CN116660478B - Automatic detection robot for heat exchange tube - Google Patents
Automatic detection robot for heat exchange tube Download PDFInfo
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- CN116660478B CN116660478B CN202310923083.0A CN202310923083A CN116660478B CN 116660478 B CN116660478 B CN 116660478B CN 202310923083 A CN202310923083 A CN 202310923083A CN 116660478 B CN116660478 B CN 116660478B
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- 238000001514 detection method Methods 0.000 title claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 174
- 239000000523 sample Substances 0.000 claims abstract description 109
- 230000001360 synchronised effect Effects 0.000 claims description 37
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 20
- 229910052782 aluminium Inorganic materials 0.000 claims description 20
- 238000007906 compression Methods 0.000 claims description 19
- 230000006835 compression Effects 0.000 claims description 18
- 238000003825 pressing Methods 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000007689 inspection Methods 0.000 claims description 9
- 238000013519 translation Methods 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000005056 compaction Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 abstract description 2
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 8
- 230000007797 corrosion Effects 0.000 description 5
- 238000005260 corrosion Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010000369 Accident Diseases 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000011158 quantitative evaluation Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses an automatic detection robot for a heat exchange tube, which belongs to the technical field of detection equipment for heat exchange tubes and comprises a probe tube, a moving trolley, an adjusting mechanism and a probe feeding mechanism, wherein the adjusting mechanism and the probe feeding mechanism are positioned above the moving trolley; the specific direction of the probe feeding mechanism is adjusted through the adjusting mechanism so as to be accurately positioned; meanwhile, the probe feeding mechanism controls the probe tube to stretch out and draw back, so that the probe is prevented from slipping, and the accuracy of the test is ensured. According to the invention, automatic detection is realized through the heat exchange tube, so that the detection efficiency is greatly improved, and the accuracy of detection accuracy is improved; meanwhile, the probe tube can be effectively protected through the probe feeding mechanism, meanwhile, the probe tube is prevented from slipping, and the detection accuracy is ensured.
Description
Technical Field
The invention belongs to the technical field of heat exchange tube detection equipment, and particularly relates to an automatic detection robot for a heat exchange tube.
Background
Heat exchange tubes are an important component of typical shell and tube heat exchange equipment, and their safety status has a critical influence on production and operation. The heat exchange tube can form damages such as corrosion, cracks and the like in a long-term high-temperature high-pressure operation environment, once leakage occurs, mixing can occur, normal production is affected, and serious fire accidents can be caused. Therefore, in order to ensure the safe service of the heat exchange equipment, according to national and industry standards, the heat exchange pipe needs to be subjected to periodic quality detection and safety evaluation by using a nondestructive detection means.
At present, heat exchange tube quality detection research is mainly focused on a new nondestructive detection method, and remarkable results are achieved in theory, methods, sensors and systems. The method mainly aims at the material, structure and damage form of the heat exchange tube, utilizes various physical effects such as electricity, magnetism, sound, light, heat and the like, provides a detection method based on fusion of one or more effects, such as an eddy current detection technology, a built-in rotary ultrasonic detection system, a far field detection technology, a magnetic flux leakage detection technology, an endoscope detection technology and the like, and utilizes an artificial intelligence algorithm to identify and classify defects, so that three-dimensional imaging and quantitative evaluation of the defects are finally realized.
However, there is little research on how to implement automated detection of heat exchange tubes. At present, the heat exchange tube detection generally adopts a manual mode, an operator needs to hold a detection probe to carry out detection operation of the heat exchange tubes one by one, and the following problems exist:
(1) The detection process is unstable, and the evaluation result is unreliable. The detection probe is manually operated to perform plug detection in the heat exchange tube, the detection speed of the sensor cannot be kept stable, so that the scanning speeds of different areas are different, meanwhile, the reliability of a detection method with strict requirements on the detection speed, such as ultrasound and magnetic leakage, is seriously affected, and the detection result is unreliable;
(2) The labor intensity is high, and the detection efficiency is low. A typical heat exchanger is provided with hundreds of heat exchange tubes, so that the detection of 1 heat exchanger needs longer working time, the labor intensity is high, the detection efficiency is low, and meanwhile, the heat exchanger generally works in a relatively severe space, so that the working environment of a detector is severe, and the physical and mental health of the detector is influenced.
Therefore, the invention needs to provide an automatic positioning feeding probe robot for detecting the heat exchanger, which is intelligent in the whole process of corrosion and crack detection, so that the workload of workers is further reduced, the error rate of pipeline defect detection is reduced, and the pipeline defect detection efficiency is improved.
Meanwhile, for heat exchangers of different specifications, the heat exchange tube arrays are different in mode, the internal heat exchange tubes are different in size and interval, and the heat exchange tube pipeline detection robot is required to be designed in a structural suitability mode, so that the heat exchange tube pipeline detection robot can identify the positions of the heat exchange tubes of the heat exchangers of different specifications, and meanwhile, the probe is moved to the corresponding positions for feeding, so that the identification and detection of corrosion and cracks are realized.
