A tube sheet face climbing robot for tube bundle internal defect detection

Abstract

The present application relates to the technical field of tube sheet surface tube bundle nondestructive testing equipment, and particularly relates to a tube sheet surface climbing robot for detecting defects in a tube bundle, which comprises a climber, a conveyor connected to the climber through a conveying conduit, a mobile power supply, a detection probe passing through the conveying conduit, a detector connected to the detection probe, a display and control module, an industrial camera platform for identifying a tube sheet surface of a tube sheet device and establishing a moving map of the climber; the tube sheet surface climbing robot is compact in structure, strong in adaptability, easy to disassemble and assemble, and high in automation degree, and can improve the intelligence and automation of the detection process, further reduce the working intensity of detection personnel, and ensure the detection efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of non-destructive testing equipment for tube bundles on tube sheet surfaces, and specifically to a tube sheet surface climbing robot for detecting defects inside tube bundles. Background Technology

[0002] Vertical heat exchangers and steam generators are typical tube sheet devices containing a large number of heat transfer tubes, widely used in petrochemical, nuclear industries, and other fields, and have a significant impact on national production and development. As key heat exchange equipment in industrial sectors, they need to operate under harsh conditions such as high temperature, high pressure, and corrosion for extended periods, leading to defects such as corrosion and cracks inside the heat transfer tubes. These defects can reduce equipment performance and efficiency, and even cause major safety accidents. Therefore, to ensure the safety and efficiency of equipment operation, it is necessary to use non-destructive testing techniques to periodically inspect and maintain the heat transfer tubes. This allows for timely detection and resolution of problems, reducing economic losses and preventing accidents. With the development of non-destructive testing (NDT) technology, the methods available for NDT of heat transfer tubes have become increasingly diverse. These mainly include eddy current testing (ECT) technology, which uses the principle of electromagnetic induction to detect surface defects in materials; magnetic flux leakage testing (MFL) technology, which uses the principle of magnetic properties to perform non-destructive testing on materials; radiographic testing technology, which uses the principle of absorption or refraction of rays when they pass through materials; and visual inspection technology, which uses machine vision technology to perform non-destructive testing on materials. These testing methods, or the combination of multiple technologies, can be used to accurately and effectively detect potential defects in heat exchange tubes, such as corrosion and cracks.

[0003] Currently, inspection methods for heat transfer tubes on tube sheets include manual and automated inspection. Manual inspection is the most common method, requiring inspectors to manually insert the probe into the heat transfer tube and then pull it back to check for defects. However, a heat transfer system contains thousands of tubes, making this method labor-intensive, inefficient, prone to probe instability, and susceptible to missed or false detections. To improve inspection efficiency and reduce manual labor, it is necessary to use automated inspection equipment to achieve efficient detection of defects inside heat transfer tubes. Currently, automated heat transfer tube inspection equipment can be categorized into three main types based on its movement method: Cartesian coordinate scanning frames, multi-axis robotic arms, and crawling robots.

[0004] Cartesian coordinate scanning racks are characterized by their simple structure, convenient control, and high positioning accuracy. However, if you want to inspect heat transfer tubes on a large tube sheet, the required scanning rack size and weight are relatively large, making assembly and carrying quite troublesome. Therefore, they are only suitable for inspecting near-ground tube sheet equipment with smaller dimensions.

[0005] Multi-axis robotic arms equipped with inspection devices at their end effectors can achieve precise movement and reliable positioning during inspection. However, if large-sized tube sheet surfaces need to be covered, frequent manual repositioning or increasing the size of the robotic arm to expand the working range is required. This can lead to high labor intensity or make the robotic arm very bulky and difficult to handle. Therefore, it is generally only used for equipment that inspects tube sheet surfaces with smaller dimensions.

[0006] The crawling robot is characterized by its high degree of automation and portability. The movement of the crawling robot mainly adopts two methods: alternating movement of internally expanding grippers or movement by magnetic wheel adsorption. The internally expanding grippers use hydraulic or pneumatic actuators. The gripper structure is complex, can only adapt to a single specification of pipe opening, and requires a separate air or hydraulic power source, which is very troublesome. However, because it uses strong magnetic wheel adsorption to hang the robot on the steam generator, it is difficult to detach the robot from the adsorption surface. Furthermore, the robot cannot be used on non-ferromagnetic tube sheets. Summary of the Invention

[0007] The purpose of this invention is to provide a tube sheet climbing robot for detecting defects inside tube bundles. It has a compact structure, strong adaptability, easy assembly and disassembly, and a high degree of automation. It can improve the intelligence and automation of the detection process, further reduce the workload of inspection personnel, and ensure detection efficiency and quality.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a tube sheet surface climbing robot for detecting defects within tube bundles, comprising a climber, a conveyor connected to the climber via a delivery conduit, a mobile power supply providing power to the climber and the conveyor, a detection probe, a detector connected to the detection probe, a display and control module, an industrial camera platform for identifying the tube sheet surface of the tube sheet equipment and establishing a map of the climber's movement; the conveyor is used to control the detection probe to be pushed and pulled back along the delivery conduit;

[0009] The display and control module is used to receive the moving map transmitted by the industrial camera platform, plan the path of the climber, control the positioning of the detection probe and the conveyor; the climber includes a central body, a crawling body and a positioning body set on the central body; the crawling body moves in coordination with the central body to realize the crawling of the climber; the positioning body is connected to the conveyor through a conveying conduit to realize the positioning and detection of the detection probe.

[0010] Furthermore, the central body includes an inner jaw gripping mechanism, a side control box, a motor speed controller, a power converter, a hook, a handle, a main control board, an image transmitter, an attitude sensor, a stepper motor driver, a plug-in connector, a main control box, a telescopic mechanism, a steering mechanism, a support body, a first proximity sensor, and a second proximity sensor disposed on the outside of the support body.

[0011] The inner jaw gripping mechanism is mounted on the bottom surface of the support body via a bearing mounting seat; the support body is composed of a first and a second solid body, which are joined together by connecting parts; the main control box is located at the top of the support body, and the main control box contains a main control board, an attitude sensor, and a stepper motor driver; the main control box is externally equipped with a video transmitter, a handle, and a plug-in connector; the main control board is used to receive, analyze, process, and transmit signals from the attitude sensor; the attitude sensor is used to measure and transmit the direction and angle signals of the motion; one end of the steering mechanism is connected to the inner jaw gripping mechanism, and the other end is connected to the telescopic mechanism; hooks are provided on two opposite sides of the telescopic mechanism, and each of the four sides of the telescopic mechanism is equipped with a side control box for setting a motor speed controller, and a power converter is also provided on the end cover of one of the side control boxes.

[0012] Furthermore, the inner jaw clamping mechanism can rotate relative to the support body, and includes a first joint motor, a first flange, a third proximity sensor disposed on the first flange, a first lead screw nut, a connecting rod, an inner jaw, a first jaw pressing component, a first lead screw, an optical fiber sensor, a second jaw pressing component, a lower bearing inner sleeve, a thin-walled bearing, an upper bearing inner sleeve, a bearing mounting seat, a first telescopic body, a set screw, and a second telescopic body;

[0013] The second telescopic body is sleeved outside the first joint motor; the first lead screw is connected to the first joint motor via a first flange; the first joint motor provides strong torque and transmits power to the first lead screw via the first flange; the first lead screw is screwed into the first lead screw nut; the first lead screw nut is movably connected to three pairs of circumferentially distributed connecting rods, the other end of each pair of connecting rods being connected to an inner chuck to form a parallelogram mechanism; the inner chuck is tightly fitted in a groove formed by a first chuck pressing member and a second chuck pressing member; the first telescopic body and the second telescopic body are fastened by a slot and connected by a set screw; the lower bearing inner sleeve and the upper bearing inner sleeve enclose the thin-walled bearing mounted on the bearing mounting seat in the middle and press the inner ring of the thin-walled bearing; the bearing mounting seat is fixedly mounted on the support body; the outer circumferential surfaces of the first telescopic body and the second telescopic body have evenly distributed axial grooves, and the inner sides of the upper bearing inner sleeve and the lower bearing inner sleeve are provided with protrusions; the axial grooves and the protrusions cooperate with each other and can slide up and down.

[0014] Furthermore, the telescopic mechanism includes a second motor base, a second joint motor, a second flange, a sensor mounting base, a dust cover sleeved on the second lead screw, a second lead screw, a second lead screw nut, a fourth proximity sensor, a first guide rail, a first slider, and a first slider seat connected to the first slider; the steering mechanism includes a third motor base, a third joint motor, a third flange, a first motor base, a disc slip ring, and a slip ring mounting base;

[0015] The second joint motor and the third joint motor are respectively mounted on the second motor base and the third motor base; the second motor base and the third motor base are fastened together and secured by a set screw; the sides of the fastened second motor base and the third motor base are provided with two symmetrically distributed planar bosses; the support body includes a support body end cap fixed to the top of the support body; the first slider is mounted on a first guide rail fixedly connected to the inner wall of the support body; the second flange is screwed into the second lead screw nut fixed on the support body end cap, used to connect the second joint motor and the second lead screw, with self-locking and force amplification functions, and used to convert rotational motion into telescopic linear motion; a fourth proximity sensor is mounted on the lower surface of the support body end cap through a sensor mounting seat;

[0016] The entire assembly consisting of the third joint motor, the second motor base, the third motor base, the first slider base, and the first slider can move longitudinally along the first guide rail; the third joint motor is connected to the first motor base via a third flange; the first joint motor is mounted on the first motor base; the disc slip ring is used for 360-degree rotation to conduct electricity and transmit signals from the third proximity sensor and the fiber optic sensor inside the inner claw; the upper end of the disc slip ring is fixedly mounted on the slip ring mounting seat, and the lower end of the disc slip ring is mounted on the second telescopic body and rotates with the third joint motor.

