Double-probe pushing device

Abstract

The invention discloses a double-probe pushing device which comprises a base, two probe winding mechanisms oppositely arranged on the base, two probe pushing and pulling mechanisms and a driving mechanism. The two probe push-pull mechanisms are respectively located at one side of the two probe winding mechanisms, and each probe push-pull mechanism is located in the cable laying direction of the probe winding mechanisms; the driving mechanism comprises a first driving motor and a T-shaped double-output-shaft speed reducer connected with a driving shaft of the first driving motor. And the two probe push-pull mechanisms are respectively positioned on two opposite sides of the T-shaped double-output-shaft speed reducer and are respectively connected with two output shafts of the T-shaped double-output-shaft speed reducer. According to the double-probe pushing device, the two probe winding mechanisms, the two probe pushing and pulling mechanisms and the driving mechanism are integrated, the arrangement is reasonable and compact, and the size is reduced; the two probe cables can penetrate into the two heat transfer pipes at the same time to conduct eddy current detection, the data collection efficiency is higher, the application range is wider, and transmission is stable.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power nondestructive testing, and in particular to a double-probe pushing device. Background Art

[0002] Eddy current testing is the most commonly used nondestructive testing technology for heat transfer tubes in nuclear power heat exchangers. It has a high sensitivity to defects on the inner and outer walls of the tubes and can detect defects in a timely and accurate manner, which is crucial for the safe operation of the equipment. When performing eddy current testing on heat transfer tubes, it is necessary to push the eddy current probe into the specified position in the heat transfer tube through the eddy current probe push-pull device, and then collect data on the eddy current signal of the heat transfer tube wall while pulling the probe back to achieve eddy current testing of the heat transfer tube. Due to the particularity of the nuclear power plant environment, there are many problems with eddy current inspection of heat transfer tubes in heat exchangers in nuclear power plants. The currently more commonly used push-pull probe mode has a low efficiency, uneven speed, and cannot be accurately positioned, which greatly affects the accuracy of eddy current inspection. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a double-probe pushing device for eddy current detection of heat transfer tubes in nuclear power plants.

[0004] The technical solution adopted by the present invention to solve the technical problem is: to provide a dual-probe pushing device, including a base, two probe winding mechanisms relatively arranged on the base, two probe pushing and pulling mechanisms relatively arranged on the base, and a driving mechanism;

[0005] The two probe push-pull mechanisms are respectively located on one side of the two probe winding mechanisms, and each of the probe push-pull mechanisms is located in the cable unwinding direction of the probe winding mechanism;

[0006] The driving mechanism includes a first driving motor and a T-shaped double-output shaft reducer connected to the driving shaft of the first driving motor; the two probe push-pull mechanisms are respectively located on opposite sides of the T-shaped double-output shaft reducer, and are respectively connected to the two output shafts of the T-shaped double-output shaft reducer; after the first driving motor is started, the two probe push-pull mechanisms are driven to move synchronously through the T-shaped double-output shaft reducer to push and pull the probe cable.

[0007] In some embodiments, the probe push-pull mechanism includes a push channel for the probe cable to pass through, and a first wheel group and a second wheel group that are arranged opposite to each other;

[0008] The pushing channel is formed between the first wheel set and the second wheel set, the first wheel set is connected to an output shaft of the T-type dual-output shaft reducer, and the second wheel set is linked to the first wheel set;

[0009] After the driving mechanism is started, the first wheel group is driven to rotate, and the second wheel group rotates synchronously with the first wheel group to push and pull the probe cable; and the second wheel group can move back and forth in the direction of approaching and moving away from the first wheel group to clamp or release the probe cable.

[0010] In some embodiments, the first wheel set includes a driving wheel connected to an output shaft of the T-type dual-output shaft reducer, and a first driven wheel located at one side of the driving wheel and connected to the driving wheel through a first synchronous belt;

[0011] The second wheel set includes a second driven wheel, a third driven wheel and a gear set; the second driven wheel is opposite to the first driven wheel and is connected to the first driven wheel through the gear set, and the third driven wheel is opposite to the driving wheel and is connected to the second driven wheel through a second synchronous belt.

[0012] In some embodiments, the gear set includes a first gear coaxially arranged with the first driven wheel, a second gear coaxially arranged with the second driven wheel, and an idler gear set arranged between the first gear and the second gear; the idler gear set is respectively meshed with the first gear and the second gear.

