CN221273271U

CN221273271U - Water-cooled wall wheel-track integrated detection robot

Info

Publication number: CN221273271U
Application number: CN202420028550.3U
Authority: CN
Inventors: 于学文; 刘彬; 李行健
Original assignee: BEIJING GUODIAN DIANKEYUAN DETECTION TECHNOLOGY CO LTD
Current assignee: BEIJING GUODIAN DIANKEYUAN DETECTION TECHNOLOGY CO LTD
Priority date: 2024-01-05
Filing date: 2024-01-05
Publication date: 2024-07-05
Anticipated expiration: 2034-01-05

Abstract

The utility model provides a water-cooled wall wheel-track integrated detection robot, relates to the technical field of detection equipment, and solves the technical problem that in the prior art, the overhaul efficiency is low when a boiler water-cooled wall is overhauled manually. The device comprises a running mechanism, a camera, a thickness measuring machine, a support, a shell, a circuit board and a control component, wherein the running mechanism is of a wheel-track integrated structure, magnetic attraction pieces are arranged on the running mechanism, the number of the running mechanisms is two, the running mechanism and the shell are all arranged on the support, the two running mechanisms are all arranged on two sides of the support, the shell is arranged between the two running mechanisms, the thickness measuring machine and the circuit board are arranged in the shell, the camera is arranged on the side wall of the shell, the thickness measuring machine, the camera and the running mechanism are electrically connected with the circuit board, and the circuit board is in communication connection with the control component.

Description

Water-cooled wall wheel-track integrated detection robot

Technical Field

The utility model relates to the technical field of detection equipment, in particular to a water-cooled wall wheel-track integrated detection robot.

Background

The boiler is used as main equipment of one of three main units of the thermal power plant, and mainly comprises equipment such as a water cooling wall, a superheater, a reheater, an economizer, a header, a steam-water connecting pipe and the like, and according to incomplete statistics, the four-pipe explosion and leakage event of the heating surface of the boiler accounts for about 50% of the unplanned outage event of the unit, and the explosion and leakage event of the heating surface of an individual thermal power plant is even up to 65%. From the aspect of four-pipe leakage of a heating surface of the boiler, the number of times of unscheduled shutdown maintenance is often more than that of a steam turbine and a generator, wherein leakage accidents (including an inner furnace and an outer furnace of the boiler) of pressure-bearing members (water cooling walls, economizers, superheaters and reheaters) account for about 70% of the boiler accidents, so that wear and explosion prevention work must be performed on the main body equipment of the boiler in order to greatly reduce the number of times of temporary maintenance of the boiler.

In the past, the traditional overhaul of the water-cooled wall of the boiler is carried out manually, and a scaffold is firstly required to be erected in a large area in a limited space in the boiler or a hanging basket is utilized to carry out manual selective inspection on a high-risk area of the water-cooled wall, so that the working environment is quite severe, and the difficulty is high, the progress is slow and the cost is high during the overhaul. And the boiler water wall overhauls and belongs to the operation overhauls in limited space high places, the risk degree is quite high, and serious consequences can be caused for parties and enterprises once high-altitude falling occurs.

Disclosure of utility model

The utility model aims to provide a water-cooled wall wheel-track integrated detection robot, which aims to solve the technical problem of low overhaul efficiency in the prior art of manually overhauling a boiler water-cooled wall. The preferred technical solutions of the technical solutions provided by the present utility model can produce a plurality of technical effects described below.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

The utility model provides a water-cooled wall wheel-track integrated detection robot which comprises a traveling mechanism, a camera, a thickness measuring machine, a support, a shell, a circuit board and a control assembly, wherein the traveling mechanism is of a wheel-track integrated structure, magnetic attraction pieces are arranged on the traveling mechanism, the number of the traveling mechanisms is two, the traveling mechanisms and the shell are all arranged on the support, the two traveling mechanisms are located on two sides of the support, the shell is located between the two traveling mechanisms, the thickness measuring machine and the circuit board are arranged in the shell, the camera is arranged on the side wall of the shell, and the thickness measuring machine, the camera and the traveling mechanisms are all electrically connected with the circuit board and are in communication connection with the control assembly.

