A mother-and-child inspection robot suitable for boiler close-packed tube bundles

Abstract

The present invention relates to a mother-and-child inspection robot suitable for a close-packed tube bundle of a boiler, which solves the technical problems that the tube bundle of an existing thermal power plant boiler is high in cost, has great potential safety hazards, has low inspection efficiency, and has a high possibility of missed inspection or false inspection when inspected manually, and is low in inspection efficiency, low in flexibility, and weak in load capacity when inspected by a pipeline inspection robot. The robot comprises an upper robot and a lower robot, wherein the upper robot serves as a mother robot and the lower robot serves as a child robot, and the mother-and-child robots are suspended and connected by ropes, and each of the mother-and-child robots has an independent power unit, and the upper robot carries the lower robot for omnidirectional movement, and the lower robot is used for pipeline inspection. The present invention has a very broad application prospect in tube bundle inspection work.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline outer wall surface detection, and in particular to a mother-and-child type detection robot suitable for a boiler close-packed tube bundle. Background Art

[0002] Thermal power generation is the main form of power generation in my country. The steam-water system of a thermal power plant is composed of boilers, steam turbines, condensers, deaerators, heaters and other equipment and pipelines. Coal powder is burned in the boiler, and the superheated steam generated by the boiler enters the steam turbine along the main steam pipeline. The high-speed flowing steam drives the turbine blades to rotate, driving the generator to rotate and generate electricity.

[0003] The boiler is equipped with water-cooled walls, superheaters, reheaters, economizers, and air preheaters. These heat exchangers are composed of a large number of pipes, which are densely arranged. In the horizontal tube bundle, the gap between adjacent pipes is 63mm; in the vertical tube bundle, the gap between adjacent pipes is 38mm. After the boiler has been running for a long time, the outer wall of each pipe is prone to surface defects such as pits, cracks, and corrosion under complex and harsh working conditions of high temperature, high pressure, and wear. These surface defects may lead to tube burst failures, so it is necessary to regularly detect and repair the surface defects of the tube bundle.

[0004] At present, power plants mainly use manual means to carry out pipeline maintenance. In most cases, only 2-3 layers of the tube bundle surface are partially observed by human eyes or inspected by handheld devices. There are a large number of blind spots in detection and instability and inaccuracy in manual detection. When inspecting deep tube bundles, the surface 2-3 layers of pipes can only be opened mechanically to reserve space for inspectors to pass through. Inspectors pass through the reserved space to reach the deep tube bundle for inspection and maintenance. It can be seen that this method is costly, has great safety hazards, low detection efficiency, and a high possibility of missed detection and false detection. The tube screen is prone to irreversible deformation, which affects the working structure inside the boiler. The tube screen is a screen-type heating surface arranged in the furnace.

[0005] In order to solve the above problems, there are some pipeline inspection robots that realize automatic inspection in the prior art. Pipeline inspection robots can be divided into wheeled, crawler and wheelless types according to the movement mode, and can be divided into extrusion type, magnetic adsorption type, negative pressure adsorption type and bionic adsorption type according to the bonding mode. In the field of single-tube inspection, extrusion wheeled robots are the mainstream solution under light load conditions, while extrusion creeping robots are more commonly used under heavy load conditions; in the field of multi-tube inspection, such as boiler water-cooled wall inspection, magnetic crawler robot solutions are more common, and you can refer to the invention patent application with application publication number CN115923957A, entitled Crawling Robot for Water-Cooled Wall Inspection. Wheeled and crawler robots can refer to the invention patent application with application publication number CN115979191A, entitled "A Wheel-Crawler Composite Boiler Tube Wall Thickness Inspection Robot". Each configuration of pipeline inspection robots has its own advantages and disadvantages. However, in view of the working conditions of small gaps and large numbers of densely packed tube bundles in boilers, the existing pipeline inspection robots still have low inspection efficiency, low flexibility and weak load capacity. Summary of the invention

[0006] The present invention aims to solve the technical problems that the tube bundles of existing thermal power plant boilers are high in cost, have great safety hazards, have low detection efficiency, and have a high possibility of missed detection or false detection when they are manually inspected, and that the detection efficiency is low, the flexibility is low, and the load capacity is weak when they are inspected by pipeline inspection robots. The present invention provides a mother-and-child inspection robot that is suitable for the densely packed tube bundles of boilers and has high detection efficiency, high flexibility, and strong load capacity.

[0007] The present invention provides a mother-and-child inspection robot suitable for a close-packed tube bundle of a boiler, comprising an upper robot and a lower robot; the upper robot comprises a base, a left crawler, a left front driving wheel, a left rear driving wheel, a left front driving motor, a left rear driving motor, a right crawler, a right front driving wheel, a right rear driving wheel, a right front driving motor, a right rear driving motor, a front roller connecting frame, a front driving roller, a front passive roller 1, a front passive roller 2, a front roller driving motor, a front slide cylinder 1, a front slide cylinder 2, a rear roller connecting frame, a rear driving roller, a rear passive roller 1, a rear passive roller 2, a rear roller driving motor, a rear slide cylinder 1, a rear slide cylinder 2, a left bracket, a right bracket, a left A stepper motor, a right stepper motor, a left winding wheel, a right winding wheel, a left rope and a right rope, a left front drive motor is fixedly connected to the left side of the front end of the base, a left rear drive motor is fixedly connected to the left side of the rear end of the base, a left front driving wheel is connected to the output shaft of the left front drive motor, a left rear driving wheel is connected to the output shaft of the left rear drive motor, a left crawler track is connected between the left front driving wheel and the left rear driving wheel, a right front drive motor is fixedly connected to the right side of the front end of the base, a right rear drive motor is fixedly connected to the right side of the rear end of the base, a right front driving wheel is connected to the output shaft of the right front drive motor, a right rear driving wheel is connected to the output shaft of the right rear drive motor, and a right crawler track is connected between the right front driving wheel and the right rear driving wheel; front The slide cylinder 1 and the front slide cylinder 2 are fixedly connected to the front end of the base, the slides of the front slide cylinder 1 and the front slide cylinder 2 are fixedly connected to the inner side of the front roller connecting frame, the front roller driving motor is fixedly connected to the middle part of the front roller connecting frame, the front active roller is connected to the output shaft of the front roller driving motor, the front passive roller 1 and the front passive roller 2 are respectively rotatably connected to the outer side of the front roller connecting frame, and the front active roller is located between the front passive roller 1 and the front passive roller 2; the rear slide cylinder 1 and the rear slide cylinder 2 are fixedly connected to the rear end of the base, the slides of the rear slide cylinder 1 and the rear slide cylinder 2 are respectively fixedly connected to the inner side of the rear roller connecting frame, and the rear roller driving motor is fixedly connected to the rear roller In the middle part of the connecting frame, the rear active roller is connected to the output shaft of the rear roller driving motor, the rear passive roller 1 and the rear passive roller 2 are respectively rotatably connected to the outer side of the rear roller connecting frame, and the rear active roller is located between the rear passive roller 1 and the rear passive roller 2; the front end of the base is provided with a front motor accommodating groove, the rear end is provided with a rear motor accommodating groove, and the middle part is provided with a channel; the front roller driving motor is located in the front motor accommodating groove, and the rear roller driving motor is located in the rear motor accommodating groove; the left bracket is fixedly connected to the left edge of the top surface of the base, the right bracket is fixedly connected to the right edge of the top surface of the base, the left bracket is provided with a left limiting groove, the right bracket is provided with a right limiting groove, and the channel is located between the left limiting groove and the right limiting groove;The left stepper motor is fixedly connected to the top of the left bracket, the right stepper motor is fixedly connected to the top of the right bracket, the left winding wheel is rotatably connected to the top of the left bracket through the left rotating shaft, the output shaft of the left stepper motor is fixedly connected to the left rotating shaft, the right winding wheel is rotatably connected to the top of the right bracket through the right rotating shaft, and the output shaft of the right stepper motor is fixedly connected to the right rotating shaft; the left rope is wound around the left winding wheel, and the right rope is wound around the right winding wheel;