[0013] In some embodiments, the probe push-pull mechanism further includes a support plate and a clamping drive unit;

[0014] The second wheel set is arranged on the support plate, and the clamping driving unit is connected to the support plate to drive the support plate and the second wheel set to move back and forth in a direction approaching and away from the first wheel set.

[0015] In some embodiments, the dual-probe pushing device further includes a positioning mechanism disposed between the probe pushing and pulling mechanism and the probe winding mechanism; the positioning mechanism includes an encoder unit and a clamping wheel;

[0016] The encoder unit comprises an encoder and a rotating wheel connected to the encoder. The clamping wheel is arranged opposite to the rotating wheel, and a clamping channel for the probe cable to pass through and clamp the probe cable is formed therebetween.

[0017] In some embodiments, the dual-probe pushing device further includes a control unit;

[0018] The control unit is respectively connected to the probe winding mechanism, the probe pushing and pulling mechanism, the driving mechanism and the encoder unit.

[0019] In some embodiments, the probe winding mechanism includes a hub for winding the probe cable thereon, and a winding drive unit connected to and driving the hub to rotate; the hub is positioned on the base through a bracket.

[0020] In some embodiments, the winding drive unit includes a second drive motor and a drive synchronous belt;

[0021] The second drive motor is arranged on the bracket and is located below the wheel hub, and the wheel axle of the wheel hub is connected to the drive shaft of the second drive motor through the drive synchronous belt.

[0022] In some embodiments, the dual-probe pushing device further includes a shell, the shell is connected to one side of the base, and part of the probe pushing and pulling mechanism and the driving mechanism are placed in the shell.

[0023] The beneficial effects of the present invention are as follows: two probe winding mechanisms, two probe push-pull mechanisms and a driving mechanism are integrated into one, the layout is reasonable and compact, and the volume is reduced; two probe cables can be inserted into two heat transfer tubes at the same time to perform eddy current detection, the data collection efficiency is higher, the application range is wider, and the transmission is stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of a dual-probe pushing device according to an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 The schematic diagram of the structure of the dual-probe pushing device after the shell is removed;

[0027] Figure 3 yes Figure 2 Schematic diagram of the structure of the winding mechanism and driving mechanism of the middle probe;

[0028] Figure 4 yes Figure 3 The structural diagram of the second wheel group;

[0029] Figure 5 yes Figure 3 Schematic diagram of the structure of the intermediate idler wheel group;

[0030] Figure 6 It is a schematic structural diagram of a housing in a dual-probe pushing device according to an embodiment of the present invention;

[0031] Figure 7 It is a schematic structural diagram of a control unit in a dual-probe pushing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0033] The present invention is applied to the eddy current detection process of the steam generator of a nuclear power plant, driving the double eddy current probe to move forward and backward through the entire heat transfer tube, thereby realizing the eddy current data collection of the steam generator.

[0034] like Figure 1 and Figure 2 As shown, a dual-probe pushing device according to an embodiment of the present invention may include a base 100 , two probe winding mechanisms 10 relatively disposed on the base 100 , two probe pushing and pulling mechanisms 20 relatively disposed on the base 100 , a driving mechanism 30 and a housing 200 .

[0035] Among them, the two probe push-pull mechanisms 20 are respectively located on one side of the two probe winding mechanisms 10, and each probe push-pull mechanism 20 is in the cable release direction of the probe winding mechanism 10. One probe winding mechanism 10 and one probe push-pull mechanism 20 constitute a probe cable push-pull unit, which is used to pass a probe cable 300 into the heat transfer tube and to rewind the probe cable 300. The driving mechanism 30 is used to drive the probe push-pull mechanism 20 to move, so as to push and pull the probe cable 300. The housing 200 is connected to one side of the base 100, and part of the probe push-pull mechanism 20 and the driving mechanism are placed in the housing 200. The housing 200 protects the driving mechanism 30 and part of the probe push-pull mechanism 20 built therein.

[0036] In some embodiments, the two probe winding mechanisms 10 are symmetrically arranged on the base 100, and the two probe push-pull mechanisms 20 are also symmetrically distributed. The driving mechanism 30 is located between the two probe push-pull mechanisms 20, and drives the two probe push-pull mechanisms 20 to move at the same time.