Optionally, the walking mechanism further comprises a mud guard, and the mud guard is arranged above the walking mechanism.

Optionally, the number of the cameras is four, the four cameras are respectively located around the shell, and at least one of the cameras is connected with the shell through a holder;

the circumferential end of the camera is provided with illumination equipment.

Optionally, an anti-falling ring is arranged on the bracket.

Optionally, the portable wireless communication device further comprises a charging port, an antenna, a rechargeable battery and a key switch, wherein the charging port and the antenna are both arranged on the side wall of the shell, the key switch is arranged at the top of the shell, the rechargeable battery is arranged in the shell, the charging port is electrically connected with the rechargeable battery, the rechargeable battery is electrically connected with the key switch, the key switch is electrically connected with the circuit board, the circuit board is in communication connection with the control component through the antenna, and the pipeline identification module is connected with the bottom end of the shell and is electrically connected with the circuit board;

The thickness measuring machine is provided with keys for setting parameters, a first display screen for displaying numerical values, an aviation plug and a USB interface.

Optionally, the thickness measuring machine comprises a host and a probe assembly, wherein the host is installed in the shell, the probe assembly is electrically connected with the host, and the probe assembly is connected with the bottom end of the shell.

Optionally, the probe assembly includes probe shell, thickness measuring probe, expansion portion and guard portion, the one end of probe shell with the lower extreme of casing is connected, the expansion portion is installed in the probe shell, the thickness measuring probe with the expansion portion is connected and the thickness measuring probe with the host computer electricity is connected, guard portion connects the probe end of thickness measuring probe.

Optionally, the telescopic part comprises a spring and a sliding rail, the spring is positioned between the probe shell and the thickness measuring probe, the sliding rail is connected with the side wall of the probe shell, and the side wall of the thickness measuring probe is in sliding connection with the sliding rail;

The protection part comprises a probe support and a bearing, wherein the probe support is connected with the probe end, the bearing is connected with the probe support, and the lower end face of the bearing is lower than the lower end face of the thickness measuring probe.

Optionally, the outside of control assembly is provided with button group, second display screen, start key, interface and the output interface charge, the inside of control assembly is provided with management element.

Optionally, the management element includes a real-time image and thickness measurement data monitoring function module, a robot control function module, a path planning function module, a thickness measurement data detail function module, a track detail function module, a thickness measurement data and track detail deriving function module.

According to the water-cooled wall wheel-track integrated detection robot, the magnetic attraction piece is adopted, so that the robot can be magnetically attracted on the water-cooled wall of the power plant boiler, remote control can be realized on the robot through the control component, the robot can rapidly, stably and safely move on the water-cooled wall of the power plant boiler by virtue of the travelling mechanism, the thickness of the pipe wall can be checked by the robot through the thickness measuring machine, the appearance detection and environmental observation can be realized by the robot through the camera, non-contact measurement is realized, the checking efficiency is high, manual high-altitude dangerous operation can be replaced, the potential safety hazard of operators is reduced, the checking efficiency of the water-cooled wall of the power plant boiler is greatly improved, remote control is realized, the anti-abrasion and anti-explosion checking intellectualization of the water-cooled wall of the power plant boiler is realized, and the technical problem of low checking efficiency in manual overhaul of the water-cooled wall of the power plant boiler in the prior art is solved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a top view of a water-cooled wall wheel-track integrated detection robot provided by an embodiment of the utility model;

Fig. 2 is a front view of a water-cooled wall wheel-track integrated detection robot provided by an embodiment of the utility model;

FIG. 3 is a cross-sectional view of A-A of FIG. 2;

Fig. 4 is a schematic structural diagram of a control assembly of a water-cooled wall wheel-track integrated detection robot provided by an embodiment of the utility model.

In the figure 1, a walking mechanism; 2. a camera; 3. a bracket; 31. an anti-falling ring; 4. a housing; 5. a control assembly; 51. a key set; 52. a second display screen; 53. a start key; 54. a charging interface; 55. an output interface; 6. a mud guard; 7. a charging port; 8. an antenna; 9. a key switch; 10. a probe assembly; 101. a probe housing; 102. a thickness measuring probe; 103. a spring; 104. a slide rail; 105. a probe holder; 106. a bearing; 20. and (5) performing aviation plug.