Disclosure of Invention
The invention aims to provide an automatic detection robot for a heat exchange tube, which aims to solve the problems in the background technology.
The aim of the invention is realized by the following technical scheme:
an automatic detection robot for a heat exchange tube comprises a probe tube, a moving trolley, an adjusting mechanism and a probe feeding mechanism, wherein the adjusting mechanism and the probe feeding mechanism are positioned above the moving trolley;
the adjusting mechanism comprises a lifting mechanism and a translation swinging mechanism, and is used for adjusting the up-and-down movement, the left-and-right movement and the back-and-forth swinging of the probe feeding mechanism;
the probe feeding mechanism comprises a shell, a friction feeding mechanism, a pressing detection mechanism, a visual detection mechanism and a forward extending positioning mechanism, wherein the pressing mechanism is positioned above the friction feeding mechanism and used for pressing the probe tube onto the friction feeding mechanism, and the friction feeding mechanism is used for driving the probe tube to stretch out and draw back.
Further, the friction feeding mechanism is installed in the casing, the friction feeding mechanism includes first motor, first synchronous area subassembly and first friction wheel, first motor with first synchronous area subassembly is connected, two first friction wheel respectively with two pivots of first synchronous area subassembly are connected, the probe pipe is located first friction wheel top and with the recess looks adaptation of first friction wheel.
Further, the hold-down mechanism is installed in the casing, the hold-down mechanism includes second motor, second hold-in range subassembly, second friction pulley, first guide rail, slip table and first lead screw, the slip table with two parallels first guide rail sliding connection, two the second friction pulley is located the slip table is kept away from the one side of guide rail, two the second friction pulley with correspond from top to bottom of first friction pulley, first lead screw is located two between the first guide rail, the slip table with first lead screw cooperatees, first lead screw passes through the second motor with second hold-in range subassembly motion.
Further, compress tightly detection mechanism includes revolving stage, connecting piece, encoder and third friction wheel, the revolving stage is fixed the top of casing, the one end of connecting piece with the revolving stage rotates to be connected, the other end of connecting piece with the encoder with the third friction wheel is connected, the encoder is located one side of connecting piece, the third friction wheel is located the opposite side of connecting piece, be equipped with the pressure spring on the connecting piece, the third friction wheel is located the top of probe pipe, the third friction wheel passes through the connecting piece with the pressure spring with probe pipe butt.
Further, the positioning mechanism stretches forward including cylinder, first slide rail, first slider and mounting, the one end of first slide rail is fixed the front end of casing, first slider is located in the slide rail and with first slide rail looks adaptation, the mounting is located in the first slide rail and with first slider is connected, the afterbody of cylinder with first slide rail is close to one end fixed connection of casing, the piston rod one end of cylinder with the mounting stretches out the bottom of first slide rail to be connected, the mounting passes through the cylinder with first slider is in slide in the first slide rail, the probe pipe is followed wear out in the mounting, the mounting top is equipped with and spills the fluting of probe pipe, the fluting with the third friction wheel corresponds, the tip of probe pipe with still be equipped with buffer assembly between the mounting, buffer assembly includes the spring piece and supports two the spring piece is located the both sides of casing, the spring piece one end with the spring piece is connected with the tab, the spring piece is located the diameter of the probe pipe is held in the through-hole, the diameter of the probe pipe is held in the connection with the tab is held in the centre of the through-hole, the diameter of the probe pipe is held in the diameter of the through-hole is held in the device.
Further, elevating system is bilateral symmetry structure, one of them side of elevating system includes third motor, aluminium skeleton and is located second guide rail, second slider and the third hold-in range subassembly in the aluminium skeleton, two parallels the second guide rail be located both sides in the aluminium skeleton and with the aluminium skeleton is fixed, the third hold-in range subassembly is located in the middle of the second guide rail of two parallels, the third motor is located the top of aluminium skeleton, the third motor with third hold-in range subassembly is connected, the second slider with two second guide rail sliding connection, the middle part of second slider with third hold-in range subassembly is connected, still be equipped with hold-in range tensioning mechanism in the third hold-in range subassembly.
Further, the translation swing mechanism is a square frame shape, the bottom of the translation swing mechanism is not contacted with the moving trolley, the translation swing mechanism comprises a supporting rod, a bearing assembly, a second sliding rail, a fourth motor, a fifth motor, a swing connecting rod assembly, a fourth synchronous belt assembly and a second lead screw, the second lead screw is positioned between the two supporting rods, two ends of the supporting rod are respectively connected with the bearing assembly and the upper end of the swing connecting rod assembly, the second sliding rail is positioned below the supporting rod, two ends of the second sliding rail are respectively connected with the bearing assembly and the lower end of the swing connecting rod assembly, one end of the fourth synchronous belt assembly is connected with one end of the second lead screw, which is close to one end of the swing connecting rod assembly, the other end of the fourth synchronous belt assembly is connected with the fourth motor, a base of the fourth motor is fixed on a shell of the swing connecting rod assembly, the fifth motor is connected with the swing connecting rod assembly, a base of the fifth motor is connected with a second sliding block on one side of the lifting mechanism, two ends of the second sliding rail are respectively connected with a second probe, two sides of the lifting mechanism are connected with a probe is connected with a second sliding block, two sliding mechanism are connected with the second probe and the probe is connected with the top of the sliding mechanism.
