CN107839774A - A kind of flexible separate type climbs wall flaw detection robot and its application method - Google Patents
A kind of flexible separate type climbs wall flaw detection robot and its application method Download PDFInfo
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- CN107839774A CN107839774A CN201711118491.XA CN201711118491A CN107839774A CN 107839774 A CN107839774 A CN 107839774A CN 201711118491 A CN201711118491 A CN 201711118491A CN 107839774 A CN107839774 A CN 107839774A
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- 238000001514 detection method Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000010521 absorption reaction Methods 0.000 claims description 28
- 238000009434 installation Methods 0.000 claims description 9
- 230000003139 buffering effect Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 229920006351 engineering plastic Polymers 0.000 claims description 3
- 238000010030 laminating Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000005611 electricity Effects 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 description 8
- 230000009194 climbing Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011176 pooling Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of flexible separate type to climb wall flaw detection robot and its application method, belongs to fired power generating unit pipeline inspection detection field.Traditional industrial machines or special maintenance instrument in mobile flexibility, stability and flexibility etc. due to being limited to, it is difficult in this complicated working environment application of electricity power enterprise.Flexible separate type disclosed by the invention, which climbs wall flaw detection robot, includes separate type main body mechanism and flexible linking device, separate type main body mechanism includes No.1 main body mechanism and No. two main body mechanisms, No.1 main body mechanism and No. two main body mechanisms are arranged side by side, connected between No.1 main body mechanism and No. two main body mechanisms by flexible linking device, flexible linking device has flexibility.The flexible separate type of the present invention climbs wall flaw detection robot and is suitable for the complex working environment such as fired power generating unit various pipes surface irregularity and different pipe arrangement modes, can realize that inner and outer walls of pipeline flaw detection function provides intelligence and carries mobile platform for the later stage.
Description
Technical field
The present invention relates to a kind of flexible separate type to climb wall flaw detection robot and its application method, belongs to the spy of fired power generating unit pipeline
Hinder detection field.
Background technology
As Thermal Power Generation Industry high parameter, large sized unit more and more come into operation, the capital equipment being related to is increasingly
More, it is characterized in that " heavy, big, complicated ", many production links or manual work sometimes must also operations at the scene.Hand
There is the defects such as reliability is low, security is low, efficiency is low in work industry, can not ensure the safe operation of generating set.
Generating equipment is important infrastructure, is typically required to periodic inspection.Such as four big pipeline of fired power generating unit, boiler
The water-cooling wall pipeline isometric phase is under high temperature, condition of high voltage and run, and its material has what brittle failure, deterioration, cracking and fatigue were broken into pieces
Possibility, thus must periodically be overhauled.The maintenance of these equipment needs scaffolding to repair or maintenance object is removed
Overhauled in workshop, therefore the time between overhauls(TBO) is grown.Maintenance object is taken, tears scaffold open or removes and installs if can exempt
It process, can at the scene complete to overhaul, reduce the nonessential aided process times such as dismounting, installation, debugging, it is huge by producing
Economic benefit.In addition, in some cases, due to the limitation of environment, such as radioactive place and high-altitude, worker are examined
Repairing operation, there is also larger potential safety hazard.
But traditional industrial machines or special maintenance instrument are due in mobile flexibility, stability and flexibility
Etc. limited to, it is difficult in this complicated working environment application of electricity power enterprise, such as Application No. 201410781211.3
Patent of invention, pipe robot disclosed in this patent and pipe contact area are small, in fired power generating unit various pipes concave-convex surface not
It is difficult to be applicable in the complex working environment of equality and different pipe arrangement modes, therefore there is an urgent need to new solution party
Case.Therefore, the artificial progress detection operation of intelligent robot replacement suitable for field condition is designed in exploitation, can meet to generate electricity
The active demand of enterprise.The time between overhauls(TBO) can not only be shortened, improve upkeep operation efficiency, operation quality and guarantee can also be lifted
Job safety.Robot in equipment surface all-around mobile and can adapt to different types of equipment, in operating flexibility and soft
Property etc. possesses very big advantage and advantage of lower cost.
