A heat exchanger tube sheet detection robot and working method thereof

Abstract

The present invention discloses a heat exchanger tube sheet inspection robot and a working method thereof, belonging to the field of heat exchanger tube and tube sheet weld inspection, comprising a main shell; the main shell is connected with a rotating mechanism, a detecting mechanism and two translation mechanisms; wherein the rotating mechanism is used to drive the main shell to rotate circumferentially; the detecting mechanism is used to inspect the heat exchanger tube sheet; the two translation mechanisms are respectively movably connected to both sides of the main shell, and are used to drive the main shell to move linearly. The robot and the working method thereof can solve the technical problems of the existing tube sheet inspection method, which is difficult to operate and has low inspection efficiency due to reliance on manual labor.

Description

Technical Field

[0001] The invention belongs to the field of heat exchanger tube sheet weld detection and relates to a heat exchanger tube sheet detection robot and a working method thereof. Background Art

[0002] The key to the long-term stable operation of the heat exchanger without leakage accidents is to have good quality fillet welds of the heat exchanger tube sheet. If there are defects in the weld, under high temperature and high corrosion working conditions, during the operation of the heat exchanger, a major leakage accident is likely to occur, resulting in production suspension, safety problems and economic losses. In the actual application of the heat exchanger tube sheet, a group of heat exchange tubes are arranged in order, and then connected to the heat exchanger tube sheet to form an industrial component. In the process of connecting multiple heat exchange tubes to the tube sheet, any welding method may cause connection interface defects. Once such defective heat exchanger tube sheets are applied to actual industry, it will cause immeasurable consequences. Therefore, daily inspection of the quality of tube sheet welds is very important.

[0003] At present, most of the routine inspections of heat exchanger tube sheets are done manually. However, manual inspection is time-consuming and labor-intensive, and may result in missed inspections and false inspections.

[0004] It can be seen that the existing tube sheet inspection measures rely on manual labor. Due to the limited space of the heat exchanger tube sheet, manual labor is not convenient for operation, and missed inspections and false inspections often occur, and the inspection efficiency is low. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a heat exchanger tube sheet inspection robot and a working method thereof, which can solve the technical problems of the existing heat exchanger tube sheet inspection, which is difficult to operate and has low inspection efficiency due to reliance on manual labor.

[0006] To achieve the above-mentioned object, the present invention discloses a heat exchanger tube sheet inspection robot, comprising a main shell;

[0007] The main housing is connected with a rotating mechanism, a detecting mechanism and two translation mechanisms;

[0008] Wherein, the rotating mechanism is used to drive the main housing to rotate circumferentially;

[0009] The detection mechanism is used to detect the tube sheet of the heat exchanger;

[0010] The two translation mechanisms are movably connected to the two sides of the main housing, respectively, and are used to drive the main housing to perform linear motion;

[0011] The translation mechanism includes a translation box, a first drive assembly and a fixer; the translation box is connected to the main housing, the first drive assembly is arranged on the top of the translation box, and the first drive assembly is connected to the fixer through a first transmission assembly; the first drive assembly drives the fixer to extend and retract through the first transmission assembly;

[0012] The main shell includes a shell body, a second drive assembly and a second guide member; the second drive assembly is arranged on the side shell of the shell body, and the output end of the second drive assembly is connected to the ball screw; a moving platform is mounted on the ball screw, and the moving platform is fixedly connected to the translation support plate on the translation box; the second guide member is slidably matched with the first guide member on the translation support plate.

[0013] Furthermore, a gear rack is provided on the translation box; a transmission gear is provided on the gear rack, a gear shaft connected to the output end of the first driving component is inserted into the transmission gear; and the transmission gear is connected to the fixer.

[0014] Furthermore, the gear rack is provided with three transmission gears meshing in sequence; the transmission gears located on both sides are respectively connected to the fixer, and one of the transmission gears is connected to the output end of the first driving component.