Further, the travelling car includes automobile body and wheel subassembly, the top of automobile body with quick detach structural connection is passed through to the bottom of aluminium skeleton, wheel subassembly includes independent suspension, mecanum's wheel, goes up joint motor assembly, lower joint motor assembly and sixth motor, go up joint motor assembly with the bottom of automobile body is connected, go up joint motor assembly with lower joint motor assembly passes through the panel and connects, the connecting rod that extends on the panel of lower joint motor assembly with the connecting rod that extends of the bottom of automobile body makes up into a parallelogram frame, the sixth motor is fixed and is kept away from go up joint motor assembly with on one side of the parallelogram frame that lower joint motor assembly constitutes, the sixth motor pass through the shaft coupling with Mecanum's wheel is connected.
Further, a control assembly and a power assembly are arranged in the vehicle body, the control assembly is connected with a lower-position electromechanical signal, and the control assembly is electrically connected with the adjusting mechanism, the probe feeding mechanism and the wheel assembly.
Further, the quick release structure comprises a bolt, a compression spring, a rotary clamping piece and a positioning block, wherein the positioning block is located at the top of the car body, the aluminum framework is sleeved on the positioning block, the bolt penetrates through the connecting hole of the aluminum framework and the connecting hole of the positioning block, the compression spring is sleeved on the bolt and located between one end of the bolt and the aluminum framework, and the rotary clamping piece is located at one end of the bolt away from the compression spring and matched with the bolt.
The beneficial effects of the invention are as follows:
1) The automatic detection of the heat exchange tube can be realized, the detection efficiency is greatly improved, and the detection accuracy is improved. The vision detection mechanism recognizes the pipe orifice of the heat exchange pipe, outputs the position coordinates to the lower computer, and feeds back the position coordinates to the control assembly through the lower computer to adjust the position of the probe feeding mechanism, so that the probe pipe can accurately detect the heat exchange pipe to be detected.
2) The compaction degree can be adjusted through the compaction mechanism, so that the probe tube is prevented from slipping, and the detection accuracy is ensured. The encoder and the third friction wheel can judge whether the first friction wheel has slipping phenomenon, namely whether the second friction wheel in the pressing mechanism presses the probe tube. If the compression degree needs to be adjusted, the second synchronous belt assembly and the first screw rod are driven to rotate through the second motor, and then the sliding table matched with the first screw rod is driven to move up and down along the first guide rail, and finally the second friction wheel is moved up and down.
3) The probe feeding mechanism is accurately adjusted up and down and pitching adjustment of a certain angle is realized through the lifting mechanism and the translation swinging mechanism, and meanwhile, accurate positioning and protection of a probe tube are realized through the forward extending positioning mechanism. The abutting piece at the forefront end of the fixing piece abuts against the pipe orifice of the heat exchange pipe to be detected, accurate positioning is achieved, meanwhile, when the abutting piece collides against the pipe orifice of the heat exchange pipe, buffering is achieved through the spring piece, and then the probe pipe can be sent into the aligned heat exchange pipe to be detected through the friction feeding mechanism.
4) The gesture is adjusted through the wheel subassembly to the travelling car also can guarantee stable balanced gesture in the horizontal direction even under the rugged circumstances in ground, improves security and the accuracy of detection operation by a wide margin.
5) The invention adopts a modularized assembly structure, has simple structure, can quickly disassemble and assemble the adjusting mechanism carried on the vehicle body, can be suitable for heat exchangers with different sizes, has wide application range, effectively reduces the detection cost of the heat exchanger, and greatly reduces the detection operation and maintenance cost of the heat exchanger.