[0017] Furthermore, the crawler is connected to both sides of the support body, and can achieve climbing and stepping movements by coordinating with the inner claws of the inner claw gripping mechanism on the central body and through alternating movements; it includes a front claw mechanism, a lateral movement mechanism, and a rear claw mechanism; the front claw mechanism includes a first reduction motor, a right claw, a first motor bracket, a first left synchronous pulley, a first synchronous belt, a first right synchronous pulley, a right lead screw support, a third right-hand lead screw nut, a third bidirectional lead screw, a connecting frame, a lead screw support frame, a setting bracket, a second guide rail, a third left-hand lead screw nut, a second slider, a left lead screw support, a fifth proximity sensor, a second slider seat, a left claw, and a sixth proximity sensor; the first reduction motor is mounted on the first motor bracket; the power of the first reduction motor is transmitted to the third bidirectional lead screw through a transmission system composed of the first left synchronous pulley, the first synchronous belt, and the first right synchronous pulley;

[0018] The third bidirectional lead screw has a left lead screw support and a right lead screw support fixedly connected to the mounting bracket at both ends; a third left-hand lead screw nut and a third right-hand lead screw nut are respectively fitted on both sides of the third bidirectional lead screw, which have the functions of self-locking and force amplification; a lead screw support frame fixed on the connecting frame is fitted in the middle of the third bidirectional lead screw, which serves as a support in the middle of the lead screw to improve the bending resistance of the lead screw; the third left-hand lead screw nut and the third right-hand lead screw nut are respectively connected to the left chuck and the right chuck through the second slider seat; the second slider fixed on the back of the second slider seat cooperates with the second guide rail fixed on the mounting bracket; the fifth proximity sensor and the sixth proximity sensor are located below the lead screw support frame;

[0019] Furthermore, the lateral movement mechanism includes: a second motor protective cover, a third motor bracket, a third geared motor, a third left synchronous pulley, a first synchronous belt clamp, a first synchronous belt pressure plate, a third synchronous belt, a support shaft, a first bearing, a first synchronous pulley support, a third right synchronous pulley, a first frame, a third guide rail, a third slider, and a third slider seat; the rear claw mechanism includes: a motor protective cover, a claw component, a second geared motor, a second motor bracket, a second left synchronous pulley, a second synchronous belt, a second right synchronous pulley, a first crossbeam, a fourth lead screw, a fourth slider, a fourth slider seat, a seventh proximity sensor, and a second crossbeam.

[0020] The first crossbeam and the connecting frame are respectively set on the left and right wide sides of the first frame; the second crossbeam is set parallel to the first crossbeam and connected to the first frame; the first synchronous pulley support is fixed on the connecting frame; the first bearing is sleeved on the support shaft and connected to the first synchronous pulley support.

[0021] Furthermore, the third guide rail is disposed inside the first frame; a third slider fixed to the third slider seat is connected to the upper third guide rail; the transverse movement mechanism is connected to the support body through the third slider seat; a first synchronous belt clamp is provided on the side of the support body; the support body is connected to the third synchronous belt through two first synchronous belt pressure plates; a third left synchronous pulley and a third right synchronous pulley are respectively mounted at both ends of the third synchronous belt; the third left synchronous pulley is driven by a third reduction motor; the third reduction motor is mounted on the first crossbeam through a third motor bracket;

[0022] The third guide rail is fitted with a fourth slider fixed to the fourth slider seat; the claw component includes a fourth lead screw nut, a T-shaped plate connected to the fourth lead screw nut, support members on both sides of the T-shaped plate, and a rear claw located below the T-shaped plate; the left and right ends of the claw component are connected to the third guide rail through the fourth slider seat and the fourth slider; the fourth lead screw nut is fitted with the fourth lead screw for transmission to achieve left and right movement; one end of the fourth lead screw is connected to the second crossbeam through a bearing, and the other end passes through the bearing and is connected to the first crossbeam and the second right synchronous pulley;

[0023] The second geared motor is connected to the second left synchronous pulley via a second synchronous belt; the second geared motor is mounted on the first crossbeam via a second motor bracket;

[0024] Furthermore, the positioning body includes a third crossbeam, a third motor protective cover, a fourth motor bracket, a fourth geared motor, a fourth left synchronous pulley, a fourth synchronous belt, a second synchronous belt clamp, a second synchronous belt pressure plate, a fifth slider seat, a second frame, a second synchronous pulley support, a second support shaft, a fourth right synchronous pulley, a first camera, a first camera bracket, a second camera, a second camera bracket, a steel pipe, a guide sleeve fitted at the lower end of the steel pipe, an industrial camera, a camera mounting base, a quick-change adapter head, a hand-tightening nut, a through-type lead screw stepper motor, a fixing ring, a first stepper motor seat, an adapter block, a hollow motor, a U-shaped bracket, a fourth crossbeam, a fourth guide rail, a fifth slider, an eighth proximity sensor, a sixth slider, a fifth guide rail, and a movable seat; the positioning body is set on the central body and can slide left and right along the fourth guide rail for positioning and scanning;

[0025] The third and fourth crossbars are respectively connected to the two ends of the two parallel second frames; the two parallel fourth guide rails are respectively disposed on the inner side of the two parallel second frames; the two fourth guide rails are respectively connected to two fifth sliders; the fifth sliders are fixedly connected to the fifth slider seat; the fifth slider seat is connected to the support body;

[0026] The fourth geared motor is mounted on the fourth motor bracket, and the output shaft of the fourth geared motor is connected to the fourth left synchronous pulley; the synchronous belt transmission mechanism composed of the fourth left synchronous pulley, the fourth synchronous belt, and the fourth right synchronous pulley is connected to one side of the support body through the second synchronous belt clamp and the second synchronous belt pressure plate, which converts the rotational motion of the fourth geared motor into the left and right movement of the positioning body;

[0027] The stator of the hollow motor is fixed on the fourth crossbeam for realizing the swing arm movement; one side of the U-shaped bracket is connected to the output shaft of the hollow motor, and the other side is connected to the fourth crossbeam via a bearing; the adapter block is fixed on the U-shaped bracket for connecting the first stepper motor seat and the sixth slider that cooperates with the fifth guide rail; the upper surface of the first stepper motor seat is provided with a through-type lead screw stepper motor; a motor lead screw shaft passes through the center of the through-type lead screw stepper motor; one end of the motor lead screw shaft is equipped with a retaining ring for limiting, and the other end passes through the moving seat and is fastened by a set screw; the moving seat is fixed on the fourth crossbeam. On the five guide rails, the protruding part of the movable seat is used for quick-release connection with the quick-change adapter head via a hand-tightened nut; the quick-change adapter head has two through holes; the tube sheet surface is provided with heat transfer tube openings; the size and spacing of the through holes are consistent with the size and layout of the heat transfer tube openings on the tube sheet surface; the steel pipe passes through the through holes and is fastened by a set screw; the upper end of the steel pipe is connected to the delivery guide pipe respectively; the guide sleeve is provided with a tapered hole to prevent the detection probe from being stuck by the end of the steel pipe when it is retracted; the lower end of the steel pipe is connected to the guide sleeve through the tapered hole; the industrial camera is set at the front end of the quick-change adapter head via a camera mounting seat;

[0028] The first camera and the second camera are respectively fixed on the fourth crossbeam and the U-shaped bracket via the first camera bracket and the second camera bracket; the first camera is used to transmit the working status image of the inner claw clamping mechanism, the front claw mechanism and the rear claw mechanism to the display and control module via image transmission; the second camera is used to transmit the image of the relative status of the detection probe and the tube plate surface to the display and control module via image transmission.

[0029] Furthermore, the conveyor, used for remote transport of the detection probe, includes a second handle, a second power converter, a conveyor control board, a mounting base, a first conveyor control box, a screen protection base, an adapter pipe, a second hand-tightening nut, an adapter, a display screen, a first side plate, an aluminum frame, angle iron, a fifth geared motor base, a fifth geared motor, a fifth left synchronous pulley, a fifth synchronous belt, a fifth right synchronous pulley, a screen protection cover, a waterproof stuffing box, guide components, rubber-coated wheels, knurled wheels, a rotary encoder, an encoder bracket, a bracket mounting base, an encoder knob, and a wire. Stepper motor, second conveyor control box, plane bearing, third support shaft, tension spring, second side plate, first drive shaft, sixth left synchronous pulley sleeved outside the first drive shaft, sixth synchronous belt, fifth motor protective cover, sixth right synchronous pulley, second drive shaft, second motor speed controller, second stepper motor driver, third drive shaft, left baffle, corner block, snap ring, second bearing, motor clamp, right baffle, driving friction wheel, guide component, fourth drive shaft, third bearing, driven friction wheel, copper nut, left support, right support, second stepper motor base;

[0030] Angle irons are provided at each of the four corners of the aluminum frame; the second handle is fixed to the top of the aluminum frame; a first conveyor control box is fixed to the front of the aluminum frame, and the first conveyor control box contains a conveyor control board for controlling the operation of the entire conveyor and communicating with the display and control module; a screen protection base is provided on the end cover of the first conveyor control box; a display screen is provided inside the screen protection base, and a transparent screen protection cover is provided outside the screen protection base; the display screen displays the operating status of the conveyor, such as the running speed, conveying direction, clamping force, and conveying mileage record; an encoder knob is connected to the top right side of the first conveyor control box for manual control of the conveyor.

