A detection manipulator for on-line detection of degradation characteristics of pressure-bearing equipment

Abstract

The present invention relates to a detection manipulator for on-line detection of the deterioration characteristics of pressure-bearing equipment, which includes a base, a manipulator, a laser-induced breakdown spectrometer arranged at the end of the manipulator, and a traveling device for driving the base to travel on the ground; the manipulator includes a swing arm and a telescopic arm. Among them, between the swing arms, between the swing arm and the telescopic arm, between the telescopic arm and the swing arm, and between the telescopic arms, there are provided swing driving mechanisms for driving the latter to swing in the vertical direction and / or rotation driving mechanisms for driving the latter to perform a self-rotation motion. The detection manipulator of the present invention can drive the laser-induced breakdown spectrometer to reach various positions of the pressure-bearing equipment through the coordinated movement of multiple joints in the manipulator, which not only reduces the detection intensity of the detection personnel, but also has a higher detection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of pipeline detection, and particularly to a detection manipulator for on-line detection of degradation characteristics of pressure-bearing equipment. Background Art

[0002] With the rapid development of the national economy, the efficient and stable development and operation of industries such as electric power, metallurgy, chemical engineering, and machinery have become important foundations for modernization construction. At the same time, more and more key pressure-bearing equipment has been put into use in the production of various industries. The operation safety and reliability of these pressure-bearing equipment have become one of the decisive factors directly affecting production safety and economic benefits.

[0003] Chrome-molybdenum steel (Cr-Mo) is a heat-resistant steel type and hydrogen-resistant steel type widely used in the world at present. It is made by adding alloy elements such as Cr, Mo, and V to low-carbon steel, and has relatively high comprehensive properties compared with low-carbon steel, such as good high-temperature mechanical properties, high-temperature oxidation resistance, corrosion resistance, good toughness, processability, and weldability. Therefore, it is widely used in the manufacture of large equipment with harsh operating conditions and complex corrosion media, such as petrochemical, coal conversion, nuclear power, steam turbine cylinders, and thermal power generation. During the long-term service of the key parts of pressure-bearing equipment, under the coupling action of extreme conditions such as high temperature and high pressure, its operation safety and service life will be affected by the changes in the metallographic structure and mechanical properties of the material, and the phenomenon of metal material degradation will occur, posing a hidden danger to the safe operation of the unit. The prediction and analysis of the failure and degradation trend of the key components of pressure-bearing equipment are very crucial for the stable and safe production of equipment.

[0004] Traditional failure detection methods for pressure-bearing equipment materials require cutting metal components for off-line analysis. Currently, existing non-destructive testing techniques mainly focus on the detection and judgment of existing macroscopic defects. Therefore, it is highly necessary to develop a new technology with the characteristics of fast and real-time non-destructive testing and the ability to predict failure trends before defects occur. Laser-Induced Breakdown Spectroscopy (LIBS) is a new type of atomic spectroscopy technology. In addition to its fast multi-element detection ability, it can also reflect the material matrix characteristics of the object to be measured. Additionally, there are various handheld laser-induced breakdown spectrometers on the market. By holding this handheld laser-induced breakdown spectrometer, on-site detection of pressure-bearing equipment can be achieved. However, during the detection of pressure-bearing equipment, it is necessary to move the handheld laser-induced breakdown spectrometer to various positions of the pressure-bearing equipment. Due to the diverse layout methods of pressure-bearing equipment, some parts to be detected of pressure-bearing equipment are inaccessible to humans, such as pipes at high positions and pipes that can only be reached through bent and narrow spaces. In such scenarios, on-site detection cannot be achieved by holding this handheld laser-induced breakdown spectrometer, and the detection efficiency is low and the labor intensity of workers is high through manual detection methods. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a detection manipulator for on-line detection of the deterioration characteristics of pressure-bearing equipment. The detection manipulator can drive a laser-induced breakdown spectrometer to various positions of the pressure-bearing equipment through the coordinated movement of multiple joints in the manipulator, so as to achieve on-line automatic detection in a complex space environment, reduce the detection labor intensity of detection personnel, and have higher detection efficiency.