Drawings
FIG. 1 is a schematic view of an automated heat exchange tube inspection robot according to the present invention;
FIG. 2 is a front view of an automated heat exchange tube inspection robot according to the present invention;
FIG. 3 is a first schematic view of a probe feed mechanism according to the present invention;
FIG. 4 is a second schematic view of a probe feed mechanism according to the present invention;
FIG. 5 is a schematic view of a hold-down mechanism according to the present invention;
FIG. 6 is a schematic illustration of the connection of the adjustment mechanism and the probe feed mechanism of the present invention;
FIG. 7 is a schematic view of a lifting mechanism according to the present invention;
FIG. 8 is a schematic view of a translational swing mechanism of the present invention;
FIG. 9 is a schematic diagram of a mobile cart according to the present invention;
FIG. 10 is a schematic view of a wheel assembly according to the present invention
FIG. 11 is a schematic view of a quick release structure according to the present invention;
in the drawing the view of the figure, 1-probe tube, 2-travelling car, 21-car body, 22-wheel assembly, 221-upper joint motor assembly, 222-lower joint motor assembly, 223-independent suspension, 224-sixth motor, 225-Mecanum wheel, 3-probe feed mechanism, 31-housing, 32-friction feed mechanism, 321-first motor, 322-first timing belt assembly, 323-first friction wheel, 33-hold-down mechanism, 331-second motor, 332-second timing belt assembly, 333-second friction wheel, 334-first guide rail, 335-slide table, 336-first lead screw, 34-hold-down detection mechanism, 341-turn table, 342-connector, 343-encoder, 344-third friction wheel 345-pressure spring, 35-forward positioning mechanism, 351-cylinder, 352-first slide rail, 353-first slider, 354-fixed part, 355-spring part, 356-abutting piece, 357-slotting, 36-visual inspection mechanism, 4-lifting mechanism, 41-third motor, 42-aluminum skeleton, 43-third synchronous belt assembly, 44-second guide rail, 45-second slider, 46-bolt, 47-compression spring, 48-rotary card, 5-translational swing mechanism, 51-supporting rod, 52-second lead screw, 53-second slide rail, 54-bearing assembly, 55-swing link assembly, 56-fifth motor, 57-fourth synchronous belt assembly, 58-fourth motor.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
Referring to fig. 1 to 11, the present invention provides a technical solution:
as shown in fig. 1-11, an automatic detection robot for a heat exchange tube comprises a probe tube 1, a moving trolley 2, and an adjusting mechanism and a probe feeding mechanism 3 which are positioned above the moving trolley 2;
the adjusting mechanism comprises a lifting mechanism 4 and a translational swing mechanism 5, and is used for adjusting the up-and-down movement, the left-and-right movement and the back-and-forth swing of the probe feeding mechanism 3;
the probe feeding mechanism 3 comprises a shell 31, a friction feeding mechanism 32, a pressing mechanism 33, a pressing detection mechanism 34, a visual detection mechanism 36 and a forward extending positioning mechanism 35, wherein the pressing mechanism 33 is positioned above the friction feeding mechanism 32 and used for pressing the probe tube 1 on the friction feeding mechanism 32, and the friction feeding mechanism 32 is used for driving the probe tube 1 to stretch and retract.
Through the technical scheme, after the visual detection mechanism 36 obtains the position information in the pipeline, the adjusting mechanism and the probe feeding mechanism 3 are rapidly arranged to the region to be detected through the mobile trolley 2, and the probe feeding mechanism 3 is controlled to vertically and horizontally translate and pitch rotation movement at a certain angle through the adjusting mechanism, so that the probe tube 1 in the probe feeding mechanism 3 can be accurately positioned in the heat exchange tube to be detected, and the detection capability of the heat exchange tube under different working conditions is improved. After the probe feeding mechanism 3 reaches a specified position, the probe tube 1 is fed into the heat exchange tube to be tested through the friction feeding mechanism 32, so that automatic detection is realized. The invention is suitable for detecting corrosion and cracks in pipelines with different pipe diameters, is especially suitable for detecting tiny heat exchange pipes with the diameter of 20-30 cm, can realize automatic detection of corrosion and cracks of the pipelines, does not need manual control, greatly improves the detection efficiency and improves the detection accuracy.
Further, the friction feeding mechanism 32 is installed in the housing 31, the friction feeding mechanism 32 includes a first motor 321, a first synchronous belt assembly 322 and a first friction wheel 323, the first motor 321 is connected with the first synchronous belt assembly 322, two first friction wheels 323 are respectively connected with two rotating shafts of the first synchronous belt assembly 322, and the probe tube 1 is located above the first friction wheels 323 and is matched with grooves of the first friction wheels 323.
Further, the pressing mechanism 33 is installed in the housing 31, the pressing mechanism 33 includes a second motor 331, a second synchronous belt assembly 332, a second friction wheel 333, a first guide rail 334, a sliding table 335 and a first lead screw 336, the sliding table 335 is slidably connected with the two parallel first guide rails 334, the two second friction wheels 333 are located on one surface of the sliding table 335 away from the guide rails, the two second friction wheels 333 and the first friction wheel 323 vertically correspond, the first lead screw 336 is located between the two first guide rails 334, the sliding table 335 is matched with the first lead screw 336, and the first lead screw 336 moves through the second motor 331 and the second synchronous belt assembly 332.
Further, the pressing detection mechanism 34 includes a turntable 341, a connecting member 342, an encoder 343 and a third friction wheel 344, the turntable 341 is fixed at the top of the housing 31, one end of the connecting member 342 is rotatably connected with the turntable 341, the other end of the connecting member 342 is connected with the encoder 343 and the third friction wheel 344, the encoder 343 is located at one side of the connecting member 342, the third friction wheel 344 is located at the other side of the connecting member 342, a compression spring 345 is provided on the connecting member 342, the third friction wheel 344 is located above the probe tube 1, and the third friction wheel 344 is abutted with the probe tube 1 through the connecting member 342 and the compression spring 345.