[0015] Furthermore, a bearing end cover is provided on the top of the transmission gear.

[0016] Furthermore, the first guide member includes a translation guide rail platform fixed on the translation support plate; the second guide member includes a translation guide rail fixed on the side wall of the main shell; the translation guide rail platform is movably connected to the translation guide rail to form a sliding fit.

[0017] Furthermore, the rotating mechanism includes a rotating support frame, a third motor frame, a rotating main gear, a rotating sub-gear and a gear seat;

[0018] The rotating support frame is arranged on the top of the main shell, the third motor frame is arranged on the rotating mechanism, the first driving motor is installed on the third motor frame, and the output shaft of the first driving motor is connected to the rotating main gear; the rotating main gear is meshed with the rotating sub-gear located at the center of the rotating support frame; the rotating sub-gear is connected to the main shell through the gear seat; a retractable fixing mechanism is inserted at the bottom of the rotating sub-gear for fixing to the heat exchanger tube sheet when the robot rotates.

[0019] Further, the detection mechanism includes a detection support plate, a second motor frame, a rotating detection head, a bearing and two detection head support frames;

[0020] The detection support plate is arranged on the side shell of the main shell; the two detection head support frames are fixed on the detection support plate; the second motor frame is fixed on one of the detection head support frames, and the rotating detection head is inserted between the two detection head support frames through a bearing; the rotating detection head is connected to the second driving motor fixed on the second motor frame.

[0021] The present invention discloses a working method of a heat exchanger tube sheet detection robot, comprising:

[0022] When the robot performs linear motion, the first driving assembly is started, and the fixer is driven to extend through the first transmission assembly to fix the translation mechanism on the heat exchanger tube sheet;

[0023] Start the second drive assembly, drive the moving platform to move through the ball screw, so that the main housing moves linearly relative to the translation mechanism; then reversely start the first drive assembly to drive the fixer to contract, start the second drive assembly, control the movement of the moving platform, drive the translation mechanism to move linearly, and realize the linear motion of the robot as a whole;

[0024] When the robot rotates, the fixture is in a contracted state, and the rotation mechanism is activated to drive the robot as a whole to complete circumferential rotation;

[0025] When the robot is conducting inspection, the inspection mechanism is started to complete the inspection of the heat exchanger tube sheet.

[0026] Furthermore, the specific steps of the robot rotating include:

[0027] The fixer is in a retracted state, the retractable fixing mechanism is extended, the first drive motor on the rotating mechanism is started, the rotating main gear drives the rotating sub-gear to rotate, and then drives the main housing connected to the rotating sub-gear to rotate, so as to realize the circumferential rotation of the robot as a whole.

[0028] Furthermore, the specific steps of the robot's detection include:

[0029] The second driving motor on the detection mechanism is started to drive the rotating detection head to rotate and detect the heat exchanger tube sheet.

[0030] The present invention has the following beneficial effects:

[0031] The heat exchanger tube sheet inspection robot and the working method thereof described in the present invention are as follows: during specific operation, a translation mechanism, a rotation mechanism and a detection mechanism are connected to the main shell; the first driving component is started, and the fixer is driven to extend through the first transmission component to fix the translation mechanism on the heat exchanger tube sheet; the second driving component is started, and the moving platform is driven to move through the ball screw, so that the main shell moves linearly relative to the translation mechanism; the first driving component is then reversely started to drive the fixer to contract, and the second driving component is started to control the movement of the moving platform, drive the translation mechanism to move linearly, and realize the linear movement of the robot as a whole; the fixer is in a contracted state, and the robot is driven to complete circumferential rotation as a whole by starting the rotation mechanism; the detection mechanism is started to complete the detection of the heat exchanger tube sheet; the use of this robot completely gets rid of manual labor, and the robot has outstanding movement ability and strong maneuverability, and can perform all-round and dead-angle detection of the tube sheet, avoiding the occurrence of missed detection and false detection, and greatly improving the detection efficiency; the structure and principle of this robot are simple, easy to implement, high detection efficiency, and have good promotion and application value.