The content of the invention
It is an object of the invention to overcome above shortcomings in the prior art, and provide a kind of flexibility reasonable in design
Separate type climbs wall flaw detection robot and application method, and the flexible separate type climbs the separate type main body mechanism separation of wall flaw detection robot
Formula is set, and its middle part is connected by flexible linking device, and in addition, flexible separate type, which climbs wall flaw detection robot, has flexible absorption
Band, overall flexibility is good, the absorption climbing that may be implemented on fired power generating unit pipeline, is suitable for the pipeline and not of surface irregularity
With the pipeline of arrangement.
Technical scheme is used by the present invention solves the above problems：A kind of flexible separate type climbs wall flaw detection robot, bag
Include separate type main body mechanism and flexible linking device, it is characterised in that the separate type main body mechanism includes No.1 main body mechanism
With No. two main body mechanisms, the No.1 main body mechanism and No. two main body mechanisms are arranged side by side, No.1 main body mechanism and No. two main bodys
Connected between mechanism by flexible linking device, the flexible linking device has flexibility；The No.1 main body mechanism and No. two
Main body mechanism includes main supporting plate, drive train, timing belt, contact roller and drive device, and the drive train includes driving
Dynamic front-wheel and driving trailing wheel, the driving front-wheel and driving trailing wheel are arranged on the inner side of timing belt and connect with the medial surface of timing belt
Touch；The main supporting plate is also disposed at the inner side of timing belt, and main supporting plate is between driving front-wheel and driving trailing wheel, main support
Plate is respectively with driving front-wheel and driving trailing wheel by taking turns axis connection；The contact roller is arranged on Main shoe plate top, contact roller
Between timing belt and main supporting plate, contact roller contacts with the medial surface of timing belt and jacks up timing belt；The driving dress
Put and be arranged on Main shoe plate bottom, drive device is fixed with main supporting plate；The lateral surface of the timing belt is disposed with absorption band,
The absorption belt is magnetic.The various big pipeline areas of fired power generating unit are big, working method is complicated, and traditional maintenance mode is in movement
Flexibility, the comprehensive etc. of flexibility and detection are limited to.The flexible separate type of the present invention, which climbs wall flaw detection robot, to fit
The complex working environment such as fired power generating unit various pipes surface irregularity and different pipe arrangement modes are answered, can be had
Effect overcomes defect present in prior art and realizes that inner and outer walls of pipeline flaw detection function provides intelligence and carries mobile platform for the later stage.
Furthermore, the No.1 main body mechanism and No. two main body mechanisms are arranged symmetrically.The agent structure of separate type
Design make it that robot is light, flexible, and provides more spacious mounting space, and extending detection function for the later stage provides space base
Plinth.
Furthermore, the absorption band is alternately arranged on the lateral surface of timing belt by yielding rubber and permanent magnets, institute
It is flexible to state absorption belt.Absorption band is covered on the lateral surface of timing belt forms an adsorption layer on the surface of timing belt, soft
Property absorption band structure can increase the Stability and adaptability of climbing robot.
Furthermore, the flexible linking device is made up of steel spring plate and/or engineering plastics.Can also be by other bullets
Property material be made, the setting of flexible linking device can increase flexible separate type and climb the mobile flexibility of wall flaw detection robot and slow
Rush effect.
Furthermore, the contact roller is Height Adjustable, by adjust the height of contact roller adjust timing belt with
And the tightness of absorption band.Flexible separate type is set to climb the wall flaw detection robot adaptation uneven grade of unit pipe surface more multiple
Miscellaneous working environment and different pipe arrangement modes.
Furthermore, the drive device includes motor and driver.Drive device is used to drive flexible separation
Formula climbs the operation on pipeline of wall flaw detection robot.
Furthermore, the motor is stepper motor, direct current generator or servomotor.It can also be other electricity
Machine.
Furthermore, the flexible separate type is climbed wall flaw detection robot and is provided with for installation detecting device and/or spy
Hinder the mounting bracket of device.Can installation detecting device and failure detector, the device needed for other can also be installed, improve flexible separation
Formula climbs the functional requirement of wall flaw detection robot.