By the above solution, the probe tube 1 passes through the entire probe feed mechanism 3 while the probe tube 1 is located between the two first friction wheels 323 in the friction feed mechanism 32 and the two second friction wheels 333 in the hold-down mechanism 33. The first friction wheel 323 rotates along with the rotating shaft of the first synchronous belt assembly 322, and the second friction wheel 333 is located on the sliding table 335 in a free rotation state. Therefore, the probe tube 1 is abutted against the first friction wheel 323 by the second friction wheel 333, and the probe tube 1 can move back and forth along the rotation direction of the first friction wheel 323 by the friction action of the upper friction wheel and the lower friction wheel. Meanwhile, the third friction wheel 344 in the compression detection mechanism 34 is always abutted against the probe tube 1 under the action of the elasticity of the pressure spring 345 and the dead weight of the connecting plate, and meanwhile the encoder 343 is connected with the third friction wheel 344, so that the encoder 343 can judge whether the first friction wheel 323 has slipping or not through the abutting condition of the third friction wheel 344 and the probe tube 1 and the feeding speed change of the probe tube 1, namely, whether the second friction wheel 333 in the compression mechanism 33 compresses the probe tube 1 or not. If the compression degree needs to be adjusted, the second synchronous belt assembly 332 and the first lead screw 336 can be driven to rotate by the second motor 331, and then the sliding table 335 matched with the first lead screw 336 is driven to move up and down along the first guide rail 334, so that the second friction wheel 333 is finally moved up and down, and the purpose of moving the compression degree of the second friction wheel 333 to the first friction wheel 323 is achieved.
Further, the forward extending positioning mechanism 35 includes a cylinder 351, a first slide rail 352, a first slider 353 and a fixing member 354, one end of the first slide rail 352 is fixed at the front end of the housing 31, the first slider 353 is located in the first slide rail 352 and is matched with the first slide rail 352, the fixing member 354 is located in the first slide rail 352 and is connected with the first slider 353, the tail of the cylinder 351 and one end of the first slide rail 352 close to the housing 31 are fixedly connected, one end of a piston rod of the cylinder 351 and one end of the fixing member 354 extend out of the bottom of the first slide rail 352, the fixing member 354 slides in the first slide rail 352 through the cylinder 351 and the first slider 353, the probe tube 1 passes through the fixing member 354, a groove 357 which leaks out of the probe tube 1 is arranged above the fixing member 354 and corresponds to the third friction wheel 344, a buffer member 356 is further arranged between the end of the probe tube 1 and the fixing member 354 and is adjacent to one end of the first slide rail 352, the buffer member 356 is further connected with the spring member 356, the buffer member 356 is located at the two ends of the buffer member 356 and the two ends of the buffer member 356 are in the same diameter as the through hole 355, and the diameter of the buffer member 356 is located at the two ends of the buffer member 355 are abutted against the two end of the spring member 355 is connected with the through hole 355, and the diameter of the buffer member 356 is abutted against the spring member 356 is located at the two end is abutted against the end of the buffer member 356 is located.
Through the above technical scheme, after the probe feeding mechanism 3 moves to the front of the heat exchange tube to be tested, the fixing piece 354 is pushed forward by the air cylinder 351, the fixing piece 354 slides forward in the first sliding rail 352 through the first sliding block 353, the abutting piece 356 at the forefront end of the fixing piece 354 abuts against the tube orifice of the heat exchange tube to be tested, accurate positioning is achieved, and meanwhile, when the abutting piece 356 collides against the tube orifice of the heat exchange tube, the buffering action is achieved through the spring piece 355. Thereafter, the probe tube 1 may be fed into the aligned heat exchange tube under test by the friction feed mechanism 32. The accurate positioning of the probe tube 1 is realized through the forward extending positioning mechanism 35, and meanwhile, the end part of the probe tube 1 can be protected, so that the probe tube 1 cannot collide with a heat exchange tube to be measured in the adjusting process.
Further, the lifting mechanism 4 is of a bilateral symmetry structure, one side of the lifting mechanism 4 comprises a third motor 41, an aluminum framework 42, a second guide rail 44, a second sliding block 45 and a third synchronous belt assembly 43, the second guide rail 44 is positioned in the aluminum framework 42, the two parallel second guide rails 44 are positioned on two sides in the aluminum framework 42 and are fixed with the aluminum framework 42, the third synchronous belt assembly 43 is positioned in the middle of the two parallel second guide rails 44, the third motor 41 is positioned at the top of the aluminum framework 42, the third motor 41 is connected with the third synchronous belt assembly 43, the second sliding block 45 is in sliding connection with the two second guide rails 44, the middle of the second sliding block 45 is connected with the third synchronous belt assembly 43, and a synchronous belt tensioning mechanism is further arranged in the third synchronous belt assembly 43.