[0006] The technical solution of the present invention to solve the above technical problems is:

[0007] A detection manipulator for on-line detection of the deterioration characteristics of pressure-bearing equipment, including a base, a manipulator arranged on the base, a laser-induced breakdown spectrometer arranged at the end of the manipulator, and a walking device for driving the base to walk on the ground. Among them, the manipulator includes a swing arm and a telescopic arm arranged on the base. Among them, the swing arm is connected to the telescopic arm, or the swing arm is connected to the swing arm, or the telescopic arm is connected to the telescopic arm, or the telescopic arm is connected to the swing arm. Among them, a swing drive mechanism for driving the latter to swing in the vertical direction and / or a rotation drive mechanism for driving the latter to rotate are arranged between the swing arm and the swing arm, between the swing arm and the telescopic arm, between the telescopic arm and the swing arm, and between the telescopic arm and the telescopic arm.

[0008] Preferably, the telescopic arm includes a first telescopic arm and a second telescopic arm. Among them, the first telescopic arm is installed on the base; a first swing drive mechanism for driving the first telescopic arm to swing vertically and a first self-rotation drive mechanism for driving the first telescopic arm to rotate around the central axis of the base are provided on the base; a second swing drive mechanism for driving the second telescopic arm to swing is provided between the first telescopic arm and the second telescopic arm; one end of the swing arm is connected to the second telescopic arm, and a third swing drive mechanism for driving the swing arm to swing vertically is provided between the second telescopic arm and the swing arm; the laser-induced breakdown spectrometer is installed at the other end of the swing arm.

[0009] Preferably, the first swing drive mechanism includes a first support installed on the base and a first swing motor provided on the first support. Among them, the first swing motor is installed inside the first support; the end of the first telescopic arm is rotatably connected to the first support; the output shaft of the first swing motor is connected to the end of the first telescopic arm through a worm and gear transmission mechanism.

[0010] Preferably, the first self-rotation drive mechanism is arranged between the first support and the base and includes an annular rack provided on the base and a rotating gear provided on the first support and meshing with the annular rack. Among them, the first support is rotatably connected to the base through a self-rotation shaft; the rotating gear is installed outside the first support and is connected to a rotating motor installed inside the first support through a connecting shaft.

[0011] Preferably, the telescopic arm includes a second support, a first telescopic cylinder, a second telescopic cylinder, a third telescopic cylinder provided on the second support, and a telescopic drive mechanism for driving the second telescopic cylinder to extend out of the first telescopic cylinder and for driving the third telescopic cylinder to extend out of the second telescopic cylinder.

[0012] Preferably, the first telescopic cylinder and the second telescopic cylinder are nested, and the second telescopic cylinder and the third telescopic cylinder are nested; the first telescopic cylinder is located outside the second telescopic cylinder; the second telescopic cylinder is located outside the third telescopic cylinder; wherein, a sliding guiding mechanism is provided between the first telescopic cylinder and the second telescopic cylinder, and between the second telescopic cylinder and the third telescopic cylinder. The sliding guiding mechanism includes a guiding block and a guiding groove that cooperates with the guiding block. The guiding blocks are respectively arranged on the outer sides of the second telescopic cylinder and the third telescopic cylinder; the guiding grooves are respectively arranged on the outer sides of the first telescopic cylinder and the second telescopic cylinder; the guiding groove located outside the first telescopic cylinder cooperates with the guiding block located outside the second telescopic cylinder; the guiding groove located outside the second telescopic cylinder cooperates with the guiding block located outside the third telescopic cylinder.