[0032] Furthermore, the first transmission assembly adopts a transmission gear, which is connected to the output end of the first drive assembly to ensure stable power transmission.

[0033] Furthermore, in the present invention, three transmission gears meshing in sequence are arranged side by side on the gear rack, and the middle transmission gear is equivalent to a steering wheel, which realizes the synchronization of the transmission gears on both sides and improves the transmission efficiency.

[0034] Furthermore, in the present invention, a bearing end cover is provided on the top of the transmission gear to improve the protection performance.

[0035] Furthermore, in the present invention, the first guide member adopts a translation guide rail platform, and the second guide member adopts a translation guide rail, and the two are movably connected to achieve sliding cooperation, thereby providing a good guiding effect for the relative movement between the translation mechanism and the main shell.

[0036] The present invention also provides a working method of a heat exchanger tube sheet inspection robot. Based on the above-mentioned heat exchanger tube sheet inspection robot, the use of this method can effectively solve the problem that the tube sheet inspection method is difficult to operate and has low inspection efficiency due to reliance on manual labor; this method enables the robot to perform linear and rotational movements, and then inspects the heat exchanger tube sheet through a rotating inspection mechanism, thereby avoiding missed inspections and false inspections and improving inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 It is a structural schematic diagram of the present invention;

[0039] Figure 2 It is a structural schematic diagram of the first motor frame in the translation mechanism;

[0040] Figure 3 is the distribution diagram of the translation box cover;

[0041] Figure 4 It is a structural schematic diagram of the detection mechanism in the present invention;

[0042] Figure 5 It is a structural schematic diagram of the rotating mechanism in the present invention;

[0043] Figure 6 It is a structural schematic diagram of the main shell in the present invention.

[0044] Among them, 1. translation mechanism; 2. rotation mechanism; 3. detection mechanism; 4. main shell; 5. first motor frame; 6. gear shaft; 7. bearing end cover; 8. gear frame; 9. transmission gear; 10. translation box cover; 11. translation box; 12. translation support plate; 13. translation guide platform; 14. crawling foot hole; 15. detection support plate; 16. second motor frame; 17. rotating detection head; 18. detection head support frame; 19. bearing; 20. rotating support frame; 21. third motor frame; 22. rotating main gear; 23. rotating sub-gear; 24. gear seat; 25. translation guide; 26. ball screw; 27. moving platform; 28. fourth motor frame; 29. ​​side shell. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0047] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0048] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0049] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0050] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0052] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0053] In the conventional inspection of heat exchanger tubes and tube sheets, manual inspection is mostly used. However, manual inspection is time-consuming and labor-intensive, and may also result in missed inspections and false inspections.

[0054] In order to improve the detection efficiency and avoid missed detection and false detection, this embodiment provides a heat exchanger tube sheet detection robot and its working method, which can realize the automatic detection of tubes and tube sheets. As the key factor of the tube and tube sheet detection robot, the overall design principle structure ensures the rationality and reliability of the operation of the heat exchanger tube sheet detection robot. The robot and its working method can achieve the purpose of stable operation and detection on the tube and tube sheet of the heat exchanger, and have the characteristics of simple structure, stable and efficient operation.

[0055] like Figure 1 As shown, the heat exchanger tube sheet inspection robot of the present invention comprises a translation mechanism 1, a rotation mechanism 2, an inspection mechanism 3 and a main shell 4.

[0056] like Figure 2 and Figure 3 As shown, the translation mechanism 1 includes a first motor frame 5, a gear shaft 6, a bearing end cover 7, a gear frame 8, a transmission gear 9, a translation box cover 10, a translation box body 11, a translation support plate 12, a translation guide rail platform 13 and a crawling foot hole 14.