Through above-mentioned technical scheme, aluminium skeleton 42 plays and supports and protect, drives the motion of third hold-in range subassembly 43 through third motor 41, and then drives the second slider 45 that is connected with third hold-in range subassembly 43 and reciprocate, and simultaneously second slider 45 cooperates with second guide rail 44 for second slider 45 has realized accurate oscilaltion along second guide rail 44, can guarantee the belt tensioning force in the second hold-in range subassembly 332 through hold-in range tensioning mechanism simultaneously, avoids the belt to skid, guarantees driven stationarity.
Further, the translational swing mechanism 5 is in a square frame shape, the bottom of the translational swing mechanism 5 is not in contact with the travelling car 2, the translational swing mechanism 5 comprises a supporting rod 51, a bearing assembly 54, a second sliding rail 53, a fourth motor 58, a fifth motor 56, a swing connecting rod assembly 55, a fourth synchronous belt assembly 57 and a second lead screw 52, the second lead screw 52 is located between the two supporting rods 51, two ends of the supporting rod 51 are respectively connected with the bearing assembly 54 and the upper end of the swing connecting rod assembly 55, the second sliding rail 53 is located below the supporting rod 51, two ends of the second sliding rail 53 are respectively connected with the bearing assembly 54 and the lower end of the swing connecting rod assembly 55, one end of the fourth synchronous belt assembly 57 is connected with one end of the second lead screw 52 close to the swing connecting rod assembly 55, the other end of the fourth synchronous belt assembly 57 is connected with the fourth motor 58, the base of the fourth motor 58 is fixed on the housing of the swing connecting rod assembly 55, the second sliding rail 53 is connected with the second lead screw assembly 5, the second lead screw assembly is connected with the second probe 4, and the second lead screw assembly is connected with the second lead screw assembly 3, and the second lead screw assembly is connected with the second probe 4.
Through the above technical scheme, the translational swing mechanism 5 is located between the lifting mechanisms 4, and two ends of the translational swing mechanism 5 are respectively connected with the two second sliding blocks 45, so that the translational swing mechanism 5 is driven to move together when the second sliding blocks 45 move up and down along the second guide rails 44, and meanwhile, the probe feeding mechanism 3 is connected with the translational swing mechanism 5, so that lifting adjustment of the probe feeding mechanism 3 is realized. The top of the probe feeding mechanism 3 is provided with a mounting block matched with the second lead screw 52, and meanwhile, the bottom of the probe feeding mechanism 3 is in sliding connection with the second sliding rail 53, so that when the fourth motor 58 drives the fourth synchronous belt assembly 57 to rotate and further drives the second lead screw 52 to rotate, the probe feeding mechanism 3 can realize left-right translation adjustment. Because the bearing component 54 is in matched connection with the bearing fixedly connected to the second sliding block 45 on one side of the lifting mechanism 4, the bearing component 54 is in rotary connection with the second sliding block 45, and the swinging connecting rod component 55 swings the frame surrounded by the whole translational swinging mechanism 5 back and forth around the center of the bearing component 54 under the drive of the fifth motor 56, so that the probe feeding mechanism 3 connected to the translational swinging mechanism 5 performs pitching rotation at a certain angle. The swing link assembly 55 includes a link mechanism, a worm gear mechanism and a gear transmission mechanism, and is identical to the rotor structure of a general fan, which is not shown in the drawings.
Further, the mobile cart 2 includes a cart body 21 and a wheel assembly 22, the top end of the cart body 21 is connected with the bottom of the aluminum skeleton 42 through a quick-release structure, the wheel assembly 22 includes an independent suspension 223, a mecanum wheel 225, an upper joint motor assembly 221, a lower joint motor assembly 222 and a sixth motor 224, the upper joint motor assembly 221 is connected with the bottom of the cart body 21, the upper joint motor assembly 221 is connected with the lower joint motor assembly 222 through a plate, a parallelogram frame is formed by connecting rods extending from the plate of the lower joint motor assembly 222 and connecting rods extending from the bottom of the cart body 21, the sixth motor 224 is fixed on one side of the parallelogram frame formed by the upper joint motor assembly 221 and the lower joint motor assembly 222, and the sixth motor 224 is connected with the mecanum wheel 225 through a coupling.
Through the above technical scheme, the upper joint motor assembly 221 is used for precisely controlling the left-right movement of the Mecanum wheel 225, the lower joint motor assembly 222 is used for precisely controlling the up-down movement of the Mecanum wheel 225, and the sixth motor 224 and the Mecanum wheel 225 are both arranged on one side of the parallelogram frame formed by the connecting rods, so that each Mecanum wheel 225 can be kept in a vertical state all the time, the running stability of the mobile trolley 2 is ensured, different roads can be adapted, and the stability of the adjusting mechanism and the probe feeding mechanism 3 above the mobile trolley 2 is improved.