[0008] The lower robot includes a longitudinal rectangular frame, a left rope connecting shaft, a right rope connecting shaft and four sets of adaptive walking devices. The longitudinal rectangular frame is provided with a longitudinal beam. The left rope connecting shaft is fixedly connected to the left side of the top of the longitudinal rectangular frame, and the right rope connecting shaft is fixedly connected to the right side of the top of the longitudinal rectangular frame. The front of the longitudinal beam is connected with a camera and / or an electromagnetic ultrasonic sensor; the adaptive walking device includes a slide cylinder, a vertical base, a lower roller connecting base, an upper roller connecting base, a lower roller, an upper roller, a rotating drive motor, a roller shaft, a vertical roller drive motor, a driving gear and a driven gear. The vertical base is fixedly connected to the slide of the slide cylinder, the upper roller connecting base is fixedly connected to the lower roller connecting base, the lower end of the roller shaft is rotatably connected to the bottom of the lower roller connecting base, and the roller shaft passes through the lower roller connecting base. The upper part of the base is connected and passes through the lower part of the upper roller connecting base, the upper end of the roller shaft is rotatably connected to the top of the upper roller connecting base, the lower roller is fixedly connected to the lower part of the roller shaft, the upper roller is fixedly connected to the upper part of the roller shaft, the top of the upper roller connecting base is rotatably connected to the top of the vertical base, the rotation drive motor is fixedly connected to the bottom of the vertical base, the output shaft of the rotation drive motor is fixedly connected to the bottom of the lower roller connecting base, the vertical roller driving motor is fixedly connected to the upper part of the lower roller connecting base, the output shaft of the vertical roller driving motor extends upward from the bottom of the upper roller connecting base, the driving gear is connected to the output shaft of the vertical roller driving motor, the driven gear is fixedly connected to the roller shaft, the driven gear is located between the bottom of the upper roller and the bottom of the upper roller connecting base, and the driving gear is meshed with the driven gear;

[0009] The slide cylinder of the first group of adaptive walking devices is fixedly connected to the right inner side of the longitudinal rectangular frame, the slide cylinder of the second group of adaptive walking devices is fixedly connected to the left inner side of the longitudinal rectangular frame, the slide cylinder of the third group of adaptive walking devices is fixedly connected to the right inner side of the longitudinal rectangular frame, and the slide cylinder of the fourth group of adaptive walking devices is fixedly connected to the left inner side of the longitudinal rectangular frame; the fourth group of adaptive walking devices and the second group of adaptive walking devices are arranged front and back, and the third group of adaptive walking devices and the first group of adaptive walking devices are arranged front and back;

[0010] The end of the left rope of the upper robot is fixedly connected to the left rope connecting shaft of the lower robot, and the end of the right rope of the upper robot is fixedly connected to the right rope connecting shaft of the lower robot; the left edge of the longitudinal rectangular frame of the lower robot is located in the left limit groove of the left bracket of the upper robot, the right edge of the longitudinal rectangular frame is located in the right limit groove of the right bracket of the upper robot, and the lower edge of the longitudinal rectangular frame is located in the channel of the base; the longitudinal rectangular frame can pass through the channel downward.

[0011] Preferably, a camera and / or an electromagnetic ultrasonic sensor is connected to the back side of the longitudinal beam.

[0012] Preferably, the bottom of the longitudinal rectangular frame is connected to a first solenoid valve, a second solenoid valve and a first air pump, the top of the longitudinal rectangular frame is connected to a third solenoid valve, a fourth solenoid valve and a second air pump, the first solenoid valve is connected to the slide cylinder of the first group of adaptive walking devices through a first air pipe, and the first solenoid valve is connected to the first air pump through an air pipe;

[0013] The second solenoid valve is connected to the slide cylinder of the fourth group of adaptive walking devices through the second air pipe, and the second solenoid valve is connected to the first air pump through the air pipe; the fourth solenoid valve is connected to the second air pump through the air pipe, and the fourth solenoid valve is connected to the slide cylinder of the second group of adaptive walking devices through the fourth air pipe; the third solenoid valve is connected to the slide cylinder of the third group of adaptive walking devices through the air pipe, and the third solenoid valve is connected to the second air pump through the air pipe.

[0014] Preferably, the upper roller connection base of each set of adaptive walking devices is provided with a transverse portion, and the transverse portion is connected with a transverse roller.

[0015] The beneficial effects of the present invention are as follows: the overall structure is compact, the movement speed is fast, the flexibility is high, the load capacity is strong, and the like, and the invention can well adapt to the complex detection environment of the densely packed tube bundle of the boiler. The entire robot can realize full coverage detection of the three-dimensional tube bundle space. The upper robot carries the lower robot to move omnidirectionally at the top layer of the tube bundle, and the position height of the lower robot is controlled by the winding mechanism. The lower robot works in the gap between the pipes in the lower layer of the tube bundle. The lower robot reaches a larger space and has a higher detection coverage rate. It is not necessary to mechanically open 2-3 layers of pipes on the surface of the tube bundle as in the prior art to reserve space for the inspection personnel to pass through, which greatly reduces the cost, eliminates safety hazards, improves the detection efficiency, and has a small possibility of missed detection and false detection. The entire detection process will not affect the working structure inside the boiler.