[0057] The first motor frame 5 is fixed on the gear frame 8, and a driving device is installed on the first motor frame 5. The gear frame 8 is fixed to the end of the translation box 11, the translation support plate 12 is fixed to the side of the translation box 11, and the translation box cover 10 is respectively fixed to the upper and lower surfaces of the translation box 11. The translation guide platform 13 is fixed to the outer surface of both ends of the translation support plate 12. The transmission gear 9 is fixed to the middle gap of the gear frame 8 through the gear shaft 6 for transmission. The three transmission gears 9 are meshed and connected side by side, and the transmission gears 9 on both sides are connected to a fixer, which is a tensionable pin of the robot, which can be extended and retracted through transmission to complete the fixation with the heat exchanger tube sheet; the bearing end cover 7 is fixed to the surface of the gear frame 8 and is coaxial with the hole on the transmission gear 9 to improve the protection performance of the transmission component.

[0058] Specifically, a translation box cover 10 is fixed to the upper and lower ends of the rectangular translation box 11, and three holes are evenly distributed on the translation box cover 10. A crawling foot hole 14 for providing a telescopic space for the holder is provided at the bottom of the translation box cover 10. A trapezoidal translation support plate 12 is fixed to the side of the translation box 11, and the translation support plate 12 is arranged in the middle of the side of the translation box 11, and translation guide rails 13 are arranged at both ends of the translation support plate 12.

[0059] like Figure 5As shown, the rotating mechanism 2 includes a rotating support frame 20, a third motor frame 21, a rotating main gear 22, a rotating sub-gear 23 and a gear seat 24. The four legs of the rotating support frame 20 are fixed on the main housing 4, the gear seat 24 is fixed on the main housing 4, the rotating sub-gear 23 is fixed on the gear seat 24, the third motor frame 21 is fixed on the rotating support frame 20, the rotating main gear 22 cooperates with the fixed legs of the third motor frame 21 by an interference fit method, and the rotating main gear 22 and the rotating sub-gear 23 are at the same height and can mesh with each other. A first drive motor is installed on the third motor frame 21, and the output shaft of the first drive motor is connected to the rotating main gear 22.

[0060] Specifically, a rotating support frame 20 in the shape of a cross (X) is fixed on the rotating mechanism 2 through four supporting legs, a rotating sub-gear 23 is arranged below the center of the rotating support frame 20, a gear seat 24 is arranged below the center of the rotating sub-gear 23, and the rotating sub-gear 23 is fixed above the gear seat 24. A third motor frame 21 is arranged at the end above one of the supporting legs on the rotating support frame 20, a rotating main gear 22 is arranged on the third motor frame 21, and the rotating main gear 22 and the rotating sub-gear 23 are meshed with each other. A fixing mechanism with the same structure as the above-mentioned fixing device is inserted at the bottom of the rotating sub-gear 23, and a retractable tensioning pin is used to achieve fixing with the heat exchanger tube sheet.

[0061] like Figure 4 As shown, the detection mechanism 3 includes a detection support plate 15, a second motor frame 16, a rotating detection head 17, a detection head support frame 18 and a bearing 19. The detection support plate 15 is fixed on the main shell 4, the second motor frame 16 is fixed on the detection head support frame 18 near the upper end of the main shell 4, and the two bearings 19 are respectively matched with the detection head support frame 18 by interference fit. The two ends of the rotating detection head 17 are respectively matched with the bearings 19 and fixed in the middle of the detection head support frame 18.

[0062] Specifically, two detection head support frames 18 are provided on one side of a rectangular detection support plate 15, and bearing holes are provided on the two detection support plates 15. The bearings 19 cooperate with the bearing holes on the two detection support plates 15. The rotating detection head 17 is installed between the two detection support plates 15 and cooperates with the bearings 19, and can rotate between the two detection support plates 15. The second motor frame 16 is installed on the detection head support frame 18, and the rotating detection head 17 is connected to the second drive motor fixed on the second motor frame 16.