Further, a control component and a power component are arranged in the vehicle body 21, the control component is connected with a lower-level electromechanical signal, and the control component is electrically connected with the adjusting mechanism, the probe feeding mechanism 3 and the wheel component 22.
Through the technical scheme, the control assembly is used for controlling the movement of the movable trolley 2 and controlling the motors in the adjusting mechanism and the probe feeding mechanism 3, the visual detection mechanism 36 is used for identifying the pipe orifice of the heat exchange pipe and outputting the position coordinates to the lower computer, and the lower computer is used for feeding back the position of the probe feeding mechanism 3 to the control assembly to adjust the position of the probe feeding mechanism 3, so that the accurate detection of the heat exchange pipe to be detected by the probe pipe 1 is finally realized.
Further, the quick-release structure comprises a bolt 46, a compression spring 47, a rotary clamping piece 48 and a positioning block, wherein the positioning block is located at the top of the vehicle body 21, the aluminum framework 42 is sleeved on the positioning block, the bolt 46 penetrates through the connecting hole of the aluminum framework 42 and the positioning block, the compression spring 47 is sleeved on the bolt 46 and located between one end of the bolt 46 and the aluminum framework 42, and the rotary clamping piece 48 is located at one end, far away from the compression spring 47, of the bolt 46 and is matched with the bolt 46.
Through above-mentioned technical scheme, can carry out dismouting with adjustment mechanism and travelling car 2 through quick detach structure for maintenance and iteration become very high-efficient.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (7)
1. The utility model provides a heat exchange tube automated inspection robot which characterized in that: comprises a probe tube (1), a movable trolley (2), and an adjusting mechanism and a probe feeding mechanism (3) which are positioned above the movable trolley (2);
the adjusting mechanism comprises a lifting mechanism (4) and a translational swing mechanism (5), and is used for adjusting the up-and-down movement, the left-and-right movement and the back-and-forth swing of the probe feeding mechanism (3);
the probe feeding mechanism (3) comprises a shell (31), a friction feeding mechanism (32), a pressing mechanism (33), a pressing detection mechanism (34), a visual detection mechanism (36) and a forward extending positioning mechanism (35), wherein the pressing mechanism (33) is positioned above the friction feeding mechanism (32) and is used for pressing the probe tube (1) on the friction feeding mechanism (32), and the friction feeding mechanism (32) is used for driving the probe tube (1) to stretch;
the friction feeding mechanism (32) is arranged in the shell (31), the friction feeding mechanism (32) comprises a first motor (321), a first synchronous belt assembly (322) and first friction wheels (323), the first motor (321) is connected with the first synchronous belt assembly (322), two first friction wheels (323) are respectively connected with two rotating shafts of the first synchronous belt assembly (322), and the probe tube (1) is positioned above the first friction wheels (323) and is matched with grooves of the first friction wheels (323);
the compaction detection mechanism (34) comprises a rotary table (341), a connecting piece (342), an encoder (343) and a third friction wheel (344), wherein the rotary table (341) is fixed at the top of the shell (31), one end of the connecting piece (342) is rotationally connected with the rotary table (341), the other end of the connecting piece (342) is connected with the encoder (343) and the third friction wheel (344), the encoder (343) is positioned at one side of the connecting piece (342), the third friction wheel (344) is positioned at the other side of the connecting piece (342), a pressure spring (345) is arranged on the connecting piece (342), the third friction wheel (344) is positioned above the probe tube (1), and the third friction wheel (344) is abutted with the probe tube (1) through the connecting piece (342) and the pressure spring (345);
the forward extending positioning mechanism (35) comprises a cylinder (351), a first sliding rail (352), a first sliding block (353) and a fixing piece (354), one end of the first sliding rail (352) is fixed at the front end of the shell (31), the first sliding block (353) is positioned in the first sliding rail (352) and matched with the first sliding rail (352), the fixing piece (354) is positioned in the first sliding rail (352) and connected with the first sliding block (353), the tail part of the cylinder (351) is fixedly connected with one end of the first sliding rail (352) close to the shell (31), one end of a piston rod of the cylinder (351) is fixedly connected with the bottom of the first sliding rail (352) when the fixing piece (354) extends out, the fixing piece (354) slides in the first sliding rail (352) through the cylinder (351) and the first sliding block (353), the probe tube (1) penetrates out of the fixing piece (354), a groove (357) is formed in the upper part of the fixing piece, the end part of the fixing piece is provided with a groove (354) corresponding to the groove (357), the groove (357) is formed in the end part of the fixing piece (354) and the friction piece (354) is provided with a groove (357) corresponding to the groove (357), two spring pieces (355) are located in the two sides of the abutting piece (356), one end of each spring piece (355) is connected with the corresponding fixing piece (354), the other end of each spring piece (355) is connected with the corresponding abutting piece (356), a through hole is formed in the center of each abutting piece (356), the diameter of each through hole is larger than that of the corresponding probe tube (1), the through holes of the corresponding abutting pieces (356) are concentric with the corresponding probe tube (1), and the visual detection mechanism (36) is located above the corresponding fixing piece (354).