[0016] The mother-and-child inspection robot has a very broad application prospect in the inspection of close-packed tube bundles of thermal power plant boilers or other small-gap tube bundles of similar structures.

[0017] Further features and aspects of the present invention will be clearly described in the following description of specific embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is an axonometric diagram of a mother-and-child inspection robot suitable for boiler close-packed tube bundles;

[0019] Figure 2 yes Figure 1 The front view of the mother-child inspection robot suitable for boiler close-packed tube bundles is shown;

[0020] Figure 3 It is a side view of the structure of a mother-child inspection robot suitable for boiler close-packed tube bundles;

[0021] Figure 4 It is an axonometric view of the ascending robot;

[0022] Figure 5 yes Figure 4 The front view of the upward robot shown;

[0023] Figure 6 yes Figure 4 A side view of the upward robot shown;

[0024] Figure 7 yes Figure 4 The state diagram of the upward robot walking on the pipeline is shown;

[0025] Figure 8 yes Figure 7 a left side view of the structure shown;

[0026] Fig. 9 yes Figure 4 The structure diagram of the upward robot after the rollers are translated downward for a certain distance;

[0027] Fig.10 yes Fig. 9 A front view of the structure shown;

[0028] Fig.11 yes Fig. 9 a left side view of the structure shown;

[0029] Fig.12 yes Fig. 9 A partial enlarged view of the front driving roller part in the structure shown;

[0030] Fig.13 yes Fig.10 The schematic diagram of the state of the upward robot shown is located on the tube bundle;

[0031] Fig.14 yes Fig.13 a left side view of the structure shown;

[0032] Fig.15 yes Figure 1 An axonometric view of the robot after the three front rollers and the three rear rollers are lowered for a certain distance;

[0033] Fig.16 It is an axonometric view of the bottom-mounted robot;

[0034] Fig.17 It is an axonometric view of the bottom-mounted robot;

[0035] Fig.18 This is the main view of the bottom robot;

[0036] Fig.19 yes Fig.16 A schematic diagram of the structure of the first lower roller connected to the base, the first upper roller connected to the base, the first lower roller and the first upper roller in the structure of the bottom-mounted robot shown;

[0037] Fig. 20 yes Fig.19 A front view of the structure shown;

[0038] Fig.21 yes Fig.19 a cross-sectional view of the structure shown;

[0039] Fig. 22 yes Fig.17 A state diagram of the first upper roller connecting base and the first lower roller connecting base of the bottom-mounted robot after being rotated outward by 90°;

[0040] Fig.23 yes Fig. 22 a side view of the structure shown;

[0041] Fig.24 yes Fig. 22 In the structure shown, the state diagram of the slide of the first slide cylinder after extending forward;

[0042] Fig.25 yes Fig.24 a side view of the structure shown;

[0043] Fig.26 yes Fig.15 The state diagram of the upper robot after releasing the lower robot downward, the first upper roller connecting base and the third upper roller connecting base are turned outward by 90°, the second upper roller connecting base and the fourth upper roller connecting base are turned outward by 90°, and the four slide cylinders of the four sets of adaptive walking devices are extended outward;

[0044] Fig. 27 yes Fig.26 a left side view of the structure shown;

[0045] Fig.28 This is a state diagram of a mother-and-child inspection robot for a boiler's densely packed tube bundle walking on the top row of pipes in the tube bundle;

[0046] Fig.29 yes Fig.28 a left side view of the structure shown;

[0047] Fig.30 yes Fig.28 The state diagram shown is after the mother-child inspection robot suitable for the boiler close-packed tube bundle releases the lower robot downward;

[0048] Fig.31 yes Fig.30 In the structure shown, the four sets of adaptive walking devices are stretched outward;

[0049] Fig.32 This is a state diagram of the four upper rollers and the four lower rollers contacting the corresponding pipes after the four sets of adaptive walking devices of the lower robot are extended outward.

[0050] Explanation of symbols in the figure:

[0051] 100. Upward robot, 101. Base, 101-1. Front motor accommodating slot, 101-2. Rear motor accommodating slot, 101-3. Channel, 102. Left crawler, 103. Left front driving wheel, 104. Left rear driving wheel, 105. Left front drive motor, 106. Left rear drive motor, 107. Right crawler, 108. Right front driving wheel, 109. Right rear driving wheel, 110. Right front drive motor, 111. Right rear drive motor, 112. Front roller connecting frame, 113. Front active roller, 114. Front passive roller 1, 115. Front passive roller 2, 116. Front roller drive motor, 117. Front slide cylinder 1, 117-1. Slide, 118. Front slide Cylinder 2, 119. Rear roller connecting frame, 120. Rear active roller, 121. Rear passive roller 1, 122. Rear passive roller 2, 123. Rear roller driving motor, 124. Rear slide cylinder 1, 125. Rear slide cylinder 2, 126. Left bracket, 127. Right bracket, 127-1. Right limit slot, 128. Left stepper motor, 129. Right stepper motor, 130. Left winding wheel, 131. Right winding wheel; 200. Lower robot, 201. Longitudinal rectangular frame, 201-1. Longitudinal beam, 202. Left rope connecting shaft, 203. Right rope connecting shaft, 204. Camera, 205. Electromagnetic ultrasonic sensor, 206. Electromagnetic ultrasonic sensor, 207 .First slide cylinder, 208.Second slide cylinder, 209.First vertical base, 210.First lower roller connected to base, 211.First upper roller connected to base, 212.First lower roller, 213.First upper roller, 214.First positioning shaft, 215.First rotary drive motor, 216.First roller shaft, 217.First vertical roller drive motor, 218.First driving gear, 219.First driven gear, 220.First transverse roller, 221.First solenoid valve, 222.First air pipe, 223.First air pump, 224.Second vertical base, 225.Second lower roller connected to base, 226.Second upper roller connected to base, 227.Second lower roller, 228. Second upper roller, 229. Second transverse roller, 230. Second solenoid valve, 231. Second air pipe, 232. Third slide cylinder, 233. Third vertical base, 234. Third lower roller, 235. Third upper roller, 236. Third upper roller connecting base, 237. Third transverse roller, 238. Third solenoid valve, 239. Third air pipe, 240. Second air pump, 241. Fourth slide cylinder, 242. Fourth vertical base, 243. Fourth upper roller connecting base, 244. Fourth lower roller, 245. Fourth upper roller, 246. Fourth transverse roller, 247. Fourth solenoid valve, 248. Fourth air pipe; 300. Left rope, 400. Right rope. 1. Pipeline. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below with reference to the accompanying drawings by way of specific embodiments.

