The invention discloses a crawling robot for detecting a water cooling wall of a boiler. The crawling robot comprises a driving walking mechanism and a detecting mechanism. The driving walking mechanism comprises a vehicle body, a stepping motor, a worm and gear, vehicle frames and dovetail wheels, the stepping motor and the worm and gear are arranged in the vehicle body, the front end face and the rear end face of the vehicle body are connected with the dovetail wheels through the vehicle frames perpendicular to the vehicle body respectively, and magnets are arranged on the vehicle frames; detection mechanisms are symmetrically distributed on the two sides of the vehicle body, each detection mechanism comprises an arc-shaped detection plate, a bull eye wheel, a permanent magnet and a Hall element, the arc-shaped detection plates are connected with the vehicle body through a support, the bull eye wheels, the permanent magnets, the Hall elements, the permanent magnets and the bull eye wheels are sequentially arranged on the arc-shaped detection plates from front to back, and the number of the bull eye wheels making contact with the cold water wall of a boiler is at least three, and the bull eye wheels are transversely arranged at equal intervals. The crawling robot has the advantages of high modularization degree, high uniformity of the driving walking mechanism and the detection mechanisms, clear division of labor, compact structure, small size and light weight.
本发明公开了一种用于检测锅炉水冷壁的爬行机器人,包括驱动行走机构和检测机构;驱动行走机构包括车身、步进电机、蜗轮蜗杆、车架和燕尾轮,步进电机和蜗轮蜗杆设置于车身内,车身的前端面和后端面分别通过与其相垂直的车架与燕尾轮相连,车架上设有磁铁;检测机构对称分布于车身的两侧,检测机构包括弧形检测板、牛眼轮、永久磁铁和霍尔元件,弧形检测板通过支架与车身相连,弧形检测板上自前至后依次设有牛眼轮、永久磁铁、霍尔元件、永久磁铁和牛眼轮,与锅炉冷水壁接触的牛眼轮的数量至少为三个且沿横向等间距排列;本发明具有模块化程度高,驱动行走机构和检测机构统一性强,分工明确,结构紧凑,体积小且质量轻。
Crawling robot for detecting water cooling wall of boiler
一种用于检测锅炉水冷壁的爬行机器人
2021-07-02
Patent
Electronic Resource
Chinese