2. The automated heat exchange tube inspection robot of claim 1, wherein: the compression mechanism (33) is installed in the casing (31), the compression mechanism (33) includes second motor (331), second hold-in range subassembly (332), second friction wheel (333), first guide rail (334), slip table (335) and first lead screw (336), slip table (335) with two parallels first guide rail (334) sliding connection, two second friction wheel (333) are located slip table (335) are kept away from the one side of guide rail, two second friction wheel (333) with first friction wheel (323) corresponds from top to bottom, first lead screw (336) are located two between first guide rail (334), slip table (335) with first lead screw (336) cooperate, first lead screw (336) are through second motor (331) with second hold-in range subassembly (332) motion.
3. The automated heat exchange tube inspection robot of claim 1, wherein: the lifting mechanism (4) is of a bilateral symmetry structure, one side of the lifting mechanism (4) comprises a third motor (41), an aluminum framework (42) and a second guide rail (44), a second sliding block (45) and a third synchronous belt assembly (43) which are arranged in the aluminum framework (42), the two parallel second guide rails (44) are arranged on two sides in the aluminum framework (42) and are fixed with the aluminum framework (42), the third synchronous belt assembly (43) is arranged in the middle of the two parallel second guide rails (44), the third motor (41) is arranged at the top of the aluminum framework (42), the third motor (41) is connected with the third synchronous belt assembly (43), the second sliding block (45) is connected with the two second guide rails (44) in a sliding mode, and a synchronous belt tensioning mechanism is further arranged in the third synchronous belt assembly (43).
4. The automated heat exchange tube inspection robot of claim 3, wherein: the translation swing mechanism (5) is in a square frame shape, the bottom of the translation swing mechanism (5) is not in contact with the moving trolley (2), the translation swing mechanism (5) comprises a supporting rod (51), a bearing component (54), a second sliding rail (53), a fourth motor (58), a fifth motor (56), a swing connecting rod component (55), a fourth synchronous belt component (57) and a second lead screw (52), the second lead screw (52) is positioned between the two supporting rods (51), two ends of the two supporting rods (51) are respectively connected with the bearing component (54) and the upper end of the swing connecting rod component (55), the second sliding rail (53) is positioned below the supporting rod (51), two ends of the second sliding rail (53) are respectively connected with the lower ends of the bearing component (54) and the swing connecting rod component (55), one end of the fourth synchronous belt component (57) is connected with one end of the second lead screw (52) close to one end of the swing connecting rod component (55), the other end of the fourth synchronous belt component (57) is fixedly connected with the swing connecting rod component (55) on the base (55), the base of the fifth motor (56) is connected with the second sliding block (45) on one side of the lifting mechanism (4), the second sliding block (45) on the other side of the lifting mechanism (4) is connected with the bearing assembly (54), the probe feeding mechanism (3) is located between the second lead screw (52) and the second sliding rail (53), a top mounting block of the probe feeding mechanism (3) is matched with the second lead screw (52), and the bottom of the probe feeding mechanism (3) is in sliding connection with the second sliding rail (53).
5. The automated heat exchange tube inspection robot of claim 3, wherein: the mobile trolley (2) comprises a trolley body (21) and a wheel assembly (22), wherein the top end of the trolley body (21) is connected with the bottom of the aluminum framework (42) through a quick-release structure, the wheel assembly (22) comprises an independent suspension (223), a Mecanum wheel (225), an upper joint motor assembly (221), a lower joint motor assembly (222) and a sixth motor (224), the upper joint motor assembly (221) is connected with the bottom of the trolley body (21), the upper joint motor assembly (221) is connected with the lower joint motor assembly (222) through a plate, a connecting rod extending out of the plate of the lower joint motor assembly (222) and a connecting rod extending out of the bottom of the trolley body (21) are combined into a parallelogram frame, the sixth motor (224) is fixed on one side of the parallelogram frame which is far away from the upper joint motor assembly (221) and the lower joint motor assembly (222), and the sixth motor (224) are connected with the Mecanum wheel (225) through a coupler.
6. The automated heat exchange tube inspection robot of claim 5, wherein: the vehicle body (21) is internally provided with a control component and a power supply component, the control component is in electric signal connection with a lower computer, and the control component is electrically connected with the adjusting mechanism, the probe feeding mechanism (3) and the wheel component (22).
7. The automated heat exchange tube inspection robot of claim 5, wherein: the quick release structure comprises a bolt (46), a compression spring (47), a rotary clamping piece (48) and a positioning block, wherein the positioning block is located at the top of the car body (21), the aluminum framework (42) is sleeved on the positioning block, the bolt (46) penetrates through the aluminum framework (42) and a connecting hole of the positioning block, the compression spring (47) is sleeved on the bolt (46) and located between one end of the bolt (46) and the aluminum framework (42), and the rotary clamping piece (48) is located at one end, far away from the compression spring (47), of the bolt (46) and is matched with the bolt (46).
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