[0063] like Figure 6As shown, the main shell 4 includes a second drive component, a translation guide rail 25, a ball screw 26, a movable platform 27, a fourth motor frame 28 and a side shell 29. The translation guide rails 25 are respectively fixed at the upper and lower ends of the left and right sides of the main shell 4, and the ball screw 26 is fixed in the middle of the translation guide rails 25 respectively fixed at the two ends of the side of the main shell 4, and the movable platform 27 is sleeved on the ball screw 26 and can move in the arrangement direction of the ball screw 26. The side shell 29 is fixed on the main shell 4, and the fourth motor frame 28 is fixed on the side shell 29. The second drive component includes a third drive motor arranged on the fourth motor frame 28, and the output shaft of the third drive motor is connected to the ball screw 26.

[0064] Specifically, the main shell body 4 having a rectangular shape is provided with a rectangular side shell 29 on its side, a fourth motor frame 28 is provided in the middle of the left and right sides of the side shell 29, a ball screw 26 is provided in the middle of a side surface adjacent to the side shell 29, a movable platform 27 is provided on the ball screw 26, and the movable platform 27 can move on the ball screw 26, and two translation guide rails 25 are symmetrically installed on the upper and lower parts of the ball screw 26.

[0065] like Figure 3 and Figure 6 As shown, the moving platform 27 is fixed to the translation support plate 12, and the translation guide rail 25 is movably connected to the translation guide rail platform 13 to achieve sliding cooperation, thereby guiding the relative movement between the main housing 4 and the translation mechanism 1.

[0066] The working method of the heat exchanger tube sheet inspection robot of the present invention comprises the following steps:

[0067] When the tube sheet inspection robot needs to walk in a straight line, the driving device fixed on the first motor frame 5 works, driving the gear shaft 6 to rotate, thereby driving the transmission gear 9 to rotate, so that the straight-line walking tube foot extends, and the robot's translation mechanism 1 is fixed on the heat exchanger plate surface. At this time, the translation guide platform 13 and the translation guide rail 25 cooperate with each other, so that the translation mechanism 1 moves along the translation guide rail 25, realizing the relative movement of the translation mechanism 1 and the main shell 4. At this time, the moving platform 27 cooperates with the translation support plate 12, and the third drive motor installed on the fourth motor frame 28 drives the ball screw 26 to rotate, thereby controlling the movement of the moving platform 27, and finally controlling the movement of the translation mechanism 1 by controlling the movement of the moving platform 27, and finally controlling the straight-line walking of the robot. That is, start the driving device on the first motor frame 5, drive the fixer to extend through the transmission gear 9, and fix the translation mechanism 1 on the heat exchanger tube sheet; then start the third driving motor on the fourth motor frame 28, drive the moving platform 27 to move through the ball screw 26, so that the main shell 4 moves linearly relative to the translation mechanism 1; then reversely start the driving device on the first motor frame 5 to drive the fixer to retract, start the third driving motor on the fourth motor frame 28, control the movement of the moving platform 27, drive the translation mechanism 1 to move linearly, and realize the linear motion of the robot as a whole.

[0068] When the robot needs to rotate, the robot's linear walking pins are retracted, and the pins of the rotating mechanism 2 are extended. At this time, the first drive motor installed on the third motor frame 21 starts to work, driving the rotating main gear 22 installed on the rotating support frame 20 to rotate, and then driving the rotating sub-gear 23 meshing with it to rotate. Because the rotating sub-gear 23 is installed and fixed on the gear seat 24, and the gear seat 24 is fixed on the main housing 4, the rotation of the rotating sub-gear 23 drives the robot to rotate as a whole. That is, the robot starts the first drive motor on the third motor frame 21 by extending the retractable fixing mechanism, drives the rotating sub-gear 23 to rotate by the rotating main gear 22, and then drives the main housing 4 connected to the rotating sub-gear 23 to rotate with the retractable fixing mechanism as the axis, so that the robot can rotate in the circumferential direction as a whole.

