The embodiment of the invention discloses a wall-climbing robot capable of climbing and measuring the thickness of a water cooling wall in a boiler. The wall-climbing robot comprises a cleaning mechanism, a climbing mechanism, a fixing mechanism and a control terminal. The cleaning mechanism is connected to the upper portion of the climbing mechanism, the climbing mechanism comprises a torsion device, the fixing mechanism is connected to the lower portion of the climbing mechanism through the torsion device, and the control terminal can control the climbing mechanism and the fixing mechanism to enable the climbing mechanism and the fixing mechanism to move along the water cooling wall in the boiler. When an obstacle is encountered, the fixing mechanism is controlled to serve as a supporting point, meanwhile, the torsion motor acts to drive the climbing mechanism to climb to the other side of the obstacle, and then a second magnetic attraction rolling wheel of the fixing mechanism loses magnetism, so that the fixing mechanism heaves to the other side through gravity, and then the obstacle is climbed. By the adoption of the water cooling wall cleaning device, the water cooling wall of the boiler can be actively cleaned, and meanwhile when obstacles such as pipelines and protrusions protruding out of the surface are encountered, the water cooling wall cleaning device can automatically climb over the obstacles.

    本发明实施例公开了一种锅炉内水冷壁清洗及测厚的可翻越爬壁机器人,包括:清洗机构、翻越机构、固定机构和控制终端。所述清洗机构连接于所述翻越机构的上方,所述翻越机构包括扭转装置,所述固定机构通过所述扭转装置连接于所述翻越机构的下方,所述控制终端可控制所述翻越机构和固定机构,使其沿着锅炉内水冷壁移动,并在遇到障碍时控制所述固定机构作为支撑点,同时所述扭转电机动作,驱动所述翻越机构翻越到障碍的另一侧,之后所述固定机构的第二磁吸滚轮失磁,使得所述固定机构通过重力垂荡到另一侧,进而实现对障碍的翻越。采用本发明,可以对锅炉的水冷壁进行主动化清理,同时在遇到突出于表面的管路、凸起等障碍时,可以自动翻越障碍。


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    Title :

    Climbing wall-climbing robot for cleaning and thickness measuring of water cooling wall in boiler


    Additional title:

    一种锅炉内水冷壁清洗及测厚的可翻越爬壁机器人


    Contributors:
    ZHANG XINGWEI (author) / LIU XING (author) / TANG HAO (author) / CAO YUHANG (author) / DING JIAYI (author) / CHEN JIANQIAO (author) / MAI ZHUORUI (author) / WU XUSHUO (author) / WANG SHUANGXI (author)

    Publication date :

    2024-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B08B Reinigen allgemein , CLEANING IN GENERAL / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



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