Detailed Description

In order to make the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, based on the examples herein, which are within the scope of the utility model as defined by the claims, will be within the scope of the utility model as defined by the claims.

In the description of the present utility model, it is to be noted that, unless otherwise indicated, the meaning of "plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", etc., refer to an orientation or positional relationship based on that shown in the drawings, and are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present utility model can be understood as appropriate by those of ordinary skill in the art.

The utility model provides a water-cooled wall wheel-track integrated detection robot which comprises a travelling mechanism 1, a camera 2, a thickness measuring machine, a bracket 3, a shell 4, a circuit board and a control component 5, wherein the travelling mechanism 1 is of a wheel-track integrated structure, magnetic attraction pieces are arranged on the travelling mechanism 1, the maximum pulling force of the robot in the vertical direction of a water-cooled wall can reach 85kg, the number of the travelling mechanisms 1 is two, the travelling mechanisms 1 and the shell 4 are both arranged on the bracket 3, the two travelling mechanisms 1 are both positioned on two sides of the bracket 3, the shell 4 is positioned between the two travelling mechanisms 1, the thickness measuring machine and the circuit board are arranged in the shell 4, the camera 2 is electrically connected with the circuit board, the thickness measuring machine, the camera 2 and the travelling mechanism 1 can be controlled to detect the wall thickness of the wall, the camera 2 can be controlled to take pictures and record images, the travelling mechanism 1 can be controlled to rotate forwards or reversely, and the circuit board is in communication connection with the control component 5. According to the water-cooled wall wheel-track integrated detection robot, the magnetic attraction piece is adopted, so that the robot can be magnetically attracted on the water-cooled wall of the power plant boiler, remote control can be realized on the robot through the control component 5, the robot can rapidly, stably and safely move on the water-cooled wall of the power plant boiler by virtue of the travelling mechanism 1, the robot can realize pipe wall thickness detection through the thickness measuring machine, the robot can realize appearance detection and environment observation through the camera 2, non-contact measurement is realized, the detection efficiency is high, manual high-altitude dangerous operation can be replaced, the potential safety hazard of operators is reduced, the detection efficiency of the water-cooled wall of the power plant boiler is greatly improved, remote control is realized, the anti-wear and anti-explosion detection intellectualization of the water-cooled wall of the power plant boiler is realized, and the technical problem of low overhaul efficiency in the manual overhaul of the water-cooled wall of the power plant boiler in the prior art is solved.

As an alternative embodiment, a mud guard 6 is further included, the mud guard 6 being mounted above the travelling mechanism 1, the mud guard 6 being for preventing mud from splashing. The running mechanism 1 is used for the robot to move forwards, backwards or turn, the two running mechanisms 1 are driven by respective motors, and when one motor rotates forwards and the other motor rotates reversely, the robot can turn in situ. When the two motors rotate forward or backward at the same time, the robot can move forward or backward.

As an optional implementation manner, the number of cameras 2 is four, the four cameras 2 are respectively positioned around the shell 4, at least one of the cameras 2 is connected with the shell 4 through a cradle head, and the cradle head can realize that the cameras 2 can rotate 360 degrees and shoot without dead angles; the camera 2 is used for taking pictures and recording video.

The circumferential end of the camera 2 is provided with an illumination device for assisting illumination.

As an alternative embodiment, the support 3 is provided with a fall protection ring 31, and the fall protection ring 31 is connected with a fall protection device fixed on the roof of the water-cooled wall through a suspended safety rope. During detection, the robot is connected with the falling protector of the water-cooled wall shed roof through the safety rope fastened on the falling protection ring 31 so as to prevent the robot from falling under emergency conditions.