[0037] Specifically, the driving mechanism 30 may include a first driving motor 31 and a T-type dual-output shaft reducer 32 connected to the driving shaft of the first driving motor 31. The two probe push-pull mechanisms 20 are respectively located on opposite sides of the T-type dual-output shaft reducer 32, and are respectively connected to the two output shafts of the T-type dual-output shaft reducer 32. After the first driving motor 31 is started, the two probe push-pull mechanisms 20 are driven to move synchronously through the T-type dual-output shaft reducer 32 to push and pull the probe cable 300.

[0038] The first drive motor 31 is preferably a servo motor.

[0039] The two probe push-pull mechanisms 20 preferably have the same structure, and one probe push-pull mechanism 20 is taken as an example to illustrate it below.

[0040] The probe push-pull mechanism 20 may further include a push channel 400 for the probe cable 300 to pass through, a first wheel group and a second wheel group arranged opposite to each other; the push channel 400 is formed between the first wheel group and the second wheel group. Among them, the first wheel group is connected to an output shaft of the T-type double output shaft reducer 42 as a driving wheel group; the second wheel group is connected to the first wheel group as a driven wheel group, and rotates with the first wheel group. After the driving mechanism 30 is started, it drives the first wheel group to rotate, and the second wheel group rotates synchronously with the first wheel group to push and pull the probe cable 300. In addition, the second wheel group can move back and forth in the direction of approaching and moving away from the first wheel group to clamp or loosen the probe cable 300.

[0041] Combination Figure 2 and Figure 3 , the first wheel group may specifically include a driving wheel 21, a first driven wheel 22 and a first synchronous belt 211. The driving wheel 21 and the first driven wheel 22 are arranged at intervals along the push-pull direction of the probe cable 300, wherein the driving wheel 21 is connected to an output shaft of the T-type double-output shaft reducer 32, and the first driven wheel 22 is connected to the driving wheel 21 through the first synchronous belt 211. In this way, after the first drive motor 31 is started, the power is transmitted to the driving wheel 21 through the T-type double-output shaft reducer 32, driving the driving wheel 21 to rotate, and the driving wheel 21 drives the first driven wheel 22 to rotate through the first synchronous belt 211.

[0042] The second wheel group may specifically include a second driven wheel 23, a third driven wheel 24, a second synchronous belt 231, and a gear group 25; the second driven wheel 23 and the third driven wheel 24 are arranged at intervals along the push-pull direction of the probe cable 300, and the second driven wheel 23 is directly opposite to the first driven wheel 22, and the third driven wheel 24 is directly opposite to the driving wheel 21. The second driven wheel 23 is connected to the first driven wheel 22 through the gear group 25, and the third driven wheel 24 is connected to the second driven wheel 23 through the second synchronous belt 231; when the first driven wheel 22 rotates, the second driven wheel 23 is driven to rotate through the gear group 25, and the second driven wheel 23 is driven to rotate through the second synchronous belt 231.

[0043] In some embodiments, reference Figure 3 and Figure 4 The gear set 25 includes a first gear 251 coaxially arranged with the first driven wheel 22, a second gear 252 coaxially arranged with the second driven wheel 23, and an idler gear set arranged between the first gear 251 and the second gear 252; the idler gear set is meshed with the first gear 251 and the second gear 252 respectively.

[0044] Preferably, the first gear 251 is located on the side of the first driven wheel 22 facing the other probe push-pull mechanism 20, and the first gear 251 can be fixed or integrally formed on the first driven wheel 22. The second gear 252 is also located on the side of the second driven wheel 23 facing the other probe push-pull mechanism 20, and the second gear 252 can be fixed or integrally formed on the second driven wheel 23. The idler gear set is arranged between the first gear 251 and the second gear 252, and meshes with the first gear 251 and the second gear 252 respectively, to play a transmission role.