[0013] Preferably, the telescopic driving mechanism includes a first screw rod transmission mechanism, a second screw rod transmission mechanism, and a synchronous rotation driving mechanism for driving the first screw rod transmission mechanism and the second screw rod transmission mechanism to rotate synchronously. The first screw rod transmission mechanism includes a first screw rod and a first screw rod nut rotatably connected to the first screw rod. The lower end of the first screw rod is rotatably connected to the second support, and the upper end extends along the axis direction of the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder; the first screw rod nut is installed on the second telescopic cylinder; the second screw rod transmission mechanism includes a second screw rod and a second screw rod nut rotatably connected to the second screw rod. The lower end of the second screw rod is rotatably connected to the lower end of the second telescopic cylinder, and the upper end extends vertically; the second screw rod nut is installed on the third telescopic cylinder; wherein, the first screw rod and the second screw rod are connected by a gear transmission mechanism. The gear transmission mechanism includes a first transmission gear and a second transmission gear respectively arranged on the first screw rod and the second screw rod. The first transmission gear is installed on the first screw rod through a vertical sliding mechanism. The vertical sliding mechanism includes a sliding groove arranged on the first screw rod and a sliding block arranged on the first transmission gear. The sliding block is installed on the first transmission gear, and the sliding groove extends along the length direction of the first screw rod; baffles are arranged on both the upper and lower sides of the first transmission gear. The second transmission gear is fixed on the second screw rod and is located between the upper and lower baffles of the first transmission gear; the synchronous rotation driving mechanism is used to drive the first screw rod to rotate.

[0014] Preferably, the synchronous transmission driving mechanism includes a telescopic motor arranged on the second support, and the main shaft of the telescopic motor is connected to the first screw rod.

[0015] Preferably, a second self-rotation driving mechanism for driving the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder to perform self-rotation movement is further provided on the telescopic arm. Among them, the second self-rotation driving mechanism includes a first driving gear provided at the lower end of the first telescopic cylinder, a second driving gear provided at the lower end of the first driving gear, and a power selection and transmission mechanism for selectively transmitting the power of the telescopic motor to the first driving gear or the second driving gear. Among them, the lower end of the first lead screw extends vertically to the lower end of the first telescopic cylinder and is connected to the second driving gear; a third driving gear is also provided on the main shaft of the telescopic motor; the first driving gear, the second driving gear and the third driving gear are coaxially arranged; the power selection and transmission mechanism includes a bushing provided on the first telescopic cylinder, a transmission shaft vertically provided on the bushing, a first mating gear and a second mating gear respectively provided on the upper and lower sides of the transmission shaft, and a vertical driving mechanism for driving the first mating gear and the second mating gear to move vertically. When the vertical driving mechanism drives the transmission shaft to move upward, the second mating gear is respectively engaged with the first driving gear and the third driving gear, and the first mating gear is in an idling state; when the vertical driving mechanism drives the transmission shaft to move downward, the second mating gear is engaged with the third driving gear, and the first mating gear is engaged with the first driving gear.

[0016] Preferably, the pitch of the first lead screw is smaller than the pitch of the second lead screw.

[0017] The present invention has the following beneficial effects compared with the prior art:

[0018] 1. The inspection manipulator for online detection of the deterioration characteristics of pressure-bearing equipment of the present invention moves to the pressure-bearing equipment through the traveling device, and through the coordinated cooperation of the telescopic arm and the swing arm in the manipulator, the various joints of the manipulator perform swinging, self-rotation and telescopic movements, so as to drive the laser-induced breakdown spectrometer at the end of the manipulator to move to the position to be detected for detection; when it is necessary to detect the inner wall of the pipeline, the manipulator can also move through the mutual movement (telescopic, swinging and self-rotation) between the various joints of the manipulator, so that the manipulator shuttles in the pipeline and drives the laser-induced breakdown spectrometer to reach the designated position to complete the detection of specific positions.

[0019] 2. The inspection manipulator for online detection of the deterioration characteristics of pressure-bearing equipment of the present invention can realize the detection of various positions (such as gaps or pipelines) of the pressure-bearing equipment. Especially for the bent and narrow areas that are inaccessible to humans, it can smoothly realize on-site online automatic detection, reduce the labor intensity of the working personnel, and improve the detection efficiency. Description of the Drawings

[0020] Figure 1Schematic three-dimensional structure diagram of the inspection manipulator for on-line inspection of the deterioration characteristics of pressure-bearing equipment according to the present invention.