[0053] like Figure 1-3 As shown, the mother-child inspection robot suitable for the close-packed tube bundle of the boiler includes an upper robot 100 and a lower robot 200. The two ends of the top of the lower robot 200 are connected to the two winding wheels of the upper robot 100 through a left rope 300 and a right rope 400 respectively, and the upper robot 100 suspends the lower robot 200 through the rope. The upper robot 100 and the lower robot 200 are two independent robots. The lower robot 200 is stored in the space of the upper robot 100. When the lower robot 200 is in use, the upper robot 100 can release the lower robot 200. The upper robot 100 and the lower robot 200 each have an independent power unit and can realize autonomous movement. The two robots undertake different tasks during the inspection process. The upper robot 100 carries the lower robot 200 to realize horizontal movement on the surface of the top layer of the tube bundle, and suspends and lowers the lower robot 200 to move in the gap between the pipes, thereby realizing full coverage inspection of the three-dimensional tube bundle space.

[0054] like Figure 4 , 5As shown in FIGS. 6, 9, 12 and 15, the upward robot 100 includes a base 101, a left track 102, a left front driving wheel 103, a left rear driving wheel 104, a left front driving motor 105, a left rear driving motor 106, a right track 107, a right front driving wheel 108, a right rear driving wheel 109, a right front driving motor 110, a right rear driving motor 111, a front roller connecting frame 112, a front driving roller 113, a front passive roller 114, a front passive roller 2 115, a front roller driving motor 116, a front slide cylinder 117, a front slide cylinder 2 118, a rear roller connecting frame 119, and a rear driving roller 1 20, rear passive roller 121, rear passive roller 2 122, rear roller drive motor 123, rear slide cylinder 124, rear slide cylinder 2 125, left bracket 126, right bracket 127, left stepping motor 128, right stepping motor 129, left winding wheel 130, right winding wheel 131, left front driving motor 105 is fixedly mounted on the left side of the front end of the base 101, left rear driving motor 106 is fixedly mounted on the left side of the rear end of the base 101, left front driving wheel 103 is connected to the output shaft of left front driving motor 105, left rear driving wheel 104 is connected to the output shaft of left rear driving motor 106, left crawler 102 is connected between the left front driving wheel 103 and the left rear driving wheel 104, the right front driving motor 110 is fixedly installed on the right side of the front end of the base 101, the right rear driving motor 111 is fixedly installed on the right side of the rear end of the base 101, the right front driving wheel 108 is connected to the output shaft of the right front driving motor 110, the right rear driving wheel 109 is connected to the output shaft of the right rear driving motor 111, and the right crawler 107 is connected between the right front driving wheel 108 and the right rear driving wheel 109; the front slide cylinder 117 and the front slide cylinder 2 118 are fixedly installed on the front end of the base 101, the front slide cylinder 117 is provided with a slide 117-1, the front The slide cylinder 118 is provided with a slide, the slide 117-1 is fixedly connected to the inner side of the front roller connecting frame 112, the slide of the front slide cylinder 118 is fixedly connected to the inner side of the front roller connecting frame 112, the front roller driving motor 116 is fixedly installed in the middle of the front roller connecting frame 112, the front active roller 113 is connected to the output shaft of the front roller driving motor 116, the front passive roller 114 is rotatably connected to the outer side of the front roller connecting frame 112, the front passive roller 2 115 is rotatably connected to the outer side of the front roller connecting frame 112, and the front active roller 113 is located between the front passive roller 114 and the front passive roller 2 115;The rear slide cylinder 124 and the rear slide cylinder 2 125 are fixedly installed at the rear end of the base 101, the rear slide cylinder 124 is provided with a slide, the rear slide cylinder 2 125 is provided with a slide, the slide of the rear slide cylinder 124 is fixedly connected to the inner side of the rear roller connecting frame 119, the slide of the rear slide cylinder 2 125 is fixedly connected to the inner side of the rear roller connecting frame 119, the rear roller drive motor 123 is fixedly installed in the middle of the rear roller connecting frame 119, and the rear active roller The rear active roller 120 is connected to the output shaft of the rear roller driving motor 123, the rear passive roller 121 is rotatably connected to the outer side of the rear roller connecting frame 119, the rear passive roller 2 122 is rotatably connected to the outer side of the rear roller connecting frame 119, and the rear active roller 120 is located between the rear passive roller 121 and the rear passive roller 2 122; the front end of the base 101 is provided with a front motor accommodating groove 101-1, the rear end is provided with a rear motor accommodating groove 101-2, and the middle part is provided with a channel 101 -3; the front roller drive motor 116 is located in the front motor accommodating groove 101-1, and the rear roller drive motor 123 is located in the rear motor accommodating groove 101-2; the left bracket 126 is fixedly connected to the left edge of the top surface of the base 101, and the right bracket 127 is fixedly connected to the right edge of the top surface of the base 101. The left bracket 126 is provided with a left limit groove, and the right bracket 127 is provided with a right limit groove 127-1. The channel 101-3 is located between the left limit groove and the right limit groove 127-1. The left stepper motor 128 is fixedly installed on the top of the left bracket 126, and the right stepper motor 129 is fixedly installed on the top of the right bracket 127. The left winding wheel 130 is rotatably connected to the top of the left bracket 126 through the left rotating shaft, and the output shaft of the left stepper motor 128 is fixedly connected to the left rotating shaft. The right winding wheel 131 is rotatably connected to the top of the right bracket 127 through the right rotating shaft, and the output shaft of the right stepper motor 129 is fixedly connected to the right rotating shaft. The left stepper motor 128 can drive the left winding wheel 130 to rotate, and the right stepper motor 129 can drive the right winding wheel 131 to rotate. The left front drive motor 105 can drive the left front driving wheel 103 to rotate, and the left rear drive motor 106 can drive the left rear driving wheel 104 to rotate. The rotation of the left front driving wheel 103 and the left rear driving wheel 104 drives the left crawler 102 to move; similarly, the right front drive motor 110 and the right rear drive motor 111 drive the right crawler 107 to move through the right front driving wheel 108 and the right rear driving wheel 109.

[0055] refer to Figure 7 and 8 , Figure 1 and 4The upward robot 100 shown moves on a pipe bundle composed of multiple pipes 1. The left track 102 and the right track 107 of the upward robot 100 move in the lateral direction of the pipe bundle. The left track 102 and the right track 107 span across multiple pipes 1. At this time, the front active roller 113, the front passive roller 114, and the front passive roller 115 are not in contact with the pipe 1, and the rear active roller 120, the rear passive roller 121, and the rear passive roller 122 are not in contact with the pipe 1. In this state, when the slides of the front slide cylinder 117 and the front slide cylinder 2 118 extend to move the front roller connecting frame 112 downward by a certain distance, the front active roller 113, the front passive roller 114, and the front passive roller 2 115 move downward by a certain distance. Similarly, the two rear slide cylinders also move to move the rear active roller 120, the rear passive roller 121, and the rear passive roller 2 122 downward by a certain distance. Fig. 9 , 10 As shown in 11, at this time, the front active roller 113, the front passive roller 114, and the front passive roller 115 are in contact with the pipeline 1 (along the length direction of the pipeline), the rear active roller 120, the rear passive roller 121, and the rear passive roller 122 are in contact with the pipeline 1 (along the length direction of the pipeline), the base 101 is raised, and the left crawler 102 and the right crawler 107 are raised without contacting the pipeline, as shown in FIG. Fig.13 and 14 shown.