[0045] In one embodiment, reference Figure 5 , the idler wheel group further includes at least one idler wheel 253. Preferably, the idler wheel group includes two meshing idler wheels 253, and the two idler wheels 253 are positioned between the first driven wheel 22 and the second driven wheel 23 through a connecting assembly. The connecting assembly may include a first support seat 254 and two connecting members 255; the first support seat 254 is provided with two holes, corresponding to the two idler wheels 253 respectively, wherein the first end of one connecting member 255 is matched with one hole, and the opposite second end is used to be sleeved on the axle of the first driven wheel 22; the first end of the other connecting member 255 is matched with the other hole, and the opposite second end is used to be sleeved on the axle of the second driven wheel 23. The two idler wheels 253 are rotatably connected to the first ends of the two connecting members 255 respectively. In combination with the first driven wheel 22 and the second driven wheel 23 being respectively located on both sides of the pushing channel 400, the two connecting members 255 are arranged at an angle. The connecting member 255 forms a connecting bridge to connect the idler wheel group and the first driven wheel 22 with the second driven wheel 23, allowing the first driven wheel 22 and the second driven wheel 23 to be relatively far away from or close to each other within an appropriate distance while ensuring that the idler wheel 253 is respectively engaged with the first gear 251 and the second gear 252.

[0046] The end surfaces of the two idler wheels 253 away from the connecting member 255 are also connected by a connecting piece 256 . The connecting piece 256 has a certain limiting effect on the two idler wheels 253 , and does not affect the rotation of the idler wheels 253 .

[0047] Another example Figure 2-Figure 4 As shown, in order to enable the second wheel group to move back and forth in the direction close to and away from the first wheel group, the probe push-pull mechanism 20 further includes a support plate 26 and a clamping drive unit 27. The second wheel group (including the second driven wheel 23 and the third driven wheel 24) is rotatably arranged on the support plate 26, and the clamping drive unit 27 is connected to the support plate 26 to drive the support plate 26 and the second wheel group to move back and forth in the direction close to and away from the first wheel group.

[0048] The clamping driving unit 27 may include, but is not limited to, at least one air cylinder.

[0049] The support plate 26 is further matched with at least one linear guide rail 28, which is positioned in the housing 200, and the length direction of the linear guide rail 28 is parallel to the moving direction of the second wheel set. Driven by the clamping drive unit 27, the support plate 26 can move back and forth along the linear guide rail 28, driving the second wheel set to move back and forth. During the back and forth movement of the second wheel set, the two idler wheels 253 always remain in mesh with the first gear 251 and the second gear 252.

[0050] In the dual-probe pushing device, the end where the probe push-pull mechanism 20 is located is the front end, and the end where the probe winding mechanism 10 is located is the rear end; the housing 200 serves as a protective shell at the front end, and the driving mechanism 30 and part of the structure of the probe push-pull mechanism 20 are housed inside. Figure 1 , Figure 3 and Figure 6 The outer shell 200 is a closed shell. On the opposite sides of the outer shell 200, the driving wheel 21, the first driven wheel 22, the second driven wheel 23 and the third driven wheel 24 of the probe push-pull mechanism 20 are exposed outside the corresponding sides of the outer shell 200, so that the pushing channel 400 of the probe push-pull mechanism 20 is outside the outer shell 200, which is convenient for pushing the probe cable 300 and retrieving the probe cable 300.

[0051] The side of the housing 200 may be provided with an annular wall 210, which surrounds the exposed driving wheel 21, the first driven wheel 22, the second driven wheel 23 and the third driven wheel 24, and also plays a protective role. The annular wall 210 is provided with openings 220 on both sides corresponding to the push channel 400 to avoid blocking the push channel 400 and ensure the smooth entry and exit of the probe cable 300.

[0052] It can be understood that in order to cooperate with and clamp the probe cable 300, grooves are formed on the outer surfaces of the driving wheel 21, the first driven wheel 22, the second driven wheel 23 and the third driven wheel 24. When the probe cable 300 passes through the pushing channel 400, the outer surfaces cooperate with the grooves to achieve positioning.

[0053] In some embodiments, the dual-probe pushing device further includes a positioning mechanism disposed between the probe pushing and pulling mechanism 20 and the probe winding mechanism 10 , which is used to monitor the actual position of the probe cable 300 to achieve precise positioning.

[0054] See also Figure 1 and Figure 2The positioning mechanism may further include an encoder unit 40 and a clamping wheel 50. The encoder unit 40 includes an encoder and a rotating wheel connected to the encoder, and the clamping wheel 50 is arranged opposite to the rotating wheel, and a clamping channel 500 is formed between the two for the probe cable 300 to pass through and clamp the probe cable 300. The clamping channel 500 is connected to the push channel 400 of the probe push-pull mechanism 20 and the transceiver cable channel of the probe winding mechanism 10, and the clamping channel 500 is always in contact with the probe cable 300.