[0021] Figure 2 Schematic structure diagram of the telescopic arm.

[0022] Figure 3 Schematic three-dimensional structure diagram of the first swing drive mechanism and the first rotation drive mechanism.

[0023] Figure 4 Schematic structure diagram of the second swing drive mechanism and the third swing drive mechanism.

[0024] Figure 5 Schematic three-dimensional structure diagram of the telescopic arm.

[0025] Figure 6 Schematic three-dimensional structure diagram of the telescopic arm with the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder removed.

[0026] Figure 7 Schematic structure diagram of the gear transmission mechanism. Specific embodiments

[0027] The present invention will be further described in detail below in conjunction with embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0028] Refer to Figures 1-7 , the inspection manipulator for on-line inspection of the deterioration characteristics of pressure-bearing equipment according to the present invention includes a base 1, a manipulator provided on the base 1, a laser-induced breakdown spectrometer 6 provided at the end of the manipulator, and a traveling device 2 for driving the base 1 to travel on the ground. Among them, the manipulator includes a swing arm and a telescopic arm provided on the base 1. Among them, the swing arm is connected to the telescopic arm, or the swing arm is connected to the swing arm, or the telescopic arm is connected to the telescopic arm, or the telescopic arm is connected to the swing arm; among them, between the swing arms, between the swing arm and the telescopic arm, between the telescopic arm and the swing arm, and between the telescopic arms, there are provided a swing drive mechanism for driving the latter to swing in the vertical direction and / or a rotation drive mechanism for driving the latter to rotate.

[0029] In this embodiment, the telescopic arm includes a first telescopic arm 3 and a second telescopic arm 4. Among them, the first telescopic arm 3 is installed on the base 1; a first swing drive mechanism for driving the first telescopic arm 3 to swing vertically and a first self-rotation drive mechanism for driving the first telescopic arm 3 to rotate around the central axis of the base 1 are provided on the base 1; a second swing drive mechanism for driving the second telescopic arm 4 to swing is provided between the first telescopic arm 3 and the second telescopic arm 4; one end of the swing arm is connected to the second telescopic arm 4, and a third swing drive mechanism for driving the swing arm 5 to swing vertically is provided between the second telescopic arm 4 and the swing arm; the laser-induced breakdown spectrometer 6 is installed at the other end of the swing arm 5.

[0030] See Figures 1-7 , the first swing drive mechanism includes a first support 15 installed on the base 1 and a first swing motor provided on the first support 15. Among them, the first swing motor is installed inside the first support 15; the end of the first telescopic arm 3 (i.e., the second support 15 in the first telescopic arm 3) is rotatably connected to the first support 15; the output shaft of the first swing motor is connected to the end of the first telescopic arm 3 through a worm and gear transmission mechanism 8. The first swing motor drives the worm and gear transmission mechanism 8 to move, thereby driving the first telescopic arm 3 to swing.

[0031] See Figures 1-7 , the first self-rotation drive mechanism is arranged between the first support 15 and the base 1 and includes an annular rack 12 provided on the base 1 and a rotating gear 11 provided on the first support 15 and engaged with the annular rack 12. Among them, the first support 15 is rotatably connected to the base 1 through a self-rotation shaft; the rotating gear 12 is installed outside the first support 15 and is connected to a rotating motor installed inside the first support 15 through a connecting shaft. The rotating motor drives the rotating gear 11 to rotate, thereby driving the rotating gear 11 to move on the annular rack 12 on the base 1, so as to drive the first support 15 (and the first telescopic arm 3 installed on the first support 15) to rotate around the central axis of the base 1 for self-rotation movement.