A kind of flexible separate type climbs the application method of wall flaw detection robot, it is characterised in that using as described above flexible
Separate type climbs wall flaw detection robot, and methods described is as follows：The flexible separate type is climbed into wall flaw detection robot and is placed on pipeline
On outer wall, the timing belt that flexible separate type climbs wall flaw detection robot is fixed on the outer of pipeline by the suction-operated of magnetic absorption band
On wall, drive device is opened, flexible separate type is climbed wall flaw detection robot and moved on the outer wall of pipeline, by uneven whole
Pipeline outer wall when, flexible separate type climb the laminating degree of wall flaw detection robot and pipeline outer wall by flexible linking device and
Contact roller voluntarily adjusts, and is realized by climbing installation detecting device and/or failure detector on wall flaw detection robot in flexible separate type
Detection and flaw detection function to pipeline.Flexible separate type is climbed the absorption that wall flaw detection robot may be implemented on fired power generating unit pipeline and climbed
Climb, separate type main body mechanism is connected by flexible linking device, can be well adapted for the scraggly surface of pipeline；It is flexible
Bindiny mechanism has certain buffering effect, can be good at absorbing the vibrations and impact in motion process；Absorption band is realized
Flexible separate type climbs absorption and pooling feature of the wall flaw detection robot in moving process；Meanwhile the design of mounting bracket can
Detection device needed for carrying, flexible separate type can be lifted and climb the service behaviour of wall flaw detection robot and improve its function.
The present invention compared with prior art, has advantages below and effect：For existing robot, separate type
Main body mechanism can preferably adapt to the pipeline environment change of diversified forms；Flexible linking device has good buffering effect,
It can be good at absorbing the vibrations and impact in motion process, improve the performance that flexible separate type climbs wall flaw detection robot；
The arrangement of flexibility absorption band can improve stability and adaptability that flexible separate type climbs wall flaw detection robot, in the mistake of climbing
The functional requirements such as flaw detection are preferably realized in journey；The reasonable distribution of yielding rubber and permanent magnets is designed to improve whole flexibility
Separate type climbs the bearing capacity and buffer capacity of wall flaw detection robot；The design of contact roller causes flexible separate type to climb wall flaw detection
The tightness of the timing belt of robot can adjust, and can voluntarily be adjusted when its scraggly surface through piping, increase
Flexible separate type climbs stability of the wall flaw detection robot in moving process；The design of mounting bracket causes the flexible separate type to climb
Wall flaw detection robot can preferably adapt to changeable working environment, and function is more perfect.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the embodiment of the present invention.
Fig. 2 is the overlooking the structure diagram of the embodiment of the present invention.
Fig. 3 is the side structure schematic view of the embodiment of the present invention.
In figure：Separate type main body mechanism 1, flexible linking device 2, timing belt 3, drive device 4, mounting bracket 5, main supporting plate
6th, contact roller 7, drive train 8,11, No. two main body mechanisms 12 of No.1 main body mechanism, driving front-wheel 81, driving trailing wheel 82.
Embodiment
Below in conjunction with the accompanying drawings and the present invention is described in further detail by embodiment, and following examples are to this hair
Bright explanation and the invention is not limited in following examples.
Embodiment.
Referring to Fig. 1 to Fig. 3, a kind of flexible separate type climbs wall flaw detection robot, including separate type main body mechanism 1 and flexibility are even
Connection mechanism 2, separate type main body mechanism 1 include No.1 main body mechanism 11 and No. two main body mechanisms 12, No.1 main body mechanism 11 and two
Number main body mechanism 12 is arranged side by side, preferably, No.1 main body mechanism 11 and No. two main body mechanisms 12 are arranged symmetrically, separate type
Design of Main Structure make it that robot is light, flexible, and provides more spacious mounting space, and extending detection function for the later stage carries
For space basis；Connected between No.1 main body mechanism 11 and No. two main body mechanisms 12 by flexible linking device 2, be flexibly connected machine
Structure 2 has flexibility, and flexible linking device 2 is made up of materials such as steel spring plate, engineering plastics, and the setting of flexible linking device 2 can
Increase mobile flexibility and buffering effect that flexible separate type climbs wall flaw detection robot.