[0055] In the dual-probe pushing device, each probe cable 300 pushed by the probe pushing and pulling mechanism 20 has an encoder unit 40 and a clamping wheel 50 for position monitoring.

[0056] In some embodiments, Figure 1 and Figure 2 As shown, each probe winding mechanism 10 may include a hub 11 for winding the probe cable 300 thereon, and a winding drive unit connected to and driving the hub 11 to rotate; the hub 11 is positioned on the base 100 through a bracket 13 .

[0057] The winding drive unit includes a second drive motor 12 and a drive timing belt (not shown); the second drive motor 12 is arranged on the bracket 13 and is located below the wheel hub 11, and the wheel axle of the wheel hub 11 is connected to the drive shaft of the second drive motor 12 through the drive timing belt.

[0058] The second drive motor 12 may be, but is not limited to, a starter motor.

[0059] The bracket 13 can be a plate body, which is vertically connected to the base 100. In order to improve the appearance and integrity of the entire device, on the base 100, the brackets 13 of the two probe winding mechanisms 10 are arranged close to each other, with a proper distance between the two brackets 13, and the hubs 11 of the two probe winding mechanisms 10 are respectively installed on the opposite side of the corresponding brackets 13 through the wheel axle; the driving synchronous belt is wrapped around one end of the wheel axle close to the bracket 13.

[0060] In some embodiments, the dual-probe pushing device further includes a control unit, which is respectively connected to the probe winding mechanism 10, the probe pushing and pulling mechanism 20, the driving mechanism 30 and the encoder unit 40, controls the opening and closing and operation mode of each mechanism, and receives the signal generated by the encoder unit 40.

[0061] The control unit can be implemented using existing technology. In one embodiment, Figure 7 As shown, the control unit includes a PLC module 101 , a motor driver module 102 , an analog digital control card module 103 , a first power module 104 , a second power module 109 , a rotation power module 105 , and a module resistor 106 .

[0062] Among them, the motor driver module 102 is used to control the opening and closing of the driving device such as the driving mechanism 30 and the second driving motor 12, and the first power module 104 and the second power module 109 are used to supply power to the probe winding mechanism 10, the probe push-pull mechanism 20, the driving mechanism 30 and other mechanisms, wherein the first power module 104 is mainly used to supply power to the driving mechanism 30, and the second power module 109 is used to supply power to other mechanisms or devices that require power. The rotating power module 105 is used to drive the probe at the end of the rotating probe cable, and the module resistor 106 is used to protect the first driving motor 31 to prevent overcurrent. The main components of the control unit such as the PLC module 101, the motor driver module 102, and the analog digital control card module 103 realize protocol exchange, communicate with the upper computer (such as a terminal, etc.) software, and realize the control of the front-end execution components.

[0063] The control unit is further integrated into a box to form a control box.

[0064] When the dual-probe pushing device of the present invention is used, a single probe cable 300 can be threaded, or two probe cables 300 can be threaded. When a single probe cable 300 is threaded, the unused probe push-pull mechanism 20 is operated as follows: the second wheel group is controlled to move away from the first wheel group, and the probe cable 300 is kept in a loose state, that is, no clamping action is performed, and thus the action of pushing the probe cable 300 is not performed.

[0065] In addition, in one embodiment of the present invention, when the probe cable 300 is sent into the heat transfer tube, the probe cable 300 can be inserted into the heat transfer tube mainly by clamping and loosening the probe cable 300 through the probe push-pull mechanism 20. In the process of pushing the probe cable 300 through the probe push-pull mechanism 20, the hub 11 can also be driven to rotate to release the probe cable 300 wound thereon. After the eddy current detection is completed, when the probe cable 300 is recovered, the probe push-pull mechanism 20 maintains the loosened state of the probe cable 300, and the hub 11 is driven to rotate by the winding drive unit of the probe winding mechanism 10, so that the probe cable 300 is recovered to be wound on the hub 11.