[0032] In this embodiment, the rotating motor and the first swing motor are the same, and a drive motor 10 with a double output shaft is adopted. By controlling the output shaft of the drive motor 10, the first support 15 can be driven to rotate or swing; among them, the output shaft of the drive motor 10 is connected to the worm in the worm and gear transmission mechanism 8 through a gear transmission mechanism 9.

[0033] See Figures 1-7, the telescopic arm includes a second support 15, a first telescopic cylinder 16, a second telescopic cylinder 17, a third telescopic cylinder 18 disposed on the second support 15, and a telescopic drive mechanism for driving the second telescopic cylinder 17 to extend from the first telescopic cylinder 16 and for driving the third telescopic cylinder 18 to extend from the second telescopic cylinder 17. Among them, the first telescopic cylinder 16 and the second telescopic cylinder 17 are nested; the second telescopic cylinder 17 and the third telescopic cylinder 18 are nested; the first telescopic cylinder 16 is located outside the second telescopic cylinder 17; the second telescopic cylinder 17 is located outside the third telescopic cylinder 18; among them, a sliding guiding mechanism is provided between the first telescopic cylinder 16 and the second telescopic cylinder 17, and between the second telescopic cylinder 17 and the third telescopic cylinder 18. The sliding guiding mechanism includes a guiding block and a guiding groove that cooperates with the guiding block. The guiding blocks are respectively disposed outside the second telescopic cylinder 17 and the third telescopic cylinder 18; the guiding grooves are respectively disposed outside the first telescopic cylinder 16 and the second telescopic cylinder 17; the guiding groove located outside the first telescopic cylinder 16 cooperates with the guiding block located outside the second telescopic cylinder 17; the guiding groove located outside the second telescopic cylinder 17 cooperates with the guiding block located outside the third telescopic cylinder 18; by providing the above structure, the movement of the second telescopic cylinder 17 and the third telescopic cylinder 18 can be guided to ensure their movement accuracy.

[0034] See Figures 1-7, the telescopic driving mechanism includes a first screw drive mechanism, a second screw drive mechanism, and a synchronous rotation driving mechanism for driving the first screw drive mechanism and the second screw drive mechanism to rotate synchronously. Among them, the first screw drive mechanism includes a first screw 26 and a first screw nut 27 rotatably connected to the first screw 26. Among them, the lower end of the first screw 26 is rotatably connected to the second support 15, and the upper end extends along the axis direction of the first telescopic cylinder 16, the second telescopic cylinder 17, and the third telescopic cylinder 18; the first screw nut 27 is installed on the second telescopic cylinder 17; the second screw drive mechanism includes a second screw 30 and a second screw nut 31 rotatably connected to the second screw 30. Among them, the lower end of the second screw 30 is rotatably connected to the lower end of the second telescopic cylinder 17, and the upper end extends vertically; the second screw nut 31 is installed on the third telescopic cylinder 18; among them, the first screw 26 and the second screw 30 are connected by a gear transmission mechanism. The gear transmission mechanism includes a first transmission gear 28 and a second transmission gear 29 respectively arranged on the first screw 26 and the second screw 30. Among them, the first transmission gear 28 is installed on the first screw 26 through a vertical sliding mechanism. The vertical sliding mechanism includes a chute 32 arranged on the first screw 26 and a slider 33 arranged on the first transmission gear 28. Among them, the slider 33 is installed on the first transmission gear 28, and the chute 32 extends along the length direction of the first screw 26; baffles 34 are arranged on both the upper and lower sides of the first transmission gear 28. The second transmission gear 29 is fixed on the second screw 30 and is located between the upper and lower two baffles 34 of the first transmission gear 28; the synchronous rotation driving mechanism is used to drive the first screw 26 to rotate.By driving the first screw rod 26 to rotate, the first screw rod nut 27 is driven to move vertically, so as to drive the second telescopic cylinder 17 to extend from the first telescopic cylinder 16; at the same time, when the first screw rod 26 rotates, the second screw rod 30 is driven to rotate through the gear transmission mechanism, and when the second screw rod 30 rotates, the second screw rod nut 31 and the third telescopic cylinder 18 connected to the second screw rod nut 31 are driven to extend from the second telescopic cylinder 17, thereby completing the telescopic movement of the first telescopic arm 3, and the retraction of the second telescopic arm 4 is also the same; in this process, with the movement of the second telescopic cylinder 17, the second The transmission gear 29 also moves vertically accordingly, but since baffles 34 are provided on the upper and lower sides of the first transmission gear 28, the baffles 34 on the upper and lower sides constitute a clamping space for clamping the second transmission gear 29. When the second transmission gear 29 moves vertically, the first transmission gear 28 also moves vertically under the guidance of the vertical sliding mechanism, so that the first transmission gear 28 and the second transmission gear 29 are always meshed; and the vertical sliding mechanism adopts the combination of the slide groove 33 and the slider 32 to ensure that the first screw rod 26 rotates while driving the first transmission gear 28 to rotate.