[0056] like Figure 16-25As shown, the bottom robot 200 includes a longitudinal rectangular frame 201, a left rope connecting shaft 202, a right rope connecting shaft 203, a camera 204, an electromagnetic ultrasonic sensor 205, an electromagnetic ultrasonic sensor 206, and four sets of adaptive walking devices. The longitudinal rectangular frame 201 is provided with a longitudinal beam 201-1, the left rope connecting shaft 202 is fixedly connected to the left side of the top of the longitudinal rectangular frame 201, the right rope connecting shaft 203 is fixedly connected to the right side of the top of the longitudinal rectangular frame 201, the camera 204 is connected to the front of the longitudinal beam 201-1, the electromagnetic ultrasonic sensor 205 is connected to the front of the longitudinal beam 201-1, and the electromagnetic ultrasonic sensor 206 is connected to the front of the longitudinal beam 201-1; the back of the longitudinal beam 201-1 is also connected with a camera and two electromagnetic ultrasonic sensors, and the electromagnetic ultrasonic sensor 206 is connected to the front of the longitudinal beam 201-1;The first group of adaptive walking devices includes a first slide cylinder 207, a first vertical base 209, a first lower roller connecting base 210, a first upper roller connecting base 211, a first lower roller 212, a first upper roller 213, a first positioning shaft 214, a first rotation drive motor 215, a first roller shaft 216, a first vertical roller drive motor 217, a first driving gear 218, a first driven gear 219, a first transverse roller 220, a first solenoid valve 221, and a first air pipe 222. The first slide cylinder 207 is fixedly installed on the right inner side of the longitudinal rectangular frame 201, and the first vertical base 2 09 is fixedly connected to the slide of the first slide cylinder 207 by screws, the first upper roller connecting base 211 is fixedly connected to the first lower roller connecting base 210, the lower end of the first roller shaft 216 is rotatably connected to the bottom of the first lower roller connecting base 210, the first roller shaft 216 passes through the upper part of the first lower roller connecting base 210 and also passes through the lower part of the first upper roller connecting base 211, the upper end of the first roller shaft 216 is rotatably connected to the top of the first upper roller connecting base 211, the first lower roller 212 is fixedly connected to the lower part of the first roller shaft 216, the first upper roller 213 is connected to the first The upper part of the roller shaft 216 is fixedly connected, the first horizontal roller 220 is rotatably connected to the top of the first upper roller connecting base 211, the first positioning shaft 214 is fixedly connected to the top of the first vertical base 209, the top of the first upper roller connecting base 211 is rotatably connected to the first positioning shaft 214, the first rotation drive motor 215 is fixedly installed at the bottom of the first vertical base 209, the output shaft of the first rotation drive motor 215 is fixedly connected to the bottom of the first lower roller connecting base 210, the first vertical roller drive motor 217 is fixedly installed at the upper part of the first lower roller connecting base 210, and the first vertical roller The output shaft of the wheel driving motor 217 extends upward from the bottom of the first upper roller connecting base 211, the first driving gear 218 is connected to the output shaft of the first vertical roller driving motor 217, the first driven gear 219 is fixedly connected to the first roller rotating shaft 216, the first driven gear 219 is located between the bottom of the first upper roller 213 and the bottom of the first upper roller connecting base 211, the first driving gear 218 is meshed with the first driven gear 219, the first solenoid valve 221 is installed at the bottom of the longitudinal rectangular frame 201, and the first air pipe 222 is connected between the first solenoid valve 221 and the first slide cylinder 207. The first air pump 223 is installed at the bottom of the longitudinal beam 201-1, and the first solenoid valve 221 is connected to the first air pump 223 through the air pipe. When the first rotation driving motor 215 works, the first lower roller connecting base 210 and the first upper roller connecting base 211 are rotated (such as; Fig. 22As shown in FIG. 1 , the first lower roller connecting base 210 and the first upper roller connecting base 211 are rotated 90°. When the slide of the first slide cylinder 207 extends outward, that is, extends to the front of the entire lower robot, the first vertical base 209 can be translated forward (as shown in FIG. 1 ). Fig.24 As shown), when the first vertical roller driving motor 217 works, it can drive the first roller shaft 216 to rotate through the gear system, and the rotation of the first roller shaft 216 drives the first upper roller 213 and the first lower roller 212 to rotate.

[0057] The structure of the second group of adaptive walking devices is the same as that of the first group of adaptive walking devices, and the second group of adaptive walking devices includes a second slide cylinder 208, a second vertical base 224, a second lower roller connecting base 225, a second upper roller connecting base 226, a second lower roller 227, a second upper roller 228, a second transverse roller 229, a second rotation drive motor, a second roller shaft, a second vertical roller drive motor, a second driving gear, a second driven gear, a second solenoid valve 230, and a second air pipe 231. The second slide cylinder 208 is fixedly mounted on the left inner side of the longitudinal rectangular frame 201, the second vertical base 224 is fixedly connected to the slide of the second slide cylinder 208, the second upper roller connecting base 226 is fixedly connected to the second lower roller connecting base 225, the lower end of the second roller shaft is rotatably connected to the bottom of the second lower roller connecting base, the second roller shaft passes through the upper part of the second lower roller connecting base 225 and the lower part of the second upper roller connecting base 226, the upper end of the second roller shaft is connected to the second upper roller connecting base 2 26 is rotatably connected to the top of the second lower roller 227, the second upper roller 228 is fixedly connected to the upper part of the second roller shaft, the first transverse roller 229 is rotatably connected to the top of the second upper roller connecting base 226, the top of the second upper roller connecting base 226 is rotatably connected to the top of the second vertical base 224 through the second positioning axis, the second rotation drive motor is fixedly connected to the bottom of the second vertical base 224, and the output shaft of the second rotation drive motor is connected to the second lower roller connecting base 2 25 is fixedly connected to the bottom of the second lower roller connection base 225, the second vertical roller drive motor is fixedly connected to the upper part of the second lower roller connection base 225, the output shaft of the second vertical roller drive motor extends upward from the bottom of the second upper roller connection base 226, the second driving gear is connected to the output shaft of the second vertical roller drive motor, the second driven gear is fixedly connected to the second roller shaft, the second driven gear is located between the bottom of the second upper roller 228 and the bottom of the second upper roller connection base 226, and the second driving gear is meshed with the second driven gear 219. The fourth solenoid valve 247 is installed on the top of the longitudinal rectangular frame 201, the fourth solenoid valve 247 is connected to the second air pump through the air pipe, and the fourth solenoid valve 247 is connected to the second slide cylinder 208 through the fourth air pipe 248. When the second rotation drive motor is working, the second lower roller connection base 225 and the second upper roller connection base 226 are rotated (such as Fig. 22 As shown in FIG. 1 , the second lower roller connecting base and the second upper roller connecting base are rotated 90°. When the slide of the second slide cylinder 208 extends outward, that is, extends forward of the entire lower robot, the second vertical base 224 can be translated forward (as shown in FIG. 1 ). Fig.24 and 25 As shown), when the second vertical roller driving motor works, it can drive the second roller shaft to rotate through the gear system, and the rotation of the second roller shaft drives the second upper roller 228 and the second lower roller 227 to rotate.