[0066] In another embodiment, when the probe cable 300 is fed into the heat transfer tube, the winding drive unit may be started to drive the hub 11 to rotate and cooperate with the clamping action of the probe push-pull mechanism 20 to pass the probe cable 300 into the heat transfer tube.

[0067] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A dual-probe pushing device, characterized in that: It includes a base, two probe winding mechanisms relatively arranged on the base, two probe push-pull mechanisms relatively arranged on the base, and a driving mechanism; The two probe push-pull mechanisms are respectively located on one side of the two probe winding mechanisms, and each of the probe push-pull mechanisms is located in the cable unwinding direction of the probe winding mechanism; The driving mechanism includes a first driving motor and a T-shaped double-output shaft reducer connected to the driving shaft of the first driving motor; the two probe push-pull mechanisms are respectively located on opposite sides of the T-shaped double-output shaft reducer, and are respectively connected to the two output shafts of the T-shaped double-output shaft reducer; after the first driving motor is started, the two probe push-pull mechanisms are driven to move synchronously through the T-shaped double-output shaft reducer to push and pull the probe cable.

2. The dual-probe pushing device according to claim 1, characterized in that: The probe push-pull mechanism comprises a push channel for the probe cable to pass through, and a first wheel group and a second wheel group arranged oppositely; The pushing channel is formed between the first wheel set and the second wheel set, the first wheel set is connected to an output shaft of the T-type dual-output shaft reducer, and the second wheel set is linked to the first wheel set; After the driving mechanism is started, the first wheel group is driven to rotate, and the second wheel group rotates synchronously with the first wheel group to push and pull the probe cable; and the second wheel group can move back and forth in the direction of approaching and moving away from the first wheel group to clamp or release the probe cable.

3. The dual-probe pushing device according to claim 2, characterized in that: The first wheel set includes a driving wheel connected to an output shaft of the T-type dual-output shaft reducer, and a first driven wheel located at one side of the driving wheel and connected to the driving wheel through a first synchronous belt; The second wheel set includes a second driven wheel, a third driven wheel and a gear set; the second driven wheel is opposite to the first driven wheel and is connected to the first driven wheel through the gear set, and the third driven wheel is opposite to the driving wheel and is connected to the second driven wheel through a second synchronous belt.

4. The dual-probe pushing device according to claim 3, characterized in that: The gear set includes a first gear coaxially arranged with the first driven wheel, a second gear coaxially arranged with the second driven wheel, and an idler gear set arranged between the first gear and the second gear; the idler gear set is meshed with the first gear and the second gear respectively.

5. The dual-probe pushing device according to claim 2, characterized in that: The probe push-pull mechanism also includes a support plate and a clamping drive unit; The second wheel set is arranged on the support plate, and the clamping driving unit is connected to the support plate to drive the support plate and the second wheel set to move back and forth in a direction approaching and away from the first wheel set.

6. The dual-probe pushing device according to any one of claims 1 to 5, characterized in that: The dual-probe pushing device further includes a positioning mechanism disposed between the probe pushing and pulling mechanism and the probe winding mechanism; the positioning mechanism includes an encoder unit and a clamping wheel; The encoder unit comprises an encoder and a rotating wheel connected to the encoder. The clamping wheel is arranged opposite to the rotating wheel, and a clamping channel for the probe cable to pass through and clamp the probe cable is formed therebetween.

7. The dual-probe pushing device according to claim 6, characterized in that: The dual-probe pushing device also includes a control unit; The control unit is respectively connected to the probe winding mechanism, the probe pushing and pulling mechanism, the driving mechanism and the encoder unit.

8. The dual-probe pushing device according to any one of claims 1 to 5, characterized in that: The probe winding mechanism comprises a hub for winding the probe cable thereon, and a winding drive unit connected to and driving the hub to rotate; the hub is positioned on the base through a bracket.

9. The dual-probe pushing device according to claim 8, characterized in that: The winding drive unit includes a second drive motor and a drive synchronous belt; The second drive motor is arranged on the bracket and is located below the wheel hub, and the wheel axle of the wheel hub is connected to the drive shaft of the second drive motor through the drive synchronous belt.

10. The dual-probe pushing device according to any one of claims 1 to 5, characterized in that: The dual-probe pushing device also includes a shell, which is connected to one side of the base, and a part of the probe pushing and pulling mechanism and the driving mechanism are placed in the shell.

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