[0035] See also Figures 1-7, the synchronous transmission driving mechanism includes a telescopic motor 7 provided on the second support 15; a second self-rotation driving mechanism for driving the first telescopic cylinder 16, the second telescopic cylinder 17, and the third telescopic cylinder 18 to perform self-rotation movement is further provided on the telescopic arm. Among them, the second self-rotation driving mechanism includes a first driving gear 21 provided at the lower end of the first telescopic cylinder 16, a second driving gear 20 provided at the lower end of the first driving gear 21, and a power selection and transmission mechanism for selectively transmitting the power of the telescopic motor 7 to the first driving gear 21 or the second driving gear 20. Among them, the lower end of the first lead screw 26 extends vertically to the lower end of the first telescopic cylinder 16 and is connected to the second driving gear 20; a third driving gear 19 is also provided on the main shaft of the telescopic motor 7; the first driving gear 21, the second driving gear 20, and the third driving gear 19 are coaxially arranged; the power selection and transmission mechanism includes a sleeve 24 provided on the first telescopic cylinder 16, a transmission shaft vertically provided on the sleeve 24, a first mating gear 25 and a second mating gear 23 respectively provided on the upper and lower sides of the transmission shaft, and a vertical driving mechanism 22 for driving the first mating gear 25 and the second mating gear 23 to move vertically. When the vertical driving mechanism 22 drives the transmission shaft to move upward, the second mating gear 23 cooperates with the third driving gear 19 and the first driving gear 21 respectively, and the first mating gear 25 is in an idling state; when the vertical driving mechanism 22 drives the transmission shaft to move downward, the second mating gear 23 cooperates with the third driving gear 19, and the first mating gear 25 cooperates with the first driving gear 21; by means of a set of telescopic motors 7, it is possible to drive the telescopic arm to rotate and drive the telescopic arm to perform telescopic movement, which is beneficial to cost savings.

[0036] In this embodiment, the pitch of the first lead screw 26 is smaller than the pitch of the second lead screw 30; through the above setting, when the first lead screw 26 and the second lead screw 30 rotate synchronously, the moving speed of the first lead screw nut 27 is smaller than the moving speed of the second lead screw nut 31, so that the moving speed of the third telescopic cylinder 18 is greater than the moving speed of the second telescopic cylinder 17.

[0037] See Figures 1-7, the second swing driving mechanism includes a second swing motor, the second swing motor is installed at the end of the third telescopic cylinder 18 in the first telescopic arm 3, and the second support 15 of the second telescopic arm 4 is rotatably connected to the end of the third telescopic cylinder 18 in the first telescopic arm 3; the main shaft of the second swing motor is connected to the second support 15 of the second telescopic arm 4 through a gear set with internal and external cooperation. The gear set includes a second swing gear 14 arranged on the second swing motor and a gear groove 13 arranged in the second support 15 of the second telescopic arm 4. The second swing gear 13 is located in the gear groove 14 and meshes with the internal teeth in the gear groove 14. The second swing motor drives the second swing gear 14 to rotate, and the second telescopic part 4 is driven to swing by the internal and external cooperation of the gears.