[0069] When the robot needs to perform inspection, the second drive motor installed on the second motor frame 16 starts to work, driving the rotating inspection head 17 installed between the inspection head support frames 18 to rotate, thereby starting to inspect the plate surface of the heat exchanger tube sheet.

[0070] Embodiment 2

[0071] The difference between this embodiment and the first embodiment is that: a planetary gear structure is provided in the rotating mechanism 2, and the bottom of each planetary gear is connected to a pin of the rotating mechanism 2. The three pins of the rotating mechanism 2 serve as a telescopic fixing mechanism for the circumferential rotation axis of the robot as a whole. When the telescopic fixing mechanism needs to be extended, the sun gear located in the center rotates to drive the three planetary gears to rotate, and then the pins of the rotating mechanism 2 are extended to complete the fixation with the heat exchanger tube plate, and the first drive motor on the third motor frame 21 is started with the pins of the rotating mechanism 2 as the axis, and the rotating sub-gear 23 is driven to rotate by rotating the main gear 22, thereby driving the main shell 4 connected to the rotating sub-gear 23 to rotate with the telescopic fixing mechanism as the axis, so that the robot as a whole can rotate circumferentially. The above-mentioned structure is set to ensure the stability and reliability of the rotation of the entire detection robot.

[0072] It should be noted that the present invention has the following characteristics:

[0073] 1) The linear travel mechanism of the present invention has a simple structure and a novel design. The third drive motor drives the ball screw 26 to rotate, thereby controlling the movement of the moving platform 27 arranged on the ball screw 26, so as to achieve the purpose of controlling the movement of the translation mechanism 1. In addition, two translation guide rails 25 are arranged at the upper and lower positions of the ball screw 26 to play a supporting role, and the control is simple and efficient.

[0074] 2) The present invention realizes transmission by using the cooperation of gears and racks, and has good transmission efficiency and high transmission accuracy.

[0075] 3) The present invention completes the transmission by using a set of meshing gears. The rotation mechanism 2 can be controlled by simply controlling the rotation of the internal gear. The control is simple and efficient; the transmission efficiency is high; and the movement is smoother.

[0076] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and disclosure of the invention. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0077] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0078] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A heat exchanger tube sheet inspection robot, characterized in that: It includes a main housing (4); The main housing (4) is connected to a rotating mechanism (2), a detection mechanism (3) and two translation mechanisms (1); Wherein, the rotating mechanism (2) is used to drive the main housing (4) to rotate in a circumferential direction; The detection mechanism (3) is used to detect the tube sheet of the heat exchanger; The two translation mechanisms (1) are respectively movably connected to two sides of the main housing (4) and are used to drive the main housing (4) to perform linear motion; The translation mechanism (1) comprises a translation box (11), a first drive assembly and a fixer; the translation box (11) is connected to the main housing (4); the first drive assembly is arranged on the top of the translation box (11); the first drive assembly is connected to the fixer via a first transmission assembly; the first drive assembly drives the fixer to extend and retract via the first transmission assembly; The main housing (4) comprises a housing body, a second drive assembly and a second guide member; the second drive assembly is arranged on a side shell (29) of the housing body, and an output end of the second drive assembly is connected to a ball screw (26); a moving platform (27) is sleeved on the ball screw (26), and the moving platform (27) is fixedly connected to a translation support plate (12) on the translation box (11); the second guide member is slidably matched with a first guide member on the translation support plate (12); The first guide member comprises a translation guide rail platform (13) fixed on the translation support plate (12); the second guide member comprises a translation guide rail (25) fixed on the side wall of the main housing (4); the translation guide rail platform (13) and the translation guide rail (25) are movably connected to form a sliding fit.