[0031] A second conveyor control box is fixedly mounted on the back of the aluminum frame; the second conveyor control box contains a second stepper motor driver that drives the lead screw stepper motor and a second motor speed controller that controls the fifth geared motor; the second power converter is fixedly mounted on the left side of the aluminum frame via a mounting base; a bracket mounting base is fixedly mounted on the upper right side of the aluminum frame for fastening the third support shaft as the rotating shaft of the encoder bracket; the encoder bracket is fitted onto the third support shaft with a copper nut; flat bearings are also provided on the left and right sides of the connection end between the encoder bracket and the third support shaft to reduce friction; a rotary encoder is connected to the other end of the encoder bracket; a tension spring is used to tighten the encoder bracket and the aluminum frame; a knurled wheel is fixedly mounted on the rotary encoder via a set screw; the knurled wheel is in close contact with the detection probe passing through the guide;

[0032] Both the first and second conveyor control boxes are equipped with waterproof stuffing boxes on their sides for cable routing; the first side plate is connected to the back of the aluminum frame, and the second side plate is connected to the back of the aluminum frame; the two ends of the second stepper motor base are respectively connected to the left baffle and the right baffle; the two ends of the guide member are respectively connected to the middle of the left baffle and the right baffle; the corner block is set at the connection between the second stepper motor base and the left baffle and the right baffle.

[0033] The outer side of the left baffle is provided with an adapter with a connecting tube; the protruding part of the connecting tube is connected to the delivery tube and fastened by a second hand-tightening nut; the outer side of the right baffle is connected with a guide with a rubber-coated wheel for supporting and guiding the detection probe.

[0034] The lead screw stepper motor is mounted on a second stepper motor mount; the output shaft of the lead screw stepper motor is a self-locking sliding lead screw, on which a copper nut is screwed, and the copper nut is fixed on the left and right supports; the left and right supports are respectively provided with a third drive shaft and a fourth drive shaft in the mounting holes; the middle part of the third and fourth drive shafts is fitted with a driven friction wheel; the two ends of the third and fourth drive shafts are respectively engaged with the corresponding stepped slide grooves on the first and second side plates through a third bearing;

[0035] The fifth geared motor is mounted on the first and second side plates via a motor clamp and a fifth geared motor mount. One side of the fifth geared motor is connected to the fifth left synchronous pulley. The fifth left synchronous pulley is connected to the fifth right synchronous pulley via a fifth synchronous belt, transmitting power to the second drive shaft. The other side of the fifth geared motor is connected to the sixth right synchronous pulley. The sixth right synchronous pulley is connected to the first drive shaft via a sixth synchronous belt. The first and second drive shafts can rotate synchronously under the drive of the fifth geared motor. The first and second drive shafts are respectively mounted in the stepped holes of the first and second side plates via second bearings. The intermediate shaft sections of the first and second drive shafts are both provided with keyways, which are connected to the driving friction wheel via keys.

[0036] The beneficial effects of this invention are as follows:

[0037] 1. A tube sheet climbing robot for detecting defects inside tube bundles is provided. It has a compact structure, strong adaptability, easy assembly and disassembly, and high degree of automation. It can improve the intelligence and automation of the detection process, further reduce the workload of detection personnel, and ensure detection efficiency and quality.

[0038] 2. It adopts a two-pair three-jaw gripping and clamping structure, and uses the three-point positioning principle for gripping and fixing. The gripping range of the jaws is adjustable, so it can adapt to tube sheet equipment of different specifications (pipe size, pipe arrangement) and is not limited by pipe material. It has strong adaptability. At the same time, the use of non-pneumatic and non-hydraulic drive method helps to reduce the size of the robot.

[0039] 3. It adopts a three-point clamping mechanism and uses a geared motor actuation and lead screw transmission to achieve strong self-locking. During operation, as long as the inner or outer jaws are clamped, the corresponding motor can be put into the offline state. On the one hand, the jaw mechanism hardly needs power supply in the clamping state to achieve energy saving. On the other hand, it can reliably clamp and prevent falling off when power is off to ensure safety. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the overall connection structure of the climber and conveyor of the present invention;

[0043] Figure 3 This is a schematic diagram of the overall structure of the central body of the present invention;

[0044] Figure 4 This is a schematic diagram of the internal claw clamping mechanism of the central body of the present invention;

[0045] Figure 5 This is a schematic diagram of the movement range of the gripper in the central internal gripper mechanism of the present invention;

[0046] Figure 6 This is a schematic diagram of the central body telescopic mechanism of the present invention;

[0047] Figure 7 This is a schematic diagram of the central body steering mechanism of the present invention;

[0048] Figure 8 This is a schematic diagram of the crawler structure of the present invention;

[0049] Figure 9 This is a schematic diagram of the crawler's front claw mechanism according to the present invention;

[0050] Figure 10 This is a schematic diagram of the crawler lateral movement mechanism of the present invention;

[0051] Figure 11 This is a schematic diagram of the hind claw mechanism of the crawler according to the present invention;

[0052] Figure 12 This is a schematic diagram of the positioning body structure of the present invention;

[0053] Figure 13 This is a first schematic diagram of the conveyor structure of the present invention;

[0054] Figure 14 This is a second schematic diagram of the conveyor structure of the present invention;

[0055] Figure 15 This is a third schematic diagram of the conveyor structure of the present invention;

[0056] Figure 16 This is a fourth schematic diagram of the conveyor structure of the present invention;

[0057] Figure 17 This is a schematic diagram illustrating the Cartesian mode of the present invention;

[0058] Figure 18 This is a schematic diagram illustrating the cylindrical coordinate mode of the present invention;

[0059] Figure 19 This is a schematic diagram demonstrating the switching process between the inner and outer grippers of the present invention.

[0060] Among them, 1-climber; 2-conveyor; 3-second power transmission line; 4-mobile power supply; 5-detection probe; 6-detector; 7-display and control module; 8-industrial camera platform; 9-first power transmission line; 10-conveyor conduit; 11-central body; 12-climbing body; 13-positioning body; 21-inner claw gripping mechanism; 22-first proximity sensor; 23-side control box; 24-motor speed controller; 25-power converter; 26-hook; 27-handle; 28-main control board; 29-image transmission; 41-front claw mechanism; 42-lateral movement mechanism; 43-rear claw mechanism; 210-attitude sensor; 211-stepper motor driver; 212-plug-in connector; 213-main control box; 214-telescopic mechanism; 215- - Steering mechanism; 216 - Support body; 217 - Second proximity sensor; 2101 - First joint motor; 2102 - First flange; 2103 - Third proximity sensor; 2104 - First lead screw nut; 2105 - Connecting rod; 2106 - Inner chuck; 2107 - First chuck pressing part; 2108 - First lead screw; 2109 - Fiber optic sensor; 2110 - Second chuck pressing part; 2111 - Lower bearing inner sleeve; 2112 - Thin-walled bearing; 2113 - Upper bearing inner sleeve; 2114 - Bearing mounting seat; 2115 - First telescopic body; 2116 - Set screw; 2117 - Second telescopic body; 3401 - Second motor seat; 3402 - Second joint motor; 3403 - Second flange; 3404 - Sensor mounting base; 3405 - Dustproof housing; 3406 - Second lead screw; 3407 - Second lead screw nut; 3408 - Support end cover; 3409 - Fourth proximity sensor; 3410 - First guide rail; 3411 - First slider; 3412 - First slider seat; 3501 - Third motor seat; 3502 - Third joint motor; 3503 - Third flange; 3504 - First motor seat; 3505 - Disc slip ring; 3506 - Slip ring mounting base; 4101 - First geared motor; 4102 - Right pawl; 4103 - First motor bracket; 4104 - First left synchronous pulley; 4105 - First synchronous belt; 4106 - First right synchronous pulley; 4107 - Right lead screw support; 4108 - Third right-hand lead screw nut; 4109 - Third double-hand lead screw; 4110 - Connecting frame; 4111 - Lead screw support frame; 4112 - Mounting bracket; 4113 - Second guide rail; 4114 - Third left-hand lead screw nut; 4115 - Second slider; 4116 - Left lead screw support; 4117 - Fifth proximity sensor; 4118 - Second slider seat; 4119 - Left chuck; 4120 - Sixth proximity sensor; 4201 - Second motor protective cover; 4202 - Third motor bracket; 4203 - Third geared motor; 4204 - Third left synchronous pulley; 4205 - First synchronous belt clamp; 4206 - First synchronous belt pressure plate; 4207 - Third synchronous belt; 4208 - Support shaft; 4209 - First bearing;4210-First synchronous pulley support; 4211-Third right synchronous pulley; 4212-First frame; 4213-Third guide rail; 4214-Third slider; 4215-Third slider seat; 4301-Motor protective cover; 4302-Rear gripper; 4303-Second geared motor; 4304-Second motor bracket; 4305-Second left synchronous pulley; 4306-Second synchronous belt; 4307-Second right synchronous pulley; 4308-First crossbeam; 4309-Fourth lead screw; 4310-Fourth slider; 4311-Fourth slider seat; 4312-Fourth lead screw nut; 4313-T-shaped plate; 4314-Support component; 4315-Seventh proximity sensor; 4316-Second crossbeam; 501-Third crossbeam; 502-Third motor protective cover; 503-Fourth motor bracket; 504-Fourth geared motor; 505-Fourth left synchronous pulley; 506-Fourth synchronous belt; 507-Second synchronous belt clamp; 508-Second synchronous belt pressure plate; 509-Fifth slider seat; 510-Second frame; 511-Second synchronous pulley support; 512-Second support shaft; 513-Fourth right synchronous pulley; 514-First camera; 515-First camera bracket; 516-Second camera; 517-Second camera bracket; 518-Steel pipe; 519-Guide sleeve; 520-Industrial camera; 521-Camera mounting base; 522-Quick-change adapter; 523-Hand-tightening nut; 524-Through-type lead screw stepper motor; 525-Fixing ring; 526- 527-Adaptor block; 528-Hollow motor; 529-U-shaped bracket; 530-Fourth crossbar; 531-Fourth guide rail; 532-Fifth slider; 533-Eighth proximity sensor; 534-Sixth slider; 535-Fifth guide rail; 536-Moving seat; 601-Second handle; 602-Second power converter; 603-Conveyor control board; 604-Mounting base; 605-First conveyor control box; 606-Screen protector base; 607-Adaptor pipe; 608-Second hand-tightening nut; 609-Adaptor; 610-Display screen; 611-First side plate; 612-Aluminum frame; 613-Angle iron; 614-Fifth geared motor base; 615-Fifth geared motor; 616- 617-Fifth left synchronous pulley; 618-Fifth synchronous belt; 619-Fifth right synchronous pulley; 620-Screen protector cover; 621-Waterproof stuffing box; 622-Guide component; 623-Rubber-coated wheel; 624-Knurled wheel; 625-Rotary encoder bracket; 626-Bracket mounting base; 627-Encoder knob; 628-Lead screw stepper motor; 629-Second conveyor control box; 630-Surface bearing; 631-Third support shaft; 632-Tension spring; 633-Second side plate; 634-First drive shaft; 635-Sixth left synchronous pulley; 636-Sixth synchronous belt; 637-Fifth motor protective cover; 638-Sixth right synchronous pulley; 639-Second drive shaft; 640-Second motor speed controller;641-Second stepper motor driver; 642-Third drive shaft; 643-Left baffle; 644-Corner block; 645-Snap ring; 646-Second bearing; 647-Motor clamp; 648-Right baffle; 649-Driving friction wheel; 650-Guide component; 651-Fourth drive shaft; 652-Third bearing; 653-Driven friction wheel; 654-Copper nut; 655-Left support; 656-Right support; 657-Second stepper motor mount. Detailed Implementation