As an optional implementation manner, the intelligent thickness measuring device further comprises a charging port 7, an antenna 8, a rechargeable battery and a key switch 9, wherein the charging port 7 and the antenna 8 are arranged on the side wall of the shell 4, the number of the antennas 8 is four, the antenna 8 is used for receiving and transmitting WIFI signals and positioning signals, the key switch 9 is arranged on the top of the shell 4, the rechargeable battery is arranged in the shell 4, the rechargeable battery is used for supplying power to a robot, the charging port 7 is electrically connected with the rechargeable battery, the rechargeable battery is electrically connected with the key switch 9, the key switch 9 is used for controlling the thickness measuring machine, the travelling mechanism 1 and the camera 2 to be started and stopped, the key switch 9 is electrically connected with a circuit board, the circuit board is in communication connection with the control assembly 5 through the antenna 8, the pipeline identification module is connected with the bottom end of the shell 4 and is electrically connected with the circuit board, when the travelling direction of the robot is in the positive direction of an X axis, the pipeline identification module is counted and increased by 1, when the travelling direction of the robot is in the negative direction of the X axis, the pipeline identification module is counted and decreased by 1, the pipeline identification module can position each group of corresponding position of thickness measuring data to the thickness measuring track, accurate positioning data can be realized;

The thickness measuring machine is provided with keys for setting parameters, a first display screen for displaying numerical values, an aviation plug 20 and a USB interface. The air insert 20 may be connected to the control assembly 5 via a data line, or the thickness measuring machine may be connected to the control assembly 5 via a wireless signal. The keys include a set key, an up key, and a down key.

As an alternative embodiment, the thickness measuring machine comprises a host computer and a probe assembly 10, wherein the host computer is installed in the casing 4, the probe assembly 10 is electrically connected with the host computer, and the probe assembly 10 is connected with the bottom end of the casing 4. The thickness measuring machine is used for checking the thickness of the pipe wall. The bottom end of the shell 4 can be provided with a polishing brush and a cleaning device.

As an alternative embodiment, the probe assembly 10 includes a probe housing 101, a thickness measuring probe 102, a telescoping portion, and a protecting portion, one end of the probe housing 101 is connected with the lower end of the casing 4, the telescoping portion is installed in the probe housing 101, the thickness measuring probe 102 is connected with the telescoping portion and the thickness measuring probe 102 is electrically connected with the host, the thickness measuring probe 102 can perform telescoping movement in the probe housing 101 through the telescoping portion, the protecting portion is connected with the probe end of the thickness measuring probe 102, and the protecting portion is used for protecting the probe end of the thickness measuring probe 102. The thickness measuring probe 102 is used for electromagnetic ultrasonic thickness measurement detection.

As an alternative embodiment, the telescopic part comprises a spring 103 and a sliding rail 104, the spring 103 is positioned between the probe shell 101 and the thickness measuring probe 102, the sliding rail 104 is connected with the side wall of the probe shell 101, the side wall of the thickness measuring probe 102 is in sliding connection with the sliding rail 104, and the maximum compression stroke of the spring 103 is 10mm;

The protection part comprises a probe support 105 and a bearing 106, the probe support 105 is connected with the probe end, the bearing 106 is connected with the probe support 105, and the lower end face of the bearing 106 is 0.5mm lower than the lower end face of the thickness measuring probe 102. During detection, the bearing 106 firstly contacts the pipe wall, so that abrasion between the thickness measuring probe 102 and the pipe wall in the detection moving process is reduced.

As an alternative embodiment, the control assembly 5 is provided with a key group 51, a second display 52, a start key 53, a charging interface 54 and an output interface 55 on the outside, and the control assembly 5 is provided with a management element on the inside. The key set 51 may set the thickness measurement detection parameter, and the measured thickness value may be displayed on the second display 52, may be displayed in a split screen manner, or may be displayed in a waveform manner.

As an alternative embodiment, the management element includes a real-time image and thickness measurement data monitoring function module, a robot control function module, a path planning function module, a thickness measurement data detail function module, a track detail function module, a thickness measurement data and track detail deriving function module.

