instrument, connecting portion and two symmetrical structures;

Connecting portion comprises: vibration damping sheet group, vibration damping sheet bracing frame (16) and leading screw (21);

Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame (16) comprises the two parts be separated from each other, the two ends of vibration damping sheet group are hinged with two parts of vibration damping sheet bracing frame (16) respectively, leading screw (21) carries out fore and aft motion for driving vibration damping sheet group, and two wheels are separately fixed on two parts of vibration damping sheet bracing frame (16);

Each wheels comprise: wireless transmission circuit two, Timing Belt (4), multiple magnet holder (5), contact roller (7), compress wheel shaft (8), actuator (9), carbon fiber support (10), drive wheel carrier (11), Timing Belt main wheel (12), Timing Belt trailing wheel (14), Timing Belt is from wheeling supporting frame (17), contact roller stay bearing plate (18), DC servo motor (19), ultrasonic thickness gauge (20), driven shaft (22) and imput shaft (23),

Compress wheel shaft (8), driven shaft (22) and imput shaft (23) are parallel to each other, and compress the top that wheel shaft (8) is positioned at driven shaft (22) and imput shaft (23), contact roller (7) is fixed on and compresses wheel shaft (8) end, Timing Belt main wheel (12) is fixed on imput shaft (23) end, Timing Belt trailing wheel (14) is fixed on driven shaft (22) end, Timing Belt (4) is socketed in contact roller (7) simultaneously, driven shaft (22) and imput shaft (23) outside, multiple magnet holder (5) is evenly fixed on Timing Belt (4) outside face,

Carbon fiber support (10) is longitudinally arranged, wheels are fixedly connected with by the part of carbon fiber support (10) with vibration damping sheet bracing frame (16), wheel carrier (11) is driven to be fixed on the end of carbon fiber support (10), the head end of imput shaft (23) is rotationally connected with driving wheel carrier (11), and imput shaft (23) is mutually vertical with carbon fiber support (10), Timing Belt is fixed on the head end of carbon fiber support (10) from wheeling supporting frame (17), the head end of driven shaft (22) and Timing Belt are rotationally connected from wheeling supporting frame (17), contact roller stay bearing plate (18) is fixed on and drives on wheel carrier (11), the head end and the contact roller stay bearing plate (18) that compress wheel shaft (8) are rotationally connected, wireless transmission circuit two and actuator (9) are fixed on and drive on wheel carrier (11),

Magnet holder (5) comprises the end and two sidewalls, two sidewalls are separately fixed at the both sides at the end and facing each other, two angles at sidewall and the end are obtuse angle, the below of two inside sidewalls is connected the end of with respectively by two return springs, magnet holder (5) is elastic support, two inside sidewalls is equipped with multiple magnet (6);

The probe of ultrasonic thickness gauge (20) is array arrangement, the thickness signal mouth of ultrasonic thickness gauge (20) connects the thickness signal input end of wireless transmission circuit two, the control signal mouth of wireless transmission circuit two connects the control signal mouth of actuator (9), the drive singal mouth of actuator (9) connects the driving signal input of DC servo motor (19), DC servo motor (19) drives Timing Belt main wheel (12) to rotate by imput shaft (23), ultrasonic thickness gauge (20) is fixed in carbon fiber support (10), ultrasonic thickness gauge (20) is for detecting the thickness of water screen tube overlay on Bailey wall,

Wireless data is realized mutual between wireless transmission circuit one and wireless transmission circuit two, the thickness signal mouth of wireless transmission circuit one connects the thickness signal input end of amplifier, and the amplifying signal mouth of amplifier connects the amplifying signal input end of comparator and the amplifying signal input end of tracing analysis instrument simultaneously.

2. the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring according to claim 1, it is characterized in that, it also comprises: front probe bracket (1), probe sleeve (2) and rear probe bracket (3);

Rear probe bracket (3) is fixed on Timing Belt from wheeling supporting frame (17), front probe bracket (1) is fixed on rear probe bracket (3), probe sleeve (2) is fixed on front probe bracket (1), and probe sleeve (2) is for supporting the probe of ultrasonic thickness gauge (20).

3. the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring according to claim 1, it is characterized in that, the cross-sectional plane of Timing Belt main wheel (12) and Timing Belt trailing wheel (14) is trapezoidal.

4. the climbing robot of a kind of boiler water wall overlay Multipoint synchronous thickness measuring according to claim 1, it is characterized in that, the section of Timing Belt (4) is trapezoidal, and material is silaatic.