[0061] The invention will be further illustrated below through specific embodiments:

[0062] See Figure 1-16 A tube sheet surface climbing robot for detecting defects within tube bundles includes a climber, a conveyor connected to the climber via a delivery conduit, a mobile power supply providing power to the climber and the conveyor, a detection probe, a detector connected to the detection probe, a display and control module, an industrial camera platform for identifying the tube sheet surface of the tube sheet equipment and creating a map of the climber's movement; the conveyor is used to control the detection probe to be pushed and pulled back along the delivery conduit.

[0063] The display and control module is used to receive the moving map transmitted by the industrial camera platform, plan the path of the climber, control the positioning of the detection probe and the conveyor; the climber includes a central body, a crawling body and a positioning body set on the central body; the crawling body moves in coordination with the central body to realize the crawling of the climber; the positioning body is connected to the conveyor through a conveying conduit to realize the positioning and detection of the detection probe.

[0064] The central body includes an inner jaw gripping mechanism, a side control box, a motor speed controller, a power converter, a hook, a handle, a main control board, an image transmitter, an attitude sensor, a stepper motor driver, a plug-in connector, a main control box, a telescopic mechanism, a steering mechanism, a support body, and a first proximity sensor and a second proximity sensor disposed on the outside of the support body.

[0065] The inner jaw gripping mechanism is mounted on the bottom surface of the support body via a bearing mounting seat; the support body is composed of a first and a second solid body, which are joined together by connecting parts; the main control box is located at the top of the support body, and the main control box contains a main control board, an attitude sensor, and a stepper motor driver; the main control box is externally equipped with a video transmitter, a handle, and a plug-in connector; the main control board is used to receive, analyze, process, and transmit signals from the attitude sensor; the attitude sensor is used to measure and transmit the direction and angle signals of the motion; one end of the steering mechanism is connected to the inner jaw gripping mechanism, and the other end is connected to the telescopic mechanism; hooks are provided on two opposite sides of the telescopic mechanism, and each of the four sides of the telescopic mechanism is equipped with a side control box for setting a motor speed controller, and a power converter is also provided on the end cover of one of the side control boxes.

[0066] The inner jaw clamping mechanism can rotate relative to the support body and includes a first joint motor, a first flange, a third proximity sensor mounted on the first flange, a first lead screw nut, a connecting rod, an inner jaw, a first jaw pressing component, a first lead screw, an optical fiber sensor, a second jaw pressing component, a lower bearing inner sleeve, a thin-walled bearing, an upper bearing inner sleeve, a bearing mounting seat, a first telescopic body, a set screw, and a second telescopic body.

[0067] The second telescopic body is sleeved outside the first joint motor; the first lead screw is connected to the first joint motor via a first flange; the first joint motor provides strong torque and transmits power to the first lead screw via the first flange; the first lead screw is screwed into the first lead screw nut; the first lead screw nut is movably connected to three pairs of circumferentially distributed connecting rods, the other end of each pair of connecting rods being connected to an inner chuck to form a parallelogram mechanism; the inner chuck is tightly fitted in a groove formed by a first chuck pressing member and a second chuck pressing member; the first telescopic body and the second telescopic body are fastened by a slot and connected by a set screw; the lower bearing inner sleeve and the upper bearing inner sleeve enclose the thin-walled bearing mounted on the bearing mounting seat in the middle and press the inner ring of the thin-walled bearing; the bearing mounting seat is fixedly mounted on the support body; the outer circumferential surfaces of the first telescopic body and the second telescopic body have evenly distributed axial grooves, and the inner sides of the upper bearing inner sleeve and the lower bearing inner sleeve are provided with protrusions; the axial grooves and the protrusions cooperate with each other and can slide up and down.

[0068] The telescopic mechanism includes a second motor base, a second joint motor, a second flange, a sensor mounting base, a dustproof shell sleeved on the second lead screw, a second lead screw, a second lead screw nut, a fourth proximity sensor, a first guide rail, a first slider, and a first slider seat connected to the first slider; the steering mechanism includes a third motor base, a third joint motor, a third flange, a first motor base, a disc slip ring, and a slip ring mounting base;

[0069] The second joint motor and the third joint motor are respectively mounted on the second motor base and the third motor base; the second motor base and the third motor base are fastened together and secured by a set screw; the sides of the fastened second motor base and the third motor base are provided with two symmetrically distributed planar bosses; the support body includes a support body end cap fixed to the top of the support body; the first slider is mounted on a first guide rail fixedly connected to the inner wall of the support body; the second flange is screwed into the second lead screw nut fixed on the support body end cap, used to connect the second joint motor and the second lead screw, with self-locking and force amplification functions, and used to convert rotational motion into telescopic linear motion; a fourth proximity sensor is mounted on the lower surface of the support body end cap through a sensor mounting seat;

[0070] The entire assembly consisting of the third joint motor, the second motor base, the third motor base, the first slider base, and the first slider can move longitudinally along the first guide rail; the third joint motor is connected to the first motor base via a third flange; the first joint motor is mounted on the first motor base; the disc slip ring is used for 360-degree rotation to conductively transmit signals from the third proximity sensor and the fiber optic sensor inside the inner claw; the upper end of the disc slip ring is fixedly mounted on the slip ring mounting seat, and the lower end of the disc slip ring is mounted on the second telescopic body and rotates with the third joint motor.

[0071] The crawler is connected to both sides of the support body. It can climb and step by coordinating with the inner claws of the inner claw gripping mechanism on the central body and through alternating movements. It includes a front claw mechanism, a lateral movement mechanism, and a rear claw mechanism. The front claw mechanism includes a first reduction motor, a right claw, a first motor bracket, a first left synchronous pulley, a first synchronous belt, a first right synchronous pulley, a right lead screw support, a third right-hand lead screw nut, a third bidirectional lead screw, a connecting frame, a lead screw support frame, a mounting bracket, a second guide rail, a third left-hand lead screw nut, a second slider, a left lead screw support, a fifth proximity sensor, a second slider seat, a left claw, and a sixth proximity sensor. The first reduction motor is mounted on the first motor bracket. The power of the first reduction motor is transmitted to the third bidirectional lead screw through a transmission system composed of the first left synchronous pulley, the first synchronous belt, and the first right synchronous pulley.

[0072] The third bidirectional lead screw has a left lead screw support and a right lead screw support fixedly connected to the mounting bracket at both ends; a third left-hand lead screw nut and a third right-hand lead screw nut are respectively fitted on both sides of the third bidirectional lead screw, which have the functions of self-locking and force amplification; a lead screw support frame fixed on the connecting frame is fitted in the middle of the third bidirectional lead screw, which serves as a support in the middle of the lead screw to improve the bending resistance of the lead screw; the third left-hand lead screw nut and the third right-hand lead screw nut are respectively connected to the left chuck and the right chuck through the second slider seat; the second slider fixed on the back of the second slider seat cooperates with the second guide rail fixed on the mounting bracket; the fifth proximity sensor and the sixth proximity sensor are located below the lead screw support frame;

[0073] The lateral movement mechanism includes: a second motor protective cover, a third motor bracket, a third geared motor, a third left synchronous pulley, a first synchronous belt clamp, a first synchronous belt pressure plate, a third synchronous belt, a support shaft, a first bearing, a first synchronous pulley support, a third right synchronous pulley, a first frame, a third guide rail, a third slider, and a third slider seat; the rear claw mechanism includes: a motor protective cover, a claw component, a second geared motor, a second motor bracket, a second left synchronous pulley, a second synchronous belt, a second right synchronous pulley, a first crossbeam, a fourth lead screw, a fourth slider, a fourth slider seat, a seventh proximity sensor, and a second crossbeam.

[0074] The first crossbeam and the connecting frame are respectively set on the left and right wide sides of the first frame; the second crossbeam is set parallel to the first crossbeam and connected to the first frame; the first synchronous pulley support is fixed on the connecting frame; the first bearing is sleeved on the support shaft and connected to the first synchronous pulley support.