2. The heat exchanger tube sheet inspection robot according to claim 1, characterized in that: The translation box (11) is provided with a gear rack (8); the gear rack (8) is provided with a transmission gear (9), a gear shaft (6) connected to the output end of the first driving component is inserted into the transmission gear (9); the transmission gear (9) is connected to the fixer.

3. The heat exchanger tube sheet inspection robot according to claim 2, characterized in that: The gear rack (8) is provided with three transmission gears (9) meshing in sequence; the transmission gears (9) located on both sides are respectively connected to the fixer, and one of the transmission gears (9) is connected to the output end of the first drive assembly.

4. The heat exchanger tube sheet inspection robot according to claim 3, characterized in that: A bearing end cover (7) is arranged on the top of the transmission gear (9).

5. The heat exchanger tube sheet inspection robot according to claim 1, characterized in that: The rotating mechanism (2) comprises a rotating support frame (20), a third motor frame (21), a rotating main gear (22), a rotating sub-gear (23) and a gear seat (24); The rotating support frame (20) is arranged on the top of the main housing (4), the third motor frame (21) is arranged on the rotating mechanism (2), a first drive motor is mounted on the third motor frame (21), and an output shaft of the first drive motor is connected to the rotating main gear (22); the rotating main gear (22) is meshed with a rotating sub-gear (23) located at the center of the rotating support frame (20); the rotating sub-gear (23) is connected to the main housing (4) through the gear seat (24); a retractable fixing mechanism for fixing to a heat exchanger tube sheet when the robot rotates is inserted at the bottom of the rotating sub-gear (23).

6. The heat exchanger tube sheet inspection robot according to claim 5, characterized in that: The detection mechanism (3) comprises a detection support plate (15), a second motor frame (16), a rotating detection head (17), a bearing (19) and two detection head support frames (18); The detection support plate (15) is arranged on a side shell (29) of the main shell (4); the two detection head support frames (18) are fixed on the detection support plate (15); the second motor frame (16) is fixed on one of the detection head support frames (18); the rotating detection head (17) is inserted between the two detection head support frames (18) via a bearing (19); the rotating detection head (17) is connected to a second drive motor fixed on the second motor frame (16).

7. A working method of a heat exchanger tube sheet inspection robot, based on the heat exchanger tube sheet inspection robot according to claim 6, characterized in that: include: When the robot performs linear motion, the first drive assembly is started, and the first transmission assembly drives the fixer to extend, thereby fixing the translation mechanism (1) on the heat exchanger tube sheet; The second drive assembly is started to drive the moving platform (27) to move via the ball screw (26), so that the main housing (4) moves linearly relative to the translation mechanism (1); the first drive assembly is then started in the reverse direction to drive the fixing device to contract, and the second drive assembly is started to control the moving platform (27) to move, so as to drive the translation mechanism (1) to move linearly, thereby achieving linear motion of the robot as a whole; When the robot rotates, the fixture is in a retracted state, and the rotation mechanism (2) is activated to drive the robot as a whole to complete a circumferential rotation; When the robot is performing the inspection, the inspection mechanism (3) is started to complete the inspection of the heat exchanger tube sheet.

8. The working method of the heat exchanger tube sheet inspection robot according to claim 7, characterized in that: The specific steps for the robot to rotate include: The fixer is in a retracted state, the retractable fixing mechanism is extended, the first drive motor on the rotating mechanism (2) is started, and the rotating sub-gear (23) is driven to rotate by rotating the main gear (22), thereby driving the main housing (4) connected to the rotating sub-gear (23) to rotate, thereby realizing the circumferential rotation of the robot as a whole.

9. The working method of the heat exchanger tube sheet inspection robot according to claim 7, characterized in that: The specific steps of the robot's detection include: The second drive motor on the detection mechanism (3) is started to drive the rotating detection head (17) to rotate, thereby detecting the heat exchanger tube sheet.

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