[0058] The second group of adaptive walking devices is arranged opposite to the first group of adaptive walking devices, so the first upper roller 213 and the second upper roller 228 are arranged opposite to each other, and the first lower roller 212 and the second lower roller 227 are arranged opposite to each other.

[0059] The structure of the third group of adaptive walking devices is the same as that of the first group of adaptive walking devices, and the third group of adaptive walking devices includes a third slide cylinder 232, a third vertical base 233, a third lower roller connecting base, a third upper roller connecting base 236, a third lower roller 234, a third upper roller 235, a third transverse roller 237, a third rotation drive motor, a third roller shaft, a third vertical roller drive motor, a third driving gear, a third driven gear, a third electromagnetic valve 238, and a third air pipe 239. The third slide cylinder 232 is fixedly mounted on the right inner side of the longitudinal rectangular frame 201, and the third vertical base 233 is fixedly connected to the slide of the third slide cylinder 232. The second air pump 240 is mounted on the top of the longitudinal beam 201-1, and the third electromagnetic valve 238 is mounted on the top of the longitudinal rectangular frame 201. The third electromagnetic valve 238 is connected to the third slide cylinder 232 through the air pipe 239, and the third electromagnetic valve 238 and the second air pump 240 are connected through the air pipe. The third set of adaptive walking devices and the first set of adaptive walking devices are arranged front and back, so the third upper roller is arranged front and back with the first upper roller, and the third lower roller is arranged front and back with the first lower roller. When the third rotation drive motor is working, the third lower roller connecting base and the third upper roller connecting base are rotated backward by 90 degrees (such as Fig. 22 When the slide of the third slide cylinder 232 extends outward, that is, extends to the rear of the entire lower robot, the third vertical base 233 can be translated backward (as shown); Fig.24 shown).

[0060] The structure of the fourth group of adaptive walking devices is the same as that of the first group of adaptive walking devices. The fourth group of adaptive walking devices includes a fourth slide cylinder 241, a fourth vertical base 242, a fourth lower roller connection base, a fourth upper roller connection base 243, a fourth lower roller 244, a fourth upper roller 245, a fourth transverse roller 246, a fourth rotation drive motor, a fourth roller shaft, a fourth vertical roller drive motor, a fourth driving gear, a fourth driven gear, a fourth electromagnetic valve 247, and a fourth air pipe 248. The fourth slide cylinder 241 is fixedly mounted on the left inner side of the longitudinal rectangular frame, and the fourth vertical base is fixedly connected to the slide of the fourth slide cylinder. The second electromagnetic valve 230 is installed at the bottom of the longitudinal rectangular frame 201, and the second air pipe 231 is connected between the second electromagnetic valve 230 and the fourth slide cylinder 241. The second electromagnetic valve 230 is connected to the first air pump through the air pipe. The fourth set of adaptive walking devices and the second set of adaptive walking devices are arranged front and back, so the fourth upper roller is arranged front and back with the second upper roller, and the fourth lower roller is arranged front and back with the second lower roller. When the fourth rotation drive motor is working, the fourth lower roller connecting base and the fourth upper roller connecting base are rotated backward by 90 degrees (such as Fig.24 and 25 When the slide of the fourth slide cylinder extends outward, that is, extends to the rear of the entire lower robot, the fourth vertical base can be translated backward (as shown); Fig.24 and 25 shown).

[0061] The third group of adaptive walking devices and the first group of adaptive walking devices are located on one side, and the fourth group of adaptive walking devices and the second group of adaptive walking devices are located on the other side.

[0062] like Figure 1 and 3 As shown, the left rope 300 is wound around the left winding wheel 130, and the right rope 400 is wound around the right winding wheel 131. The end of the left rope 300 is fixedly connected to the left rope connecting shaft 202, and the end of the right rope 400 is fixedly connected to the right rope connecting shaft 203. The entire lower robot 200 is accommodated in the internal space of the upper robot, the left edge of the longitudinal rectangular frame 201 is located in the left limit groove of the left bracket 126, the right edge of the longitudinal rectangular frame 201 is located in the right limit groove 127-1 of the right bracket 127, and the lower edge of the longitudinal rectangular frame 201 is located in the channel 101-3 of the base 101. The longitudinal rectangular frame 201 can pass through the channel 101-3 downward.

[0063] The following describes the working process of the above-mentioned mother-child inspection robot suitable for boiler close-packed tube bundles:

[0064] like Fig.28 and 29As shown, the mother-child inspection robot is placed on the surface of the top row of pipes in the pipe bundle, and the left crawler 102 and the right crawler 107 of the upper robot 100 are in contact with the surface of the pipe (the front active roller, two front passive rollers, rear active roller, and two rear passive rollers of the upper robot are not in contact with the surface of the pipe), the left crawler 102 and the right crawler 107 span across multiple pipes, and the movement of the two crawlers moves the entire robot to the expected position. At this time, the four sets of adaptive walking devices are in the storage state.

[0065] Next, the slides of the front slide cylinder 1 117 and the front slide cylinder 2 118 of the upward robot extend to make the front active roller 113, the front passive roller 1 114 and the front passive roller 2 115 contact the surface of the pipe, and at the same time, the slides of the two rear slide cylinders extend to make the rear active roller 120, the rear passive roller 1 121 and the rear passive roller 2 122 contact the pipe, and the left track 102 and the right track 107 are lifted up without contacting the pipe. Fig.30 shown.