[0075] The third guide rail is disposed inside the first frame; a third slider fixed to the third slider seat is connected to the upper third guide rail; the transverse movement mechanism is connected to the support body through the third slider seat; a first synchronous belt clamp is provided on the side of the support body; the support body is connected to the third synchronous belt through two first synchronous belt pressure plates; a third left synchronous pulley and a third right synchronous pulley are respectively mounted at both ends of the third synchronous belt; the third left synchronous pulley is driven by a third reduction motor; the third reduction motor is mounted on the first crossbeam through a third motor bracket;

[0076] The third guide rail is fitted with a fourth slider fixed to the fourth slider seat; the claw component includes a fourth lead screw nut, a T-shaped plate connected to the fourth lead screw nut, support members on both sides of the T-shaped plate, and a rear claw located below the T-shaped plate; the left and right ends of the claw component are connected to the third guide rail through the fourth slider seat and the fourth slider; the fourth lead screw nut is fitted with the fourth lead screw for transmission to achieve left and right movement; one end of the fourth lead screw is connected to the second crossbeam through a bearing, and the other end passes through the bearing and is connected to the first crossbeam and the second right synchronous pulley;

[0077] The second geared motor is connected to the second left synchronous pulley via a second synchronous belt; the second geared motor is mounted on the first crossbeam via a second motor bracket;

[0078] The positioning body includes a third crossbeam, a third motor protective cover, a fourth motor bracket, a fourth geared motor, a fourth left synchronous pulley, a fourth synchronous belt, a second synchronous belt clamp, a second synchronous belt pressure plate, a fifth slider seat, a second frame, a second synchronous pulley support, a second support shaft, a fourth right synchronous pulley, a first camera, a first camera bracket, a second camera, a second camera bracket, a steel pipe, a guide sleeve fitted at the lower end of the steel pipe, an industrial camera, a camera mounting base, a quick-change adapter, a hand-tightening nut, a through-type lead screw stepper motor, a fixing ring, a first stepper motor seat, an adapter block, a hollow motor, a U-shaped bracket, a fourth crossbeam, a fourth guide rail, a fifth slider, an eighth proximity sensor, a sixth slider, a fifth guide rail, and a movable seat; the positioning body is set on the central body and can slide left and right along the fourth guide rail for positioning and scanning;

[0079] The third and fourth crossbars are respectively connected to the two ends of the two parallel second frames; the two parallel fourth guide rails are respectively disposed on the inner side of the two parallel second frames; the two fourth guide rails are respectively connected to two fifth sliders; the fifth sliders are fixedly connected to the fifth slider seat; the fifth slider seat is connected to the support body;

[0080] The fourth geared motor is mounted on the fourth motor bracket, and the output shaft of the fourth geared motor is connected to the fourth left synchronous pulley; the synchronous belt transmission mechanism composed of the fourth left synchronous pulley, the fourth synchronous belt, and the fourth right synchronous pulley is connected to one side of the support body through the second synchronous belt clamp and the second synchronous belt pressure plate, which converts the rotational motion of the fourth geared motor into the left and right movement of the positioning body;

[0081] The stator of the hollow motor is fixed on the fourth crossbeam for realizing the swing arm movement; one side of the U-shaped bracket is connected to the output shaft of the hollow motor, and the other side is connected to the fourth crossbeam via a bearing; the adapter block is fixed on the U-shaped bracket for connecting the first stepper motor seat and the sixth slider that cooperates with the fifth guide rail; the upper surface of the first stepper motor seat is provided with a through-type lead screw stepper motor; a motor lead screw shaft passes through the center of the through-type lead screw stepper motor; one end of the motor lead screw shaft is equipped with a fixing ring for limiting, and the other end passes through the moving seat and is fastened by a set screw; the moving seat is fixed on the fifth guide rail, The protruding part of the movable base is used for quick-release connection with the quick-change adapter head via a hand-tightened nut; the quick-change adapter head has two through holes; the tube sheet surface is provided with heat transfer tube openings; the size and spacing of the through holes are consistent with the size and layout of the heat transfer tube openings on the tube sheet surface; the steel pipe passes through the through holes and is fastened by a set screw; the upper end of the steel pipe is connected to the delivery conduit; the guide sleeve is provided with a tapered hole to prevent the detection probe from being stuck by the end of the steel pipe when it is retracted; the lower end of the steel pipe is connected to the guide sleeve through the tapered hole; the industrial camera is set at the front end of the quick-change adapter head via a camera mounting base for identifying the tube openings and planning the path;

[0082] Therefore, the left and right movement of the positioning body is achieved by driving the fourth geared motor, synchronous belt transmission, and guide rail guidance. The rotational movement of the swing arm is achieved by driving the hollow motor. The rotational movement of the motor is converted into the up and down extension movement of the moving seat by driving the through-type lead screw stepper motor, lead screw transmission, and guide rail guidance constraint.

[0083] The first camera and the second camera are respectively fixed on the fourth crossbeam and the U-shaped bracket via the first camera bracket and the second camera bracket; the first camera is used to transmit the working status image of the inner claw clamping mechanism, the front claw mechanism and the rear claw mechanism to the display and control module via image transmission; the second camera is used to transmit the image of the relative status of the detection probe and the tube plate surface to the display and control module via image transmission.

[0084] The conveyor is used for remote transport of the detection probe and includes a second handle, a second power converter, a conveyor control board, a mounting base, a first conveyor control box, a screen protection base, an adapter pipe, a second hand-tightening nut, an adapter, a display screen, a first side plate, an aluminum frame, angle iron, a fifth geared motor base, a fifth geared motor, a fifth left synchronous pulley, a fifth synchronous belt, a fifth right synchronous pulley, a screen protection cover, a waterproof stuffing box, guide components, rubber-coated wheels, knurled wheels, a rotary encoder, an encoder bracket, a bracket mounting base, an encoder knob, and a lead screw step. The components include: a motor, a second conveyor control box, a plane bearing, a third support shaft, a tension spring, a second side plate, a first drive shaft, a sixth left synchronous pulley fitted outside the first drive shaft, a sixth synchronous belt, a fifth motor protective cover, a sixth right synchronous pulley, a second drive shaft, a second motor speed controller, a second stepper motor driver, a third drive shaft, a left baffle, a corner block, a snap ring, a second bearing, a motor clamp, a right baffle, a driving friction wheel, a guide component, a fourth drive shaft, a third bearing, a driven friction wheel, a copper nut, a left support, a right support, and a second stepper motor base.

[0085] Angle irons are provided at each of the four corners of the aluminum frame; the second handle is fixed to the top of the aluminum frame; a first conveyor control box is fixed to the front of the aluminum frame, and the first conveyor control box contains a conveyor control board for controlling the operation of the entire conveyor and communicating with the display and control module; a screen protection base is provided on the end cover of the first conveyor control box; a display screen is provided inside the screen protection base, and a transparent screen protection cover is provided outside the screen protection base; the display screen displays the operating status of the conveyor, such as the running speed, conveying direction, clamping force, and conveying mileage record; an encoder knob is connected to the top right side of the first conveyor control box for manual control of the conveyor.

[0086] A second conveyor control box is fixedly mounted on the back of the aluminum frame; the second conveyor control box contains a second stepper motor driver that drives the lead screw stepper motor and a second motor speed controller that controls the fifth geared motor; the second power converter is fixedly mounted on the left side of the aluminum frame via a mounting base; a bracket mounting base is fixedly mounted on the upper right of the aluminum frame for fastening the third support shaft as the rotating shaft of the encoder bracket; the encoder bracket is sleeved on the third support shaft by a copper nut; flat bearings are also provided on the left and right sides of the connection end between the encoder bracket and the third support shaft to reduce friction; a rotary encoder is connected to the other end of the encoder bracket; a tension spring is used to tighten the encoder bracket and the aluminum frame; a knurled wheel is fixed on the rotary encoder by a set screw; the knurled wheel is in close contact with the detection probe passing through the guide; the rotary encoder can record the conveying mileage and provide feedback on the conveying speed. When the conveyor is working, if the mileage no longer changes, it indicates that the conveying is in place, and the direction needs to be reversed for pullback. If the conveying speed is uneven during operation, the conveyor control board can automatically adjust the pressure of the conveyor on the detection probe to achieve a uniform feeding effect.

[0087] Both the first and second conveyor control boxes are equipped with waterproof stuffing boxes on their sides for cable routing; the first side plate is connected to the back of the aluminum frame, and the second side plate is connected to the back of the aluminum frame; the two ends of the second stepper motor base are respectively connected to the left baffle and the right baffle; the two ends of the guide member are respectively connected to the middle of the left baffle and the right baffle; the corner block is set at the connection between the second stepper motor base and the left baffle and the right baffle.

[0088] The outer side of the left baffle is provided with an adapter with a connecting tube; the protruding part of the connecting tube is connected to the delivery tube and fastened by a second hand-tightening nut; the outer side of the right baffle is connected with a guide with a rubber-coated wheel for supporting and guiding the detection probe.

[0089] The lead screw stepper motor is mounted on a second stepper motor mount; the output shaft of the lead screw stepper motor is a self-locking sliding lead screw, on which a copper nut is screwed, and the copper nut is fixed on the left and right supports; the left and right supports are respectively provided with a third drive shaft and a fourth drive shaft in the mounting holes; the middle part of the third and fourth drive shafts is fitted with a driven friction wheel; the two ends of the third and fourth drive shafts are respectively engaged with the corresponding stepped slide grooves on the first and second side plates through a third bearing;

[0090] The fifth geared motor is mounted on the first and second side plates via a motor clamp and a fifth geared motor mount. One side of the fifth geared motor is connected to the fifth left synchronous pulley. The fifth left synchronous pulley is connected to the fifth right synchronous pulley via a fifth synchronous belt, transmitting power to the second drive shaft. The other side of the fifth geared motor is connected to the sixth right synchronous pulley. The sixth right synchronous pulley is connected to the first drive shaft via a sixth synchronous belt. The first and second drive shafts can rotate synchronously under the drive of the fifth geared motor. The first and second drive shafts are respectively mounted in the stepped holes of the first and second side plates via second bearings. The intermediate shaft sections of both the first and second drive shafts have keyways, which are connected to the driving friction wheel via keys.

