Pipe and pipe plate detection robot mechanism

Abstract

The invention discloses a pipe and pipe plate detection robot mechanism which comprises a rack, a linear walking mechanism, a rotating mechanism and a plurality of crawling feet, the linear walking mechanism drives the rack to move linearly, the rotating mechanism drives the rack to rotate, the rack is fixed to a heat exchange pipe through the crawling feet, and the crawling feet are arranged on the rack. The mechanism can stably run on the heat exchanger tube plate.

Description

Technical Field

[0001] The invention belongs to the technical field of heat exchanger tube and tube sheet weld detection, and relates to a tube and tube sheet detection robot mechanism. Background Art

[0002] Tube-to-tube sheet welding is commonly used in shell-and-tube heat exchangers, which are dangerous equipment involving life safety. Due to its strong structure and strong thermal conductivity, it is widely used in chemical, energy and other industrial fields. Defects at the welded joints of tubes and tube sheets, such as pores, cracks, lack of fusion and lack of penetration, are important causes of leakage accidents and can cause serious consequences. Therefore, internal defect detection of tube-to-tube sheet fillet welds must be performed before the heat exchanger equipment is put into production.

[0003] In the actual application of tube-to-tube sheet connection, a group of heat exchange tubes are arranged in order and then connected to the 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 (weld cracks, bubbles, etc.). Once such defective tubes and tube sheets are applied to actual industry, it will cause immeasurable consequences. Therefore, in order to meet the basic requirements of industrial applications, the detection link is essential. Summary of the invention

[0004] The purpose of the present invention is to overcome the disadvantages of the prior art and provide a tube and tube sheet inspection robot mechanism, which can operate stably on the tube and tube sheet of a heat exchanger.

[0005] To achieve the above-mentioned purpose, the present invention discloses a tube and tube sheet inspection robot mechanism, comprising a frame and a linear walking mechanism, a rotating mechanism and a plurality of crawling feet arranged on the frame, wherein the frame is driven to move linearly by the linear walking mechanism, the frame is driven to rotate by the rotating mechanism, and the frame is fixed on the heat exchange tube by the crawling feet.

[0006] Further, the rack includes a left rack, a middle rack and a right rack;

[0007] A first dovetail slide groove is arranged on the left frame, a second dovetail slide groove is arranged on the right frame, a first dovetail slider is arranged on one side of the middle frame, and a second dovetail slider is arranged on the other side of the middle frame, wherein the first dovetail slider is located in the first dovetail slide groove, and the second dovetail slider is located in the second dovetail slide groove.

[0008] Furthermore, the linear travel mechanism includes a gear rack transmission mechanism, a drive motor and a driving gear, the output shaft of the drive motor passes through the driving gear; the driving gear is meshed with the driven gear, and racks are provided on the left side surface of the right frame and the right side surface of the left frame. The rack on the left side surface of the right frame is meshed with the driven gear, and the rack on the right side surface of the left frame is meshed with the driving gear.

[0009] Furthermore, it also includes a gear shaft, one end of which is connected to the middle frame, and the other end of the gear shaft passes through the driven gear.

[0010] Furthermore, the rotating mechanism includes a middle frame, an outer block inner gear, a rotating base, a gear, a connecting shaft and a rotating motor;

[0011] The inner gear of the outer block is fixed on the middle frame, the gear is located inside the inner gear of the outer block, the gear is meshed with the inner gear of the outer block, the output shaft of the rotating motor is connected to one end of the connecting shaft, the other end of the connecting shaft passes through the gear and is connected to the rotating base, and the middle frame is hollowly sleeved on the middle frame.

[0012] Further, the crawling foot includes a dovetail wedge retainer, a compression spring, a clamping slider, a telescopic leg housing, an outer sleeve, an inner sleeve, a roller a, a cylindrical cam, a roller b and a drive shaft;

[0013] The clamping slide block cooperates with the dovetail slide groove on the dovetail wedge block retainer, and the wedge surface end of the inner sleeve contacts the wedge surface end of the clamping slide block;

[0014] The end of the drive shaft is inserted into one end of the cylindrical cam, the other end of the cylindrical cam is inserted into the inner sleeve, the outer sleeve is located on the outside of the inner sleeve and the cylindrical cam, the telescopic leg housing is located on the outside of the outer sleeve, a roller a is arranged between the outer sleeve and the cylindrical cam, a roller b is arranged between the outer sleeve and the cylindrical cam, and a double contour groove is arranged on the outside of the cylindrical cam, roller a is located in one contour groove, and roller b is located in the other contour groove.

[0015] Furthermore, the clamping slider is a double-bevel structure.

[0016] Furthermore, one inclined surface of the clamping slider is a dovetail slider structure, which is used to cooperate with the dovetail slot on the dovetail wedge retaining frame, and the other inclined surface cooperates with the inclined surface end of the inner sleeve.

[0017] Furthermore, in the initial stage, the axial displacements of the inner sleeve and the outer sleeve are both 0, and at this time, the roller b and the roller a are both located at the lowest point of the double profile groove.

