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A wall-climbing robot with a v-shaped permanent magnet chain piece buffered by an air rod

A wall-climbing robot and air-rod technology, which is applied in the field of wall-climbing robots, can solve the problems such as the inflexibility of robot movement and climbing, and achieve the effect of increasing the scope of application, ensuring comprehensiveness and simple structure.

Active Publication Date: 2017-07-21
HARBIN KENENG CLADDING TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing robot used for regular inspection of the water wall can only walk along a fixed track, the robot movement is restricted by the track, and the climbing is not flexible enough, and the invention provides a V with air bar buffer. Wall-climbing robot with shaped permanent magnet chain

Method used

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  • A wall-climbing robot with a v-shaped permanent magnet chain piece buffered by an air rod
  • A wall-climbing robot with a v-shaped permanent magnet chain piece buffered by an air rod
  • A wall-climbing robot with a v-shaped permanent magnet chain piece buffered by an air rod

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specific Embodiment approach 1

[0019] Specific implementation mode one: combine Figure 1 to Figure 5 Describe this embodiment, this embodiment includes connector 1, air rod buffer connection mechanism 15, two connecting rods 2, two main frame bodies 3, two driving wheel fixing frames 4, two driven wheel fixing frames 5, two A driving shaft 6, two driven bevel gears 7, two driving bevel gears 8, two driving motors 9, two driving trapezoidal pulleys 10, two driven shafts 11, two driven trapezoidal pulleys 12, two A trapezoidal synchronous belt 13, two probe support mechanisms 14, two first pins 19, four fixing parts 16, four second pins 20, several V-shaped brackets 17 and several magnetic blocks 18, two connecting rods 2 are arranged in parallel, each connecting rod 2 is installed on its corresponding main frame body 3, and the two main frame bodies 3 are connected by a connecting piece 1, and one end of each connecting rod 2 is fixedly equipped with a driving wheel fixing frame 4, each The other end of ea...

specific Embodiment approach 2

[0020] Specific implementation mode two: combination figure 2 The present embodiment will be described. The drive motor 9 of the present embodiment is a DC servo motor. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0021] Specific implementation mode three: combination Image 6 Describe this embodiment, the V-shaped bracket 17 of this embodiment includes a bottom plate 17-1 and two side plates 17-2, and the two side plates 17-2 are V-shaped and arranged at both ends of the bottom plate 17-1, and the bottom plate 17-1 1 and two side panels 17-2 are made into one. Other components and connections are the same as those in the first embodiment.

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Abstract

The invention discloses a climbing arm robot with V-shaped permanent magnetic chain sheets and an air rod buffering mechanism so as to solve the problems that existing water wall robots move and climb inflexibly. An air rod buffering connecting mechanism comprises two sets of crossed air rod assemblies, and each set of the crossed air rod assembly comprises two air rods which are arranged in a crossed mode; the two sets of crossed air rod assemblies are arranged in an up-down mode, and shells of the four air rods are formed into a rhombus; the upper air rod shell and lower air rod shell on the left side are hinged to a left main frame body through a first pin, and the upper air rod shell and lower air rod shell on the right side are hinged to a right main frame body through a first pin; an inner rod of each air rod is hinged to a corresponding fixed piece through a second pin, and each fixed piece is fixedly installed on a corresponding connecting rod, and a probe supporting mechanism is fixedly installed on each driven wheel fixing frame; a plurality of V-shaped brackets are uniformly distributed on each trapezoid synchronous belt, V-shaped openings of the V-shaped brackets directly face the length direction of the trapezoid synchronous belts, and a magnetic block is arranged on the inner wall of the V-shaped sheet of each V-shaped bracket. The climbing arm robot with the V-shaped permanent magnetic chain sheets and the air rod buffering mechanism is used for water wall inspecting.

Description

technical field [0001] The invention relates to a wall-climbing robot, in particular to a wall-climbing robot with a V-shaped permanent magnet chain piece buffered by an air rod. Background technique [0002] The water wall is the main pressure-bearing part of the circulating fluidized bed boiler, mainly used to absorb the radiant heat of the boiler. During the operation of the circulating fluidized bed boiler, the flow direction of the solid material flowing down the inner wall of the furnace changes in the junction area, so The surface of the water-cooled wall is scoured. After a long period of scouring, the wall of the water-cooled wall is worn and thinned, and the strength is reduced. In addition, in the transitional area, because the solid material flowing down the wall is opposite to the solid material moving upward in the furnace, a vortex is locally generated. The swirling flow causes abrasion to the water cooling wall and shortens the service life of the water cooli...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/075B62D55/265B62D55/10G01B17/02
CPCB62D55/075B62D55/10B62D55/265G01B17/02
Inventor 马洪文王俊明杨晓东王坤严勤展乾朱丽华
Owner HARBIN KENENG CLADDING TECH
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