[0091] The driven and driven friction wheels are restricted from axial movement at both ends by retaining springs. The driven and driven friction wheels are made of aluminum alloy shafts coated with soft polyurethane. The outer periphery of the coating layer is made into a concave arc shape to improve the centering of the detection probe during transport and thus prevent the detection probe from deviating during transport.

[0092] Therefore, by using a lead screw stepper motor to drive the driven friction wheel to move up and down along the slide grooves of the first and second side plates, detection probes of different diameters within a certain range can be pressed onto the active friction wheel. Then, the power provided by the fifth reduction motor and the two-stage synchronous belt transmission system drive the active friction wheel to rotate at a constant speed to transport the detection probes. When the detection probes are transported, the knurled wheel pressing on them will rotate accordingly. In this way, the transport mileage and transport speed can be read by a rotary encoder. At the same time, the pressure of the friction wheel on the detection probe can be automatically adjusted by judging the uniformity of the transport speed to achieve uniform feed. Furthermore, the motor speed and the rotary encoder speed can be compared to determine whether slippage has occurred, and automatic adjustments can be made based on this information to achieve a good transport effect.

[0093] The second geared motor, the third geared motor, the fourth geared motor, and the fifth geared motor are respectively fitted with motor protective covers, second motor protective covers, third motor protective covers, and fifth motor protective covers for waterproofing, dustproofing, and impact protection;

[0094] The first proximity sensor, the second proximity sensor, the third proximity sensor, the fourth proximity sensor, the fifth proximity sensor, the sixth proximity sensor, the seventh proximity sensor, and the eighth proximity sensor are used for limiting and initial positioning;

[0095] The left, right, rear, and inner claws are all equipped with fiber optic sensors in their internal holes to determine whether the positions of the left, right, rear, and inner claws are aligned with the heat transfer tube openings on the tube sheet surface.

[0096] See Figure 17-19 When the front and rear claw mechanisms are inserted into the heat transfer tubes and the robot is mounted on the vertical tube sheet by gripping the tube openings with the external three claws, but the internal claw is positioned outside the tube sheet, the robot operates in Cartesian mode. In this mode, the crawler's crawling body remains stationary, while the central body and positioning body can move in coordinates for positioning. During scanning and positioning in Cartesian mode, the central body, along with the positioning body, can move laterally relative to the crawler, and then the positioning body can move vertically relative to the central body. With the coordinated movement of the swing arm at the front of the positioning body, a large rectangular area in front of the robot can be quickly scanned and its location detected.

[0097] When the three claws on the inner gripper mechanism of the central body are inserted into the heat transfer tube and grip the tube opening, thus mounting the robot on the vertical tube sheet, but the front and rear claw mechanisms on the crawler are suspended in the air, the robot operates in cylindrical coordinate mode. In this mode, the crawler's body does not participate in positioning and scanning; instead, positioning is achieved through the coordinated movement of the central body and the positioning body. During scanning and positioning in cylindrical coordinate mode, the crawler can rotate 360° under the action of the central body's steering mechanism. Then, the positioning body can move back and forth relative to the central body. With the coordinated movement of the swing arm at the front end of the positioning body, a ring-shaped area around the robot can be scanned and located.

[0098] After detecting a region in Cartesian or cylindrical coordinate mode, the robot needs to move to the next detection region using a climbing mode. The climbing mode mainly includes cylindrical coordinate mode stepping actions, inner and outer claw gripping switching states, and Cartesian mode stepping actions. Its main function is to achieve stepping, turning, and mode switching. The cylindrical coordinate mode stepping action refers to the front and rear claw mechanisms of the climber's crawler body inserting into the tube opening for gripping, while the inner claw gripping mechanism of the central body is in a suspended state. The central body can then drive the three inner claws to move to the next position in one direction. The Cartesian mode stepping action refers to the inner claw gripping mechanism of the central body of the climber inserting into the tube opening for gripping, while the front and rear claw mechanisms of the crawler body are in a suspended state. In this case, the robot can turn arbitrarily and then use the crawler body to drive the three outer claws to move to the next position. The inner and outer claw gripping switching action refers to the state where the inner and outer claws are simultaneously inserted into the tube opening and gripping.

[0099] If the initial state is Cartesian mode, the climbing action requires first performing a Cartesian mode stepping motion, then inserting the inner claw into the tube opening and gripping it, thus entering the inner and outer claw gripping switching state. Next, the robot releases the outer claw and leaves the tube opening to enter a suspended state, while the inner claw remains gripping. Then, a cylindrical coordinate mode stepping motion is performed, followed by inserting the outer claw into the tube opening and gripping it again, thus entering the inner and outer claw gripping switching state once more. By continuously repeating the above climbing process, the robot can move to any position on the tube sheet surface, thereby achieving full coverage of the tube sheet surface.

Claims

1. A tube-sheet surface climbing robot for detecting defects inside tube bundles, characterized in that: The system includes a climber (1), a conveyor (2) connected to the climber (1) via a conveying conduit (10), a mobile power supply (4) that provides power to the climber (1) and the conveyor (2), a detection probe (5), a detector (6) connected to the detection probe (5), a display and control module (7), and an industrial camera platform (8) for identifying the tube sheet surface of the tube sheet equipment (14) and creating a map of the climber (1)'s movement; the conveyor (2) is used to control the detection probe (5) to be pushed and pulled back along the conveying conduit (10); The display and control module (7) is used to receive the moving map transmitted by the industrial camera platform (8), plan the path of the climber (1), control the positioning of the detection probe (5) and the conveyor (2); the climber (1) includes a central body (11), a crawler (12) set on the central body (11) and a positioning body (13); the crawler (12) moves in coordination with the central body (11) to realize the crawling of the climber (1); the positioning body (13) is used to realize the positioning detection of the detection probe (5). The central body (11) includes an inner claw gripping mechanism (21), a side control box (23), a motor speed controller (24), a power converter (25), a hook (26), a handle (27), a main control board (28), an image transmission (29), an attitude sensor (210), a stepper motor driver (211), a plug-in connector (212), a main control box (213), a telescopic mechanism (214), a steering mechanism (215), a support body (216), a first proximity sensor (22), and a second proximity sensor (217) disposed on the outside of the support body (216). The inner jaw gripping mechanism (21) is mounted on the bottom surface of the support body (216) via a bearing mounting seat (2114); the support body (216) is formed by splicing a first and a second solid body in half on the left and right sides through a connector; the main control box (213) is located at the top of the support body (216), and the main control box (213) contains a main control board (28), an attitude sensor (210), and a stepper motor driver (211); the upper surface of the main control box (213) is provided with a video transmitter (29), the opposite side surfaces are provided with handles (27), and the four side surfaces are provided with multiple plug-in connectors (212); the main control... The plate (28) is used to receive, analyze, process and transmit signals from the attitude sensor (210); the attitude sensor (210) is used to measure and transmit the direction and angle signals of the motion; one end of the steering mechanism (215) is connected to the inner jaw clamping mechanism (21), and the other end is connected to the telescopic mechanism (214); hooks (26) are provided on two opposite sides of the telescopic mechanism (214), and each of the four sides of the telescopic mechanism (214) is provided with a side control box (23) for setting the motor speed controller (24), and a power converter (25) is also provided on the end cover of one of the side control boxes (23); The crawler (12) is connected to both sides of the support (216). It can achieve climbing and stepping motion by coordinating with the inner claw (2106) of the inner claw clamping mechanism (21) on the central body (11) and through alternating movements. It includes a front claw mechanism (41), a lateral movement mechanism (42), and a rear claw mechanism (43). The front claw mechanism (41) includes a first reduction motor (4101), a right claw (4102), a first motor bracket (4103), a first left synchronous pulley (4104), a first synchronous belt (4105), a first right synchronous pulley (4106), a right lead screw support (4107), a third right-hand lead screw nut (4108), a third bidirectional lead screw (4109), and a connecting... The system includes a frame (4110), a lead screw support frame (4111), a mounting bracket (4112), a second guide rail (4113), a third left-hand lead screw nut (4114), a second slider (4115), a left lead screw support (4116), a fifth proximity sensor (4117), a second slider seat (4118), a left chuck (4119), and a sixth proximity sensor (4120). The first geared motor (4101) is mounted on the first motor bracket (4103). The power of the first geared motor (4101) is transmitted to the third bidirectional lead screw (4109) through a transmission system consisting of a first left synchronous pulley (4104), a first synchronous belt (4105), and a first right synchronous pulley (4106). The positioning body (13) includes a third crossbeam (501), a third motor protective cover (502), a fourth motor bracket (503), a fourth geared motor (504), a fourth left synchronous pulley (505), a fourth synchronous belt (506), a second synchronous belt clamp (507), a second synchronous belt pressure plate (508), a fifth slider seat (509), a second frame (510), a second synchronous pulley support (511) connected to the second frame (510), a second support shaft (512) cooperating with the second synchronous pulley support (511), a fourth right synchronous pulley (513) sleeved on the second support shaft (512), a first camera (514), a first camera bracket (515), a second camera (516), and a second camera bracket (517). , steel pipe (518), guide sleeve (519) sleeved on the lower end of steel pipe (518), industrial camera (520), camera mounting base (521), quick-change adapter head (522), hand-tightening nut (523), through-type lead screw stepper motor (524), fixing ring (525), first stepper motor base (526), ​​adapter block (527), hollow motor (528), U-shaped bracket (529), fourth cross frame (530), fourth guide rail (531), fifth slider (532), eighth proximity sensor (533), sixth slider (534), fifth guide rail (535), moving base (536); the positioning body (13) is set on the central body (11) and can slide left and right along the fourth guide rail (531) for positioning and scanning.