[0066] Next, the left stepper motor 128 and the right stepper motor 129 of the upper robot work to drive the left winding wheel 130 and the right winding wheel 131 to rotate, and the two winding wheels release the wire, and the entire lower robot 200 is released downward in the vertical direction, and the lower robot 200 enters the gap between the lower pipes of the pipe bundle, such as Fig.30 shown.

[0067] Next, let the four groups of adaptive walking devices stretch out, the first rotating drive motor 215 in the first group of adaptive walking devices works to make the first lower roller connecting base 210 and the first upper roller connecting base 211 rotate outward 90°, the second rotating drive motor in the second group of adaptive walking devices works to make the second lower roller connecting base 225 and the second upper roller connecting base 226 rotate outward 90°, the third rotating drive motor in the third group of adaptive walking devices works to make the third lower roller connecting base and the third upper roller connecting base rotate outward 90°, the fourth rotating drive motor in the fourth group of adaptive walking devices works to make the fourth lower roller connecting base and the fourth upper roller connecting base rotate outward 90°, and then the slides of the first slide cylinder 207, the second slide cylinder 208, the third slide cylinder 232 and the fourth slide cylinder 241 extend outward to make the first vertical base 209, the second vertical base 224, the third vertical base 233 and the fourth vertical base 242 translate outward. At this time, the first upper roller 213 contacts the side wall of the pipe next to the lower robot, the first lower roller 212 contacts the side wall of the pipe next to the lower robot, the second upper roller contacts the side wall of the pipe next to the lower robot, the second lower roller contacts the side wall of the pipe next to the lower robot, the third upper roller contacts the side wall of the pipe next to the lower robot, the third lower roller contacts the side wall of the pipe next to the lower robot, the fourth upper roller contacts the side wall of the pipe next to the lower robot, and the fourth lower roller contacts the side wall of the pipe next to the lower robot, so as to achieve tight support on four pipes, such as Fig.31 As shown, at the same time, the first transverse roller 220, the second transverse roller, the third transverse roller, and the fourth transverse roller are all in contact with the top of the corresponding pipe, further achieving stable positioning of the lower robot.

[0068] Next, the camera 204, electromagnetic ultrasonic sensor 205, and electromagnetic ultrasonic sensor 206 on the front of the longitudinal beam 201-1 detect the pipes next to the lower robot, and the camera and two electromagnetic ultrasonic sensors on the back of the longitudinal beam 201-1 detect the pipes next to it, that is, to detect the pipes in the lower layer of the pipe bundle. The upper rollers and lower rollers of the four sets of adaptive walking devices rotate to drive the lower robot to move along the length direction of the four pipes, and at the same time, the front active roller 113, the front passive roller 114, the front passive roller 2 115, the rear active roller 120, the rear passive roller 121, and the rear passive roller 2 122 of the upper robot rotate, thereby causing the upper robot to move along the two pipes on the top layer of the pipe bundle. The upper robot moves synchronously while the lower robot moves, so that the lower robot can continuously detect the pipes next to it along the length direction.

[0069] During the movement of the lower robot, the upper roller and lower roller of each set of adaptive walking devices provide power. The arc-shaped structure of the upper roller is matched with the pipeline. The upper roller provides the main power, and the lower roller can also provide a certain power. The lower roller can also adapt to the change in the distance between the pipeline in contact with it and the pipeline in contact with the upper roller. In other words, the lower robot can also adapt to the change in the distance between the upper pipeline and the lower pipeline. It should be noted that four transverse rollers may not be provided. When transverse rollers are not provided, the upper roller does not need to be connected to the transverse part of the top of the base.

[0070] Next, after the detection task is completed, the four sets of adaptive walking devices are retracted to the initial state, the left stepper motor 128 and the right stepper motor 129 of the upper robot are reversed to lift the lower robot, and the lower robot returns to the space of the upper robot, returning to the position as shown in FIG. Fig.28 and 29 Initial state shown. Prepare to inspect pipes at other locations below the bundle.

[0071] It can be seen that the entire robot can achieve full coverage inspection of the three-dimensional tube bundle space. The upward robot carries the lower robot on the top layer of the tube bundle for omnidirectional movement, and controls the position height of the lower robot through the winding mechanism. The lower robot works in the gap between the pipes in the lower layer of the tube bundle. The lower robot can reach a larger space and has a higher inspection coverage rate. It does not need to mechanically open 2-3 layers of pipes on the surface of the tube bundle as in the prior art to reserve space for inspectors to pass through, which greatly reduces costs, eliminates safety hazards, improves inspection efficiency, and reduces the possibility of missed inspections and false inspections. The entire inspection process will not affect the working structure inside the boiler.

[0072] As the mother robot, the upward robot is large in size, fast in movement, and has a strong load capacity. As the child robot, the downward robot is small in size and highly flexible, and can carry the detection device through the gaps in the pipeline. The mother and child robots are suspended and connected by ropes, and both have independent power units, which can achieve autonomous movement, and the robot as a whole is highly flexible.

[0073] It should be noted that, for the bottom robot, the four sets of adaptive walking devices can be extended to fit pipes with different lateral spacings. Fig.32 , Fig.32 Displays the lateral spacing ratio of the pipes Fig.31 The lateral spacing of the middle pipe should be large, so the four slide cylinders of the four sets of adaptive walking devices have a large extension stroke, the four vertical bases have a large outward translation distance, the four upper rollers contact the side walls of the corresponding pipes, and the four lower rollers contact the side walls of the corresponding pipes.

[0074] The above description is only for the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes.