The real-time image and thickness measurement data monitoring functional module is divided into an operation area and an information display area, wherein the operation area is a soft key and is used for controlling four cameras 2 of the robot, and defects can be photographed and recorded during detection; the information display area comprises an image information acquisition display window and real-time thickness measurement data display, the information display area can display real-time images acquired by the robot in a split screen manner, panoramic linkage is supported, the cradle head of the camera is adjusted and zoomed through the control assembly 5, the detection area is arranged in the center of a picture, and the infrared light supplementing radius can reach 10m at the most;

The robot control function module comprises a robot walking control function module and a robot real-time position display function module, wherein the robot walking control function module is a soft key, the robot real-time position display function module is a plane rectangular coordinate system, the current robot position is marked, and a user can observe the information such as the current position, the movement direction and the like according to the point trace of the robot;

The path planning function module comprises a robot travel path planning coordinate system, a planned path is displayed by a green folding line, a current position of the robot is marked by a flashing blue point, the brown folding line is a robot moving track, after refreshing, the current position of the robot can be read and displayed in the coordinate system, a loading route key is selected, a stored route can be selected in a list, after the route is set, a storing route can be clicked, saving and naming can be carried out, 5 routes can be saved altogether, after the end point adding key is selected, an end point can be set at any position of the coordinate system, a linear path is automatically generated, after the node deleting key is selected, any node in the coordinate system can be clicked to delete the node, a moving node can be clicked, any node in the coordinate system can be clicked and the moving position can be moved, after the serpentine route generating key is clicked, current track information is cleared, a serpentine route is automatically generated in the coordinate system according to the set end point, and the automatic cruising key is clicked, and the robot can automatically move according to the current planned path;

The thickness measurement data detail functional module can check data according to the date, the middle part of the page is a data display area which is arranged in time sequence, the first column is thickness measurement time, and the second column is thickness value;

The track detail functional module can check the coordinate data of the robot driving track, can check the data according to the date, is arranged in time sequence, and has the first column of the robot positioning track information reading time, the second column of the robot positioning track information reading time and the third column of the robot positioning track information reading time;

The thickness measurement data and track detail derivation functional module can be used for checking thickness measurement data and track data information together, can be used for checking data according to date, and is arranged in time sequence, wherein the first column is thickness measurement time, the second column is robot positioning x coordinate, the third column is y coordinate, the fourth column is thickness measurement data, and the fifth column is thickness measurement tube number.

During the anti-wear and anti-explosion inspection, an operator starts up through the key switch 9, and then sets the thickness measuring parameter through the key, or sets the thickness measuring parameter through the external control component 5 connected with the WIFI. Because running gear 1 has magnetism and inhale the piece, adsorb the robot and advance on the pipe screen of being surveyed, when the motor of one running gear 1 corotation, the motor of another running gear 1 is reversing, then the robot realizes turning. Firstly, a control component 5 sends out an instruction to control the robot to walk to reach the pipe screen area of the detected water wall, and then the control component 5 sends out an instruction to control the robot to perform thickness measurement inspection. When the robot detects, the wall thickness value of the measured point is displayed on a first display screen of the thickness measuring machine and is also displayed on a second display screen 52, and the thickness value and the oscillogram can be displayed on the second display screen 52 in a split screen mode.

In summary, the water wall wheel track integrated detection robot provided by the utility model adopts ferromagnetic suction to adsorb the robot on the water wall of a power plant boiler for rapid, stable and safe moving operation, the detection speed is high, the minimum tube panel interval of detection is 40cm, an ultrasonic thickness measurement module is carried, no couplant is needed, the surface is not required, the rough surface is not required to be polished, the workpiece surface is allowed to have coking, rust and roughness which are smaller than 2mm, the functions of displaying real-time information, storing measurement data, browsing measurement files, controlling the robot interactively and automatically controlling the robot are realized, non-contact measurement can be realized, the detection efficiency is high, the wall thickness can be continuously and rapidly measured, the thickness measurement can be stably output to the control assembly 5, the thickness measurement machine can be adaptive to water wall tube rows with different specifications, the thickness measurement data can be displayed on the second display screen 52 in real time, meanwhile, the thickness measurement data support is used for data query, meanwhile, the auxiliary camera 2 can visually observe and store video records, the post-cut tube inspection, the robot can also realize the functions of preventing the hidden danger through polishing, the brush can be realized, the human body can be used for carrying the cleaning device, the human body can realize the remote control of the water wall safety control of the power plant, the remote control of the boiler, the anti-explosion operation can be realized, and the remote control of the power plant can realize.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. The water-cooled wall wheel-track integrated detection robot is characterized by comprising a travelling mechanism (1), a camera (2), a thickness measuring machine, a bracket (3), a shell (4), a circuit board and a control assembly (5), wherein,