2. The tube sheet climbing robot for detecting defects inside tube bundles according to claim 1, characterized in that: The inner jaw clamping mechanism (21) can rotate relative to the support body (216) and includes a first joint motor (2101), a first flange (2102), a third proximity sensor (2103) mounted on the first flange (2102), a first lead screw nut (2104), a connecting rod (2105), an inner jaw (2106), a first jaw pressing component (2107), a first lead screw (2108), an optical fiber sensor (2109), a second jaw pressing component (2110), a lower bearing inner sleeve (2111), a thin-walled bearing (2112), an upper bearing inner sleeve (2113), a bearing mounting seat (2114), a first telescopic body (2115), a set screw (2116), and a second telescopic body (2117). The second telescopic body (2117) is sleeved outside the first joint motor (2101); the first lead screw (2108) is connected to the first joint motor (2101) through the first flange (2102); the first joint motor (2101) is used to provide strong torque and transmit power to the first lead screw (2108) through the first flange (2102); the first lead screw (2108) is screwed with the first lead screw nut (2104); the first lead screw nut (2104) is movably connected to three pairs of circumferentially distributed connecting rods (2105), and the other end of each pair of connecting rods (2105) is connected to the inner claw (2106) to form a parallelogram mechanism; the inner claw (2106) is tightly fitted by the first claw pressing part (2107). The first telescopic body (2115) and the second telescopic body (2117) are connected by a snap-fit ​​and a set screw (2116) through a snap-fit. The lower bearing inner sleeve (2111) and the upper bearing inner sleeve (2113) fit the thin-walled bearing (2112) mounted on the bearing mounting seat (2114) in the middle and press the inner ring of the thin-walled bearing (2112) tightly. The bearing mounting seat (2114) is fixedly mounted on the support body (216). The outer circumferential surfaces of the first telescopic body (2115) and the second telescopic body (2117) have evenly distributed axial grooves. The inner sides of the upper bearing inner sleeve (2113) and the lower bearing inner sleeve (2111) are provided with protrusions. The axial grooves and the protrusions cooperate with each other and can slide up and down.

3. A tube-plate surface climbing robot for detecting defects inside tube bundles according to claim 2, characterized in that: The telescopic mechanism (214) includes a second motor base (3401), a second joint motor (3402), a second flange (3403), a sensor mounting base (3404), a second lead screw (3406), a dust cover (3405) sleeved on the second lead screw (3406), a second lead screw nut (3407), a fourth proximity sensor (3409), a first guide rail (3410), a first slider (3411), and a first slider seat (3412) connected to the first slider (3411); the steering mechanism (215) includes a third motor base (3501), a third joint motor (3502), a third flange (3503), a first motor base (3504), a disc slip ring (3505), and a slip ring mounting base (3506); The second joint motor (3402) and the third joint motor (3502) are respectively mounted on the second motor base (3401) and the third motor base (3501); the second motor base (3401) and the third motor base (3501) are fastened together and secured by a set screw (2116); the sides of the fastened second motor base (3401) and the third motor base (3501) are provided with two symmetrically distributed planar bosses; the support body (216) includes a support body end cap (3408) fixed to the top of the support body (216); the first sliding... The block (3411) is fixedly connected to the inner wall of the support (216) on the first guide rail (3410); the second flange (3403) is screwed into the second lead screw nut (3407) fixed on the end cover (3408) of the support, and is used to connect the second joint motor (3402) and the second lead screw (3406), with self-locking and force amplification functions, and is used to convert the rotational motion into the extension and retraction linear motion; a fourth proximity sensor (3409) is provided on the lower surface of the end cover (3408) of the support through the sensor setting seat (3404). The entire assembly consisting of the third joint motor (3502), the second motor base (3401), the third motor base (3501), the first slider base (3412), and the first slider (3411) can move longitudinally along the first guide rail (3410); the third joint motor (3502) is connected to the first motor base (3504) through the third flange (3503); the first joint motor (2101) is mounted on the first motor base (3504); the disc slip ring (3505) is used for 360-degree rotation to conduct electricity and transmit signals from the third proximity sensor (2103) and the fiber optic sensor (2109) inside the inner claw; the upper end of the disc slip ring (3505) is fixedly mounted on the slip ring mounting seat (3506), and the lower end of the disc slip ring (3505) is mounted on the second telescopic body (2117) and rotates with the third joint motor (3502).

4. A tube-plate surface climbing robot for detecting defects inside tube bundles according to claim 3, characterized in that: The third bidirectional lead screw (4109) has a left lead screw support (4116) and a right lead screw support (4107) fixedly connected to the mounting bracket (4112) at both ends; a third left-hand lead screw nut (4114) and a third right-hand lead screw nut (4108) are respectively fitted on both sides of the third bidirectional lead screw (4109), which have the functions of self-locking and force amplification; a lead screw support frame (4111) fixed on the connecting frame (4110) is fitted in the middle of the third bidirectional lead screw (4109), which serves as the middle support of the third bidirectional lead screw (4109) to improve... The bending resistance of the third bidirectional lead screw (4109); the third left-hand lead screw nut (4114) and the third right-hand lead screw nut (4108) are respectively connected to the left jaw (4119) and the right jaw (4102) through the second slider seat (4118); the second slider (4115) fixed on the back of the second slider seat (4118) cooperates with the second guide rail (4113) fixed on the mounting bracket (4112); the fifth proximity sensor (4117) and the sixth proximity sensor (4120) are arranged below the lead screw support frame (4111).

5. A tube-sheet surface climbing robot for detecting defects inside tube bundles according to claim 4, characterized in that: The lateral movement mechanism includes: a second motor protective cover (4201), a third motor bracket (4202), a third geared motor (4203), a third left synchronous pulley (4204), a first synchronous belt clamp (4205), a first synchronous belt pressure plate (4206), a third synchronous belt (4207), a support shaft (4208), a first bearing (4209), a first synchronous pulley support (4210), a third right synchronous pulley (4211) sleeved on the support shaft (4208), a first frame (4212), and a third guide rail (4213). The third slider (4214) and the third slider seat (4215) are included; the rear claw mechanism (43) includes: a motor protective cover (4301), a claw component, a second reduction motor (4303), a second motor bracket (4304), a second left synchronous pulley (4305), a second synchronous belt (4306), a second right synchronous pulley (4307), a first crossbeam (4308), a fourth lead screw (4309), a fourth slider (4310), a fourth slider seat (4311), a seventh proximity sensor (4315), and a second crossbeam (4316); The first crossbeam (4308) and the connecting frame (4110) are respectively set on the left and right wide sides of the first frame (4212); the second crossbeam (4316) is parallel to the first crossbeam (4308) and connected to the first frame (4212); the first synchronous pulley support (4210) is fixed on the connecting frame (4110); the first bearing (4209) is sleeved on the support shaft (4208) and connected to the first synchronous pulley support (4210).

6. A tube sheet surface climbing robot for detecting defects inside tube bundles according to claim 5, characterized in that: The third guide rail (4213) is located inside the first frame (4212); a third slider (4214) is fixedly connected to the third slider seat (4215) on the third guide rail (4213); the transverse mechanism is connected to the support body (216) through the third slider seat (4215); the support body (216) has a first synchronous belt clamp (4205) on its side; the support body (216) is connected to the third synchronous belt (4207) through two first synchronous belt pressure plates (4206); the third synchronous belt (4207) has a third left synchronous pulley (4204) and a third right synchronous pulley respectively installed at both ends; the third left synchronous pulley (4204) is driven by a third reduction motor (4203); the third reduction motor (4203) is mounted on the first crossbeam (4308) through a third motor bracket (4202); The third guide rail (4213) is fitted with a fourth slider (4310) fixed to the fourth slider seat (4311); the claw component includes a fourth lead screw nut (4312), a T-shaped plate (4313) connected to the fourth lead screw nut (4312), support members (4314) on both sides of the T-shaped plate (4313), and a rear claw (4302) below the T-shaped plate (4313); the left and right ends of the claw component are connected to the third guide rail (4213) through the fourth slider seat (4311) and the fourth slider (4310); the fourth lead screw nut (4312) is fitted with the fourth lead screw (4309) for transmission to realize left and right movement; one end of the fourth lead screw (4309) is connected to the second crossbeam (4316) through a bearing, and the other end passes through the bearing and is connected to the first crossbeam (4308) and the second right synchronous pulley (4307); The second geared motor (4303) is connected to the second left synchronous pulley (4305) via the second synchronous belt (4306); the second geared motor (4303) is mounted on the first crossbeam (4308) via the second motor bracket (4304).

