The invention relates to a wall-climbing robot path straightening device and method for a boiler membrane type wall surface, the device comprises a laser emitting unit, a laser receiving unit, a travel switch unit and a control unit, the laser emitting unit comprises a laser emitter, the laser receiving unit comprises a photoelectric sensor assembly, and the travel switch unit comprises a travel switch; the method comprises the steps that the laser transmitter is used for transmitting highly parallel laser beams, the laser beams are projected to the photoelectric sensor assembly, the control unit judges whether the wall-climbing robot deflects in the walking process or not and judges the deflection direction in the walking process according to the output current of the photoelectric sensor assembly and the state of the travel switch, and the differential wheel set is controlled to correct the advancing direction. The problem of automatic deviation correction in the walking process of the wall-climbing robot is solved, and it is ensured that the wall-climbing robot automatically walks along the linear path in the length direction of the boiler water wall tube row.
本发明涉及一种用于锅炉膜式壁面的爬壁机器人路径校直装置及方法,装置包括激光发射单元、激光接收单元、行程开关单元以及控制单元,激光发射单元包括激光发射器,激光接收单元包括光电传感器组件,行程开关单元包括行程开关;方法包括利用激光发射器发出高度平行的激光束,将激光束投射到光电传感器组件上,控制单元根据光电传感器组件的输出电流和行程开关状态判断爬壁机器人行走过程中是否发生偏转及偏转方向,控制差动轮组纠正行进方向。本发明解决了爬壁机器人行走过程中的自动纠偏的问题,确保爬壁机器人自动沿锅炉水冷壁管排长度方向的直线路径行走。
Wall-climbing robot path straightening device and method for boiler membrane type wall surface
一种用于锅炉膜式壁面的爬壁机器人路径校直装置及方法
2023-04-04
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes |
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