The utility model discloses a wheel-track type walking mechanism is characterized in that the walking mechanism (1) is of a wheel-track integrated structure, a magnetic attraction piece is arranged on the walking mechanism (1), the number of the walking mechanisms (1) is two, the walking mechanism (1) and the shell (4) are all installed on the support (3), the two walking mechanisms (1) are located on two sides of the support (3), the shell (4) is located between the two walking mechanisms (1), the thickness measuring machine and the circuit board are installed in the shell (4), the camera (2) is installed on the side wall of the shell (4), the thickness measuring machine, the camera (2) and the walking mechanism (1) are all electrically connected with the circuit board, and the circuit board is in communication connection with the control component (5).

2. The water-cooled wall wheel-track integrated detection robot according to claim 1, further comprising a mud guard (6), wherein the mud guard (6) is mounted above the travelling mechanism (1).

3. The water-cooled wall wheel-track integrated detection robot according to claim 1, wherein the number of cameras (2) is four, the four cameras (2) are respectively positioned at the periphery of the shell (4), and at least one of the cameras (2) is connected with the shell (4) through a holder;

the circumferential end of the camera (2) is provided with a lighting device.

4. The water-cooled wall wheel-track integrated detection robot according to claim 1, wherein the support (3) is provided with a falling protection ring (31).

5. The water-cooled wall wheel track integrated detection robot according to claim 1, further comprising a charging port (7), an antenna (8), a rechargeable battery, a key switch (9) and a pipeline identification module, wherein the charging port (7) and the antenna (8) are both arranged on the side wall of the machine shell (4), the key switch (9) is arranged at the top of the machine shell (4), the rechargeable battery is arranged in the machine shell (4), the charging port (7) is electrically connected with the rechargeable battery, the rechargeable battery is electrically connected with the key switch (9), the key switch (9) is electrically connected with the circuit board, the circuit board and the control assembly (5) are in communication connection through the antenna (8), and the pipeline identification module is connected at the bottom end of the machine shell (4) and is electrically connected with the circuit board.

The thickness measuring machine is provided with keys for setting parameters, a first display screen for displaying numerical values, an aviation plug (20) and a USB interface.

6. The water-cooled wall wheel-track integrated detection robot according to claim 1, wherein the thickness measuring machine comprises a host machine and a probe assembly (10), the host machine is installed in the machine shell (4), the probe assembly (10) is electrically connected with the host machine, and the probe assembly (10) is connected with the bottom end of the machine shell (4).

7. The water-cooled wall wheel track integrated detection robot as claimed in claim 6, wherein the probe assembly (10) comprises a probe housing (101), a thickness measuring probe (102), a telescopic part and a protection part, one end of the probe housing (101) is connected with the lower end of the shell (4), the telescopic part is installed in the probe housing (101), the thickness measuring probe (102) is connected with the telescopic part and the thickness measuring probe (102) is electrically connected with the host, and the protection part is connected with the probe end of the thickness measuring probe (102).

8. The water-cooled wall wheel track integrated detection robot according to claim 7, wherein the telescopic part comprises a spring (103) and a sliding rail (104), the spring (103) is located between the probe housing (101) and the thickness measurement probe (102), the sliding rail (104) is connected with the side wall of the probe housing (101), and the side wall of the thickness measurement probe (102) is in sliding connection with the sliding rail (104);

The protection part comprises a probe support (105) and a bearing (106), the probe support (105) is connected with the probe end, the bearing (106) is connected with the probe support (105), and the lower end face of the bearing (106) is lower than the lower end face of the thickness measuring probe (102).

9. The water-cooled wall wheel-track integrated detection robot according to claim 1, wherein a key set (51), a second display screen (52), a start key (53), a charging interface (54) and an output interface (55) are arranged outside the control assembly (5), and a management element is arranged inside the control assembly (5).

10. The water wall wheel track integrated inspection robot of claim 9, wherein the management element comprises a real-time image and thickness measurement data monitoring function module, a robot control function module, a path planning function module, a thickness measurement data detail function module, a track detail function module, a thickness measurement data and track detail deriving function module.