7. A tube-plate surface climbing robot for detecting defects inside tube bundles according to claim 6, characterized in that: The third crossbeam (501) and the fourth crossbeam (530) are respectively connected to the two ends of the two parallel second frames (510); the two parallel fourth guide rails (531) are respectively disposed on the inner side of the two parallel second frames (510); the two fourth guide rails (531) are respectively connected to two fifth sliders (532); the fifth sliders (532) are fixedly connected to the fifth slider seat (509); the fifth slider seat (509) is connected to the support body (216); The fourth geared motor (504) is mounted on the fourth motor bracket (503), and the output shaft of the fourth geared motor (504) is connected to the fourth left synchronous pulley (505). The synchronous belt transmission mechanism composed of the fourth left synchronous pulley (505), the fourth synchronous belt (506), and the fourth right synchronous pulley (513) is connected to one side of the support body (216) through the second synchronous belt clamp (507) and the second synchronous belt pressure plate (508), which converts the rotational motion of the fourth geared motor (504) into the left and right movement of the positioning body (13). The stator of the hollow motor (528) is fixed on the fourth crossbeam (530) to realize the swing arm movement; one side of the U-shaped bracket (529) is connected to the output shaft of the hollow motor (528), and the other side is connected to the fourth crossbeam (530) through a bearing; the adapter block (527) is fixed on the U-shaped bracket (529) to connect the first stepper motor seat (526) and the sixth slider (534) that cooperates with the fifth guide rail (535); the upper surface of the first stepper motor seat (526) is provided with a through-type lead screw stepper motor (524); the center of the through-type lead screw stepper motor (524) passes through a motor lead screw shaft; one end of the motor lead screw shaft is equipped with a fixing ring (525) for limiting, and the other end passes through the moving seat (536) and is fastened by a set screw (2116); the moving seat (536) is fixed on On the fifth guide rail (535), the protruding part of the movable seat (536) is used to quickly connect with the quick-change adapter head (522) through the hand-tightening nut (523); the quick-change adapter head (522) has two through holes; the tube sheet surface is provided with heat transfer tube openings; the size and spacing of the through holes are consistent with the size and layout of the heat transfer tube openings on the tube sheet surface; the steel pipe (518) passes through the through holes and is fastened by the set screw (2116); the upper end of the steel pipe (518) is connected to the delivery conduit (10); the guide sleeve is provided with a tapered hole to prevent the detection probe (5) from being stuck by the end of the steel pipe (518) when it is retracted; the lower end of the steel pipe (518) is connected to the guide sleeve through the tapered hole; the industrial camera (520) is set at the front end of the quick-change adapter head (522) through the camera setting seat (521) for identifying the tube openings and planning the path; The first camera (514) and the second camera (516) are fixed on the fourth crossbeam (530) and the U-shaped bracket (529) respectively via the first camera bracket (515) and the second camera bracket (517); the first camera (514) is used to transmit the working status of the inner claw clamping mechanism, the front claw mechanism (41) and the rear claw mechanism (43) to the display and control module (7) via the image transmission (29); the second camera (516) is used to transmit the relative status of the detection probe (5) and the tube plate surface to the display and control module (7) via the image transmission (29).

8. A tube-plate surface climbing robot for detecting defects inside tube bundles according to claim 7, characterized in that: The conveyor (2) is used for remote conveying of the detection probe (5), and includes a second handle (601), a second power converter (602), a conveyor control board (603), a mounting base (604), a first conveyor control box (605), a screen protector base (606), an adapter pipe (607), a second hand-tightening nut (608), an adapter (609), a display screen (610), a first side plate (611), an aluminum frame (612), an angle iron (613), a fifth geared motor base (614), a fifth geared motor (615), a fifth left synchronous pulley (616), a fifth synchronous belt (617), a fifth right synchronous pulley (618), a screen protector cover (619), a waterproof stuffing box (620), a guide (621), a rubber-coated wheel (622), a knurled wheel (623), a rotary encoder (624), an encoder bracket (625), a bracket mounting base (626), an encoder knob (627), and a lead screw stepper motor (628). ), second conveyor control box (629), plane bearing (630), third support shaft (631), tension spring (632), second side plate (633), first drive shaft (634), sixth left synchronous pulley (635) sleeved outside the first drive shaft (634), sixth synchronous belt (636), fifth motor protective cover (637), sixth right synchronous pulley (638), second drive shaft (639), second motor speed controller (640), second stepper motor driver (641) Third drive shaft (642) Left baffle (643) Corner block (644) Snap ring (645) Second bearing (646) Motor clamp (647) Right baffle (648) Active friction wheel (649) Guide component (650) Fourth drive shaft (651) Third bearing (652) Driven friction wheel (653) Copper nut (654) Left support (655) Right support (656) Second stepper motor mount (657); Angle irons (613) are provided at each of the four corners of the aluminum frame (612); the second handle is fixed on the top of the aluminum frame (612); a first conveyor control box (605) is fixed on the front of the aluminum frame (612), and a conveyor control board (603) for controlling the operation of the entire conveyor (2) and communicating with the display and control module (7) is provided inside the first conveyor control box (605); a screen protection seat (606) is provided on the end cover of the first conveyor control box (605); a display screen (610) is provided inside the screen protection seat (606), and a transparent screen protection cover (619) is provided outside the screen protection seat (606); the display screen (610) displays the operating speed, conveying direction, clamping force, conveying mileage record and other working status of the conveyor (2); an encoder knob (627) is connected to the top right side of the first conveyor control box (605) for manual control of the conveyor (2); A second conveyor control box (629) is fixedly mounted on the back of the aluminum frame (612); the second conveyor control box (629) contains a second stepper motor driver (641) that drives the lead screw stepper motor (628) and a second motor speed controller (640) that controls the fifth geared motor (615); the second power converter is fixedly mounted on the left side of the aluminum frame (612) via a mounting base (604); a bracket mounting base (626) is fixedly mounted on the upper right side of the aluminum frame (612) for fastening the third support shaft (631) as the rotating shaft of the encoder bracket (625); the encoder bracket (625) is fitted onto the third support shaft (631) by a copper nut (654); the encoder bracket (625) and the third support shaft (631) are also provided with plane bearings (630) on the left and right sides to reduce friction; the other end of the encoder bracket (625) is connected to a rotary encoder (624); the tension spring (632) is used to tighten the encoder bracket (625) and the aluminum frame (612); a knurled wheel (623) is fixed on the rotary encoder (624) by a set screw; the knurled wheel (623) is in close contact with the detection probe (5) passing through the guide (621); The first conveyor control box (605) and the second conveyor control box (629) are both provided with waterproof stuffing boxes (620) for wiring; the first side plate (611) is connected to the back of the aluminum frame (612), and the second side plate (633) is connected to the back of the aluminum frame (612); the two ends of the second stepper motor base (657) are respectively connected to the left baffle (643) and the right baffle (648); the two ends of the guide (650) are respectively connected to the middle of the left baffle (643) and the right baffle (648); the corner block (644) is set at the connection between the second stepper motor base (657) and the left baffle (643) and the right baffle (648); The left baffle (643) is provided with an adapter (609) fitted with an adapter tube (607) on the outside; the extended part of the adapter tube (607) is connected to the delivery conduit (10) and fastened by a second hand-tightening nut (608); the right baffle (648) is connected with a guide (621) with a rubber-coated wheel (622) on the outside, which is used to support and guide the detection probe (5). The lead screw stepper motor (628) is mounted on the second stepper motor base (657); the output shaft of the lead screw stepper motor (628) is a sliding lead screw with self-locking, and a copper nut (654) is screwed onto the sliding lead screw. The copper nut (654) is fixed on the left support (655) and the right support (656); the left support (655) and the right support (656) are respectively provided with a third drive shaft (642) and a fourth drive shaft (651) in the mounting holes; the middle part of the third drive shaft (642) and the fourth drive shaft (651) are both fitted with driven friction wheels (653); the two ends of the third drive shaft (642) and the fourth drive shaft (651) are respectively engaged with the corresponding stepped grooves on the first side plate (611) and the second side plate (633) through the third bearing (652); The fifth geared motor (615) is mounted on the first side plate (611) and the second side plate (633) via a motor clamp (647) and a fifth geared motor mount (614); one side of the fifth geared motor (615) is connected to the fifth left synchronous pulley (616); the fifth left synchronous pulley (616) is connected to the fifth right synchronous pulley (618) via a fifth synchronous belt (617), transmitting power to the second drive shaft (639); the other side of the fifth geared motor (615) is connected to the sixth right synchronous pulley (638); the sixth right synchronous pulley (638) The first drive shaft (634) and the second drive shaft (639) are connected by a sixth synchronous belt (636) to transmit power to the first drive shaft (634); the first drive shaft (634) and the second drive shaft (639) can operate synchronously under the drive of the fifth geared motor (615); the first drive shaft (634) and the second drive shaft (639) are respectively set in the stepped holes of the first side plate (611) and the second side plate (633) through the second bearing (646); the intermediate shaft sections of the first drive shaft (634) and the second drive shaft (639) are both provided with keyways and connected to the active friction wheel (649) through keys; The driven friction wheel (653) and the active friction wheel (649) are restricted from axial movement by snap rings (645) at both ends. The driven friction wheel (653) and the active friction wheel (649) are made of aluminum alloy shafts coated with soft polyurethane. The outer periphery of the coating layer is made into a concave arc shape to improve the centering of the detection probe (5) during transportation, thereby preventing the detection probe (5) from deviating during transportation.

9. A tube sheet surface climbing robot for detecting defects inside tube bundles according to claim 8, characterized in that: The second geared motor (4303), the third geared motor (4203), the fourth geared motor (504), and the fifth geared motor (615) are respectively fitted with motor protective covers, second motor protective cover (4201), third motor protective cover (502), and fifth motor protective cover (637) for waterproofing, dustproofing, and impact protection; The first proximity sensor (22), the second proximity sensor (217), the third proximity sensor (2103), the fourth proximity sensor (3409), the fifth proximity sensor (4117), the sixth proximity sensor (4120), the seventh proximity sensor (4315), and the eighth proximity sensor (533) are used for limiting and initial positioning; The left claw (4119), right claw (4102), rear claw (4302), and inner claw (2106) are all equipped with fiber optic sensors (2109) in their internal holes to determine whether the positions of the left claw (4119), right claw (4102), rear claw (4302), and inner claw (2106) are aligned with the heat transfer tube openings on the tube sheet surface.

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