No.1 main body mechanism 11 and No. two main body mechanisms 12 include main supporting plate 6, drive train 8, timing belt 3, compression
Wheel 7 and drive device 4；Drive train 8 includes driving front-wheel 81 and driving trailing wheel 82, and driving front-wheel 81 and driving trailing wheel 82 are set
Put in the inner side of timing belt 3 and contacted with the medial surface of timing belt 3, drive train 8 is driven by drive device 4；Main supporting plate 6
Be arranged on the inner side of timing belt 3, main supporting plate 6 between driving front-wheel 81 and driving trailing wheel 82, main supporting plate 6 respectively with drive
Dynamic front-wheel 81 and driving trailing wheel 82 are by taking turns axis connection；Contact roller 7 is arranged on the top of main supporting plate 6, and contact roller 7 is positioned at synchronous
Between band 3 and main supporting plate 6, contact roller 7 contacts with the medial surface of timing belt 3 and jacks up timing belt 3, the height of contact roller 7
It is adjustable, the tightness of timing belt 3 and absorption band is adjusted by adjusting the height of contact roller 7, climbs flexible separate type
Wall flaw detection robot adapts to complex working environment and the different pipe arrangement sides such as unit pipe surface is uneven
Formula；Drive device 4 is arranged on the bottom of main supporting plate 6, and drive device 4 is fixed with main supporting plate 6, and drive device 4 includes driving
Motor and driver, for driving flexible separate type to climb the operation on pipeline of wall flaw detection robot, motor can be stepping
Motor, direct current generator, servomotor etc..The lateral surface of timing belt 3 is disposed with absorption band, and absorption band is by yielding rubber and permanent magnets
It is alternately arranged and forms, belt is flexible and magnetic for absorption, can increase flexible separate type and climbs wall flaw detection robot and be transported on pipeline
Capable Stability and adaptability.
Flexible separate type is climbed wall flaw detection robot and is additionally provided with for installation detecting device, failure detector or other devices
Mounting bracket 5, mounting bracket 5 may be provided on No.1 main body mechanism 11 or No. two main body mechanisms 12, and mounting bracket 5 is located at No.1 main body machine
Between structure 11 and No. two main body mechanisms 12, mounting bracket 5 can installation detecting device and failure detector, can also install needed for other
Device, improve the functional requirement that flexible separate type climbs wall flaw detection robot.Realize that inner and outer walls of pipeline flaw detection function provides for the later stage
Intelligence carries mobile platform.
A kind of flexible separate type climbs the application method of wall flaw detection robot, climbs wall using flexible separate type as described above and visits
Pseudo-machine people, methods described are as follows：Flexible separate type is climbed into wall flaw detection robot to be placed on the outer wall of pipeline, flexible separate type
The timing belt 3 for climbing wall flaw detection robot is fixed on the outer wall of pipeline by the suction-operated of magnetic absorption band, opens driving dress
4 are put, flexible separate type is climbed wall flaw detection robot and moved on the outer wall of pipeline, during by uneven whole pipeline outer wall,
Flexible separate type climbs the laminating degree of wall flaw detection robot and pipeline outer wall by flexible linking device 2 and contact roller 7 voluntarily
Adjustment, by climbing the inspection of installation detecting device and/or failure detector realization to pipeline on wall flaw detection robot in flexible separate type
Survey and flaw detection function.Flexible separate type climbs the absorption climbing that wall flaw detection robot may be implemented on fired power generating unit pipeline, separate type
Main body mechanism 1 is connected by flexible linking device 2, can be well adapted for the scraggly surface of pipeline；Flexible connection machine
Structure 2 has certain buffering effect, can be good at absorbing the vibrations and impact in motion process；Absorption band realizes flexibility
Separate type climbs absorption and pooling feature of the wall flaw detection robot in moving process；Meanwhile the design of mounting bracket 5 can carry institute
Detection device is needed, flexible separate type can be lifted and climb the service behaviour of wall flaw detection robot and improve its function.
Although the present invention is disclosed as above with embodiment, it is not limited to protection scope of the present invention, any to be familiar with
The technical staff of this technology, in the change and retouching made without departing from the spirit and scope of the invention, this hair all should be belonged to
Bright protection domain.