[0038] In this embodiment, the third swing driving mechanism includes a third swing motor, which will not be introduced one by one here.

[0039] See Figures 1-7 , the working principle of the detection manipulator for on-line detection of the deterioration characteristics of pressure-bearing equipment of the present invention is;

[0040] During operation, the traveling device 2 drives the detection manipulator for on-line detection of the deterioration characteristics of pressure-bearing equipment of the present invention to move to the pressure-bearing equipment. Through the coordinated cooperation of the telescopic arm and the swing arm in the manipulator, each joint of the manipulator makes swinging, self-rotation and telescopic movements, so as to drive the laser-induced breakdown spectrometer 6 at the end of the manipulator to move to the position to be detected for detection; when it is necessary to detect the inner wall of the pipeline, the manipulator can also shuttle in the pipeline through the mutual movements (telescoping, swinging and self-rotation) between the joints of the manipulator, driving the laser-induced breakdown spectrometer 6 to reach the designated position to complete the detection of specific positions.

[0041] The above is the preferred embodiment of the present invention, but the embodiments of the present invention are not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. An inspection manipulator for online inspection of the deterioration characteristics of pressure-bearing equipment, characterized in that, It includes a base, a manipulator disposed on the base, a laser-induced breakdown spectrometer disposed at the end of the manipulator, and a traveling device for driving the base to travel on the ground. Among them, the manipulator includes a swing arm and a telescopic arm disposed on the base. Among them, the swing arm is connected to the telescopic arm, or the swing arm is connected to the swing arm, or the telescopic arm is connected to the telescopic arm, or the telescopic arm is connected to the swing arm. Among them, between the swing arms, between the swing arm and the telescopic arm, between the telescopic arm and the swing arm, and between the telescopic arms, there are provided a swing drive mechanism for driving the latter to swing in the vertical direction and / or a rotation drive mechanism for driving the latter to perform a self-rotation motion. The telescopic arm includes a second support, a first telescopic cylinder, a second telescopic cylinder, and a third telescopic cylinder disposed on the second support, and a telescopic drive mechanism for driving the second telescopic cylinder to extend from the first telescopic cylinder and for driving the third telescopic cylinder to extend from the second telescopic cylinder. The first telescopic cylinder and the second telescopic cylinder are nested, and the second telescopic cylinder and the third telescopic cylinder are nested. The first telescopic cylinder is located outside the second telescopic cylinder. The second telescopic cylinder is located outside the third telescopic cylinder. Among them, between the first telescopic cylinder and the second telescopic cylinder, and between the second telescopic cylinder and the third telescopic cylinder, there are provided sliding guide mechanisms. Among them, the sliding guide mechanism includes a guide block and a guide groove that cooperates with the guide block. Among them, the guide blocks are respectively disposed on the outer sides of the second telescopic cylinder and the third telescopic cylinder. The guide grooves are respectively disposed on the outer sides of the first telescopic cylinder and the second telescopic cylinder. The guide groove located outside the first telescopic cylinder cooperates with the guide block located outside the second telescopic cylinder. The guide groove located outside the second telescopic cylinder cooperates with the guide block located outside the third telescopic cylinder. The telescopic driving mechanism includes a first lead screw transmission mechanism, a second lead screw transmission mechanism, and a synchronous rotation driving mechanism for driving the first lead screw transmission mechanism and the second lead screw transmission mechanism to rotate synchronously. Among them, the first lead screw transmission mechanism includes a first lead screw and a first lead screw nut rotatably connected to the first lead screw. Among them, the lower end of the first lead screw is rotatably connected to the second support, and the upper end extends along the axis direction of the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder; the first lead screw nut is installed on the second telescopic cylinder; the second lead screw transmission mechanism includes a second lead screw and a second lead screw nut rotatably connected to the second lead screw. Among them, the lower end of the second lead screw is rotatably connected to the lower end of the second telescopic cylinder, and the upper end extends vertically; the second lead screw nut is installed on the third telescopic cylinder; among them, the first lead screw and the second lead screw are connected by a gear transmission mechanism. The gear transmission mechanism includes a first transmission gear and a second transmission gear respectively arranged on the first lead screw and the second lead screw. Among them, the first transmission gear is installed on the first lead screw through a vertical sliding mechanism. The vertical sliding mechanism includes a chute arranged on the first lead screw and a slider arranged on the first transmission gear. Among them, the slider is installed on the first transmission gear, and the chute extends along the length direction of the first lead screw; baffles are arranged on both the upper and lower sides of the first transmission gear. The second transmission gear is fixed on the second lead screw and is located between the upper and lower two baffles of the first transmission gear; the synchronous rotation driving mechanism is used to drive the first lead screw to rotate; The synchronous transmission driving mechanism includes a telescopic motor arranged on the second support, and the main shaft of the telescopic motor is connected to the first lead screw; A second self-rotation driving mechanism for driving the first telescopic cylinder, the second telescopic cylinder, and the third telescopic cylinder to perform self-rotation movements is further provided on the telescopic arm. Among them, the second self-rotation driving mechanism includes a first driving gear provided at the lower end of the first telescopic cylinder, a second driving gear provided at the lower end of the first driving gear, and a power selection and transmission mechanism for selectively transmitting the power of the telescopic motor to the first driving gear or the second driving gear. Among them, the lower end of the first lead screw extends vertically to the lower end of the first telescopic cylinder and is connected to the second driving gear; a third driving gear is also provided on the main shaft of the telescopic motor; the first driving gear, the second driving gear, and the third driving gear are coaxially arranged; the power selection and transmission mechanism includes a bushing provided on the first telescopic cylinder, a transmission shaft vertically provided on the bushing, a first mating gear and a second mating gear respectively provided on the upper and lower sides of the transmission shaft, and a vertical driving mechanism for driving the first mating gear and the second mating gear to move vertically. When the vertical driving mechanism drives the transmission shaft to move upward, the second mating gear cooperates with the first driving gear and the third driving gear respectively, and the first mating gear is in an idle state; when the vertical driving mechanism drives the transmission shaft to move downward, the second mating gear cooperates with the third driving gear, and the first mating gear cooperates with the first driving gear; the pitch of the first lead screw is smaller than the pitch of the second lead screw.