Claims

1. A mother-and-child inspection robot suitable for boiler close-packed tube bundles, characterized in that: Including upper robot and lower robot; The upward robot includes a base, a left track, a left front driving wheel, a left rear driving wheel, a left front driving motor, a left rear driving motor, a right track, a right front driving wheel, a right rear driving wheel, a right front driving motor, a right rear driving motor, a front roller connecting frame, a front driving roller, a front passive roller 1, a front passive roller 2, a front roller driving motor, a front slide cylinder 1, a front slide cylinder 2, a rear roller connecting frame, a rear driving roller, a rear passive roller 1, a rear passive roller 2, a rear roller driving motor, a rear slide cylinder 1, a rear slide cylinder 2, a left bracket, a right bracket, a left stepping motor, a right stepping motor, a left winding wheel, a right winding wheel, a left rope and a right rope, wherein the left front driving motor is fixedly connected to the base. The left side of the front end of the frame, the left rear driving motor is fixedly connected to the left side of the rear end of the base, the left front driving wheel is connected to the output shaft of the left front driving motor, the left rear driving wheel is connected to the output shaft of the left rear driving motor, the left crawler is connected between the left front driving wheel and the left rear driving wheel, the right front driving motor is fixedly connected to the right side of the front end of the base, the right rear driving motor is fixedly connected to the right side of the rear end of the base, the right front driving wheel is connected to the output shaft of the right front driving motor, the right rear driving wheel is connected to the output shaft of the right rear driving motor, and the right crawler is connected between the right front driving wheel and the right rear driving wheel; the front sliding cylinder 1 and the front sliding cylinder 2 are fixedly connected to the front end of the base, and the front sliding The slides of the front slide cylinder 1 and the front slide cylinder 2 are fixedly connected to the inner side of the front roller connecting frame, the front roller driving motor is fixedly connected to the middle part of the front roller connecting frame, the front active roller is connected to the output shaft of the front roller driving motor, the front passive roller 1 and the front passive roller 2 are respectively rotatably connected to the outer side of the front roller connecting frame, and the front active roller is located between the front passive roller 1 and the front passive roller 2; the rear slide cylinder 1 and the rear slide cylinder 2 are fixedly connected to the rear end of the base, the slides of the rear slide cylinder 1 and the rear slide cylinder 2 are respectively fixedly connected to the inner side of the rear roller connecting frame, the rear roller driving motor is fixedly connected to the middle part of the rear roller connecting frame, the rear active roller is connected to the rear The output shaft of the roller drive motor is connected, the rear passive roller one and the rear passive roller two are respectively rotatably connected to the outer side of the rear roller connecting frame, and the rear active roller is located between the rear passive roller one and the rear passive roller two; the front end of the base is provided with a front motor accommodating groove, the rear end is provided with a rear motor accommodating groove, and the middle is provided with a channel; the front roller drive motor is located in the front motor accommodating groove, and the rear roller drive motor is located in the rear motor accommodating groove; the left side bracket is fixedly connected to the left edge of the top surface of the base, the right side bracket is fixedly connected to the right edge of the top surface of the base, the left side bracket is provided with a left limiting groove, the right side bracket is provided with a right limiting groove, and the channel is located between the left limiting groove and the right limiting groove;The left stepper motor is fixedly connected to the top of the left bracket, the right stepper motor is fixedly connected to the top of the right bracket, the left winding wheel is rotatably connected to the top of the left bracket via a left rotating shaft, the output shaft of the left stepper motor is fixedly connected to the left rotating shaft, the right winding wheel is rotatably connected to the top of the right bracket via a right rotating shaft, and the output shaft of the right stepper motor is fixedly connected to the right rotating shaft; the left rope is wound around the left winding wheel, and the right rope is wound around the right winding wheel; The lower robot includes a longitudinal rectangular frame, a left rope connecting shaft, a right rope connecting shaft and four sets of adaptive walking devices, the longitudinal rectangular frame is provided with a longitudinal beam, the left rope connecting shaft is fixedly connected to the left side of the top of the longitudinal rectangular frame, the right rope connecting shaft is fixedly connected to the right side of the top of the longitudinal rectangular frame, and the front of the longitudinal beam is connected with a camera and / or an electromagnetic ultrasonic sensor; the adaptive walking device includes a slide cylinder, a vertical base, a lower roller connecting base, an upper roller connecting base, a lower roller, an upper roller, a rotating drive motor, a roller shaft, a vertical roller drive motor, a driving gear and a driven gear, the vertical base is fixedly connected to the slide of the slide cylinder, the upper roller connecting base is fixedly connected to the lower roller connecting base, the lower end of the roller shaft is rotatably connected to the bottom of the lower roller connecting base, and the roller shaft passes through the lower roller connecting base. The upper part of the base is connected and passes through the lower part of the upper roller connecting base, the upper end of the roller shaft is rotatably connected to the top of the upper roller connecting base, the lower roller is fixedly connected to the lower part of the roller shaft, the upper roller is fixedly connected to the upper part of the roller shaft, the top of the upper roller connecting base is rotatably connected to the top of the vertical base, the rotation drive motor is fixedly connected to the bottom of the vertical base, the output shaft of the rotation drive motor is fixedly connected to the bottom of the lower roller connecting base, the vertical roller driving motor is fixedly connected to the upper part of the lower roller connecting base, the output shaft of the vertical roller driving motor extends upward from the bottom of the upper roller connecting base, the driving gear is connected to the output shaft of the vertical roller driving motor, the driven gear is fixedly connected to the roller shaft, the driven gear is located between the bottom of the upper roller and the bottom of the upper roller connecting base, and the driving gear is meshed with the driven gear; The slide cylinder of the first set of adaptive walking devices is fixedly connected to the right inner side of the longitudinal rectangular frame, the slide cylinder of the second set of adaptive walking devices is fixedly connected to the left inner side of the longitudinal rectangular frame, the slide cylinder of the third set of adaptive walking devices is fixedly connected to the right inner side of the longitudinal rectangular frame, and the slide cylinder of the fourth set of adaptive walking devices is fixedly connected to the left inner side of the longitudinal rectangular frame; The fourth group of adaptive walking devices and the second group of adaptive walking devices are arranged front and back, and the third group of adaptive walking devices and the first group of adaptive walking devices are arranged front and back; The end of the left rope of the upper robot is fixedly connected to the left rope connecting shaft of the lower robot, and the end of the right rope of the upper robot is fixedly connected to the right rope connecting shaft of the lower robot; the left edge of the longitudinal rectangular frame of the lower robot is located in the left limit groove of the left bracket of the upper robot, the right edge of the longitudinal rectangular frame is located in the right limit groove of the right bracket of the upper robot, and the lower edge of the longitudinal rectangular frame is located in the channel of the base; the longitudinal rectangular frame can pass through the channel downward; The back side of the longitudinal beam is connected with a camera and / or an electromagnetic ultrasonic sensor; The bottom of the longitudinal rectangular frame is connected to a first solenoid valve, a second solenoid valve and a first air pump, the top of the longitudinal rectangular frame is connected to a third solenoid valve, a fourth solenoid valve and a second air pump, the first solenoid valve is connected to the slide cylinder of the first group of adaptive walking devices through a first air pipe, and the first solenoid valve is connected to the first air pump through an air pipe; The second solenoid valve is connected to the slide cylinder of the fourth group of adaptive walking devices through the second air pipe, and the second solenoid valve is connected to the first air pump through the air pipe; the fourth solenoid valve is connected to the second air pump through the air pipe, and the fourth solenoid valve is connected to the slide cylinder of the second group of adaptive walking devices through the fourth air pipe; the third solenoid valve is connected to the slide cylinder of the third group of adaptive walking devices through the air pipe, and the third solenoid valve is connected to the second air pump through the air pipe.

2. The mother-child inspection robot suitable for boiler close-packed tube bundles according to claim 1, characterized in that: The upper roller connection base of each group of adaptive walking devices is provided with a transverse part, and the transverse part is connected with a transverse roller.

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