Claims (9)
1. a kind of flexible separate type climbs wall flaw detection robot, including separate type main body mechanism and flexible linking device, its feature exists
In the separate type main body mechanism includes No.1 main body mechanism and No. two main body mechanisms, the No.1 main body mechanism and No. two masters
Body mechanism is arranged side by side, and is connected between No.1 main body mechanism and No. two main body mechanisms by flexible linking device, and the flexibility is even
Connection mechanism has flexibility；The No.1 main body mechanism and No. two main body mechanisms include main supporting plate, drive train, timing belt,
Contact roller and drive device, the drive train include driving front-wheel and driving trailing wheel, the driving front-wheel and driving trailing wheel
It is arranged on the inner side of timing belt and is contacted with the medial surface of timing belt；The main supporting plate is also disposed at the inner side of timing belt, main
Between driving front-wheel and driving trailing wheel, main supporting plate is connected supporting plate with driving front-wheel and driving trailing wheel by wheel shaft respectively
Connect；The contact roller is arranged on Main shoe plate top, contact roller between timing belt and main supporting plate, contact roller with it is synchronous
The medial surface of band contacts and jacks up timing belt；The drive device is arranged on Main shoe plate bottom, drive device and main branch
Fagging is fixed；The lateral surface of the timing belt is disposed with absorption band, and the absorption belt is magnetic.
2. flexible separate type according to claim 1 climbs wall flaw detection robot, it is characterised in that the No.1 main body mechanism
It is arranged symmetrically with No. two main body mechanisms.
3. flexible separate type according to claim 1 climbs wall flaw detection robot, it is characterised in that the absorption band is by buffering
Rubber and permanent magnets are alternately arranged on the lateral surface of timing belt, and the absorption belt is flexible.
4. flexible separate type according to claim 1 climbs wall flaw detection robot, it is characterised in that the flexible linking device
It is made up of steel spring plate and/or engineering plastics.
5. flexible separate type according to claim 1 climbs wall flaw detection robot, it is characterised in that the height of the contact roller
It is adjustable, adjust the tightness of timing belt and absorption band by adjusting the height of contact roller.
6. flexible separate type according to claim 1 climbs wall flaw detection robot, it is characterised in that the drive device includes
Motor and driver.
7. flexible separate type according to claim 6 climbs wall flaw detection robot, it is characterised in that the motor is step
Stepper motor, direct current generator or servomotor.
8. flexible separate type according to claim 1 climbs wall flaw detection robot, it is characterised in that the flexible separate type is climbed
Wall flaw detection robot is provided with the mounting bracket for installation detecting device and/or failure detector.
9. a kind of flexible separate type climbs the application method of wall flaw detection robot, it is characterised in that any using such as claim 1-8
Flexible separate type described in climbs wall flaw detection robot, and methods described is as follows：The flexible separate type is climbed into wall flaw detection robot
It is placed on the outer wall of pipeline, the timing belt that flexible separate type climbs wall flaw detection robot is consolidated by the suction-operated of magnetic absorption band
It is scheduled on the outer wall of pipeline, opens drive device, flexible separate type is climbed wall flaw detection robot and moved on the outer wall of pipeline, passes through
When crossing uneven whole pipeline outer wall, flexible separate type climbs wall flaw detection robot and the laminating degree of pipeline outer wall passes through flexibility
Bindiny mechanism and contact roller voluntarily adjust, by flexible separate type climb on wall flaw detection robot installation detecting device and/or
Failure detector realizes the detection and flaw detection function to pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711118491.XA CN107839774A (en) | 2017-11-14 | 2017-11-14 | A kind of flexible separate type climbs wall flaw detection robot and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711118491.XA CN107839774A (en) | 2017-11-14 | 2017-11-14 | A kind of flexible separate type climbs wall flaw detection robot and its application method |
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| Publication Number | Publication Date |
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| CN107839774A true CN107839774A (en) | 2018-03-27 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711118491.XA Pending CN107839774A (en) | 2017-11-14 | 2017-11-14 | A kind of flexible separate type climbs wall flaw detection robot and its application method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588916A (en) * | 2019-09-11 | 2019-12-20 | 北京唯极科技有限公司 | Method for cleaning plankton on surface of ship |
| CN110588915A (en) * | 2019-09-11 | 2019-12-20 | 北京唯极科技有限公司 | Ship surface detection and evaluation device |
| CN110696987A (en) * | 2019-09-11 | 2020-01-17 | 北京唯极科技有限公司 | Robot for cleaning surface of ship |
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Application publication date: 20180327 |
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