[0018] The present invention discloses a tube and tube sheet inspection robot mechanism, comprising a frame and a linear walking mechanism, a rotating mechanism and a plurality of crawling feet arranged on the frame, wherein the linear walking mechanism drives the frame to move linearly, the rotating mechanism drives the frame to rotate, and the crawling feet fix the frame on the heat exchange tube;

[0019] The crawling foot comprises a dovetail wedge retainer, a compression spring, a clamping slider, a telescopic leg housing, an outer sleeve, an inner sleeve, a roller a, a cylindrical cam, a roller b and a drive shaft;

[0020] The clamping slide block cooperates with the dovetail slide groove on the dovetail wedge block retainer, and the wedge surface end of the inner sleeve contacts the wedge surface end of the clamping slide block;

[0021] The end of the driving shaft is inserted into one end of the cylindrical cam, the other end of the cylindrical cam is inserted into the inner sleeve, the outer sleeve is located outside the inner sleeve and the cylindrical cam, the telescopic leg housing is located outside the outer sleeve, a roller a is provided between the outer sleeve and the cylindrical cam, a roller b is provided between the outer sleeve and the cylindrical cam, a double profile groove is provided on the outer side of the cylindrical cam, roller a is located in one profile groove, and roller b is located in the other profile groove;

[0022] At the beginning, the axial displacement of the inner sleeve and the outer sleeve is 0, and the roller b and the roller a are both located at the lowest point of the double profile groove; when the cylindrical cam rotates to 1 / 2 circle, the inner sleeve and the outer sleeve both move axially by 25mm, and the crawling foot is inserted into the heat exchange tube; when the cylindrical cam rotates to 3 / 4 circle, the outer sleeve has no axial movement, and the inner sleeve moves axially by 5mm, causing the clamping slider to move radially by 1.4mm, and the clamping slider is clamped and fixed on the tube sheet. When the cylindrical cam continues to rotate 1 / 4 circle, the outer sleeve and the inner sleeve move in the opposite direction along the axial direction under the action of rollers b and a to the lowest point of the cam.

[0023] The present invention has the following beneficial effects:

[0024] During specific operation, the tube and tube sheet inspection robot mechanism described in the present invention is provided with a linear walking mechanism, a rotating mechanism and a plurality of crawling feet on the frame. The linear walking mechanism drives the frame to move linearly, and the rotating mechanism drives the frame to rotate. The frame is fixed on the heat exchange tube by the crawling feet. The linear walking mechanism, the rotating mechanism and the crawling feet realize linear movement, rotation and fixation, thereby realizing stable operation on the tube and tube sheet of the heat exchanger. The structure is simple and the design is novel.

[0025] Furthermore, the transmission is completed by the cooperation of the gear and the rack, with good transmission efficiency and high transmission precision. At the same time, the design of the dovetail slide and the dovetail slider makes the movement of the two moving mechanisms on the left and right sides more stable.

[0026] Furthermore, it is clear that the transmission is completed by the cooperation of internal and external meshing gears. The control of the selection mechanism can be achieved 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.

[0027] Furthermore, the present invention can rely on a cylindrical cam to complete the overall mechanical movement during operation, so that the tube and tube sheet inspection robot can operate stably on the tube and tube sheet of the heat exchanger, with high operating accuracy, no easy damage to the heat exchanger structure, and stable and efficient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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:

[0029] Figure 1 It is a structural diagram of the present invention.

[0030] Figure 2 It is an overall structural diagram of the linear travel mechanism 1 of the present invention.

[0031] Figure 3 It is a schematic structural diagram of the gear rack transmission mechanism of the present invention.

[0032] Figure 4 It is a structural diagram of the frame 6 in the present invention.

[0033] Figure 5 It is the overall structural diagram of the rotating mechanism 2 in the present invention.

[0034] Figure 6 It is a partial structural diagram of the rotating base 16 in the present invention.

[0035] Figure 7 It is a structural diagram of the rotating base 16 in the present invention.

[0036] Figure 8 This is a three-dimensional appearance diagram of the crawling foot in the present invention.

[0037] Fig. 9 It is the overall structure diagram of the crawling foot in the present invention.

[0038] Fig.10 This is a schematic diagram of the clamping structure of the crawling foot in the present invention.

[0039] Fig.11 FIG. 2 is a structural diagram of the dovetail wedge retainer 20 of the present invention.

[0040] Fig.12 It is a structural diagram of the clamping slider 22 in the present invention.

[0041] Fig.13 It is a structural diagram of the cylindrical cam 27 in the present invention.

[0042] Fig.14 It is a structural diagram of the inner sleeve 25 in the present invention.

[0043] Fig.15 It is a structural diagram of the outer sleeve 24 in the present invention.

[0044] Fig.16 It is a structural diagram of the linear motion crawling foot frame 30 in the present invention.

[0045] Fig.17 It is a structural diagram of the rotary crawling foot frame 32 of the present invention.

[0046] Among them: 1 is a linear walking mechanism, 2 is a rotating mechanism, 3 is a frame, 4 is a crawling foot, 5 is a left frame, 6 is a middle frame, 7 is a right frame, 8 is a gear rack transmission mechanism, 9 is a driving motor, 10 is a driving gear, 11 is a rack, 12 is a driven gear, 