2. The inspection manipulator for online inspection of the deterioration characteristics of pressure-bearing equipment according to claim 1, wherein, The telescopic arm includes a first telescopic arm and a second telescopic arm. Among them, the first telescopic arm is installed on the base; a first swing driving mechanism for driving the first telescopic arm to swing vertically and a first self-rotation driving mechanism for driving the first telescopic arm to rotate around the central axis of the base are provided on the base; a second swing driving mechanism for driving the second telescopic arm to swing is provided between the first telescopic arm and the second telescopic arm; one end of the swing arm is connected to the second telescopic arm, and a third swing driving mechanism for driving the swing arm to swing vertically is provided between the second telescopic arm and the swing arm; the laser-induced breakdown spectrometer is installed at the other end of the swing arm.

3. The inspection manipulator for on-line inspection of the deterioration characteristics of pressure-bearing equipment according to claim 2, characterized in that The first swing driving mechanism includes a first support installed on the base and a first swing motor provided on the first support. Among them, the first swing motor is installed inside the first support; the end of the first telescopic arm is rotatably connected to the first support; the output shaft of the first swing motor is connected to the end of the first telescopic arm through a worm and gear transmission mechanism.

4. The inspection manipulator for on-line inspection of the deterioration characteristics of pressure-bearing equipment according to claim 3, characterized in that, The first self-rotation driving mechanism is provided between the first support and the base, and includes an annular rack provided on the base and a rotating gear provided on the first support and mating with the annular rack. Among them, the first support is rotatably connected to the base through a self-rotation shaft; the rotating gear is installed outside the first support and is connected to a rotating motor installed inside the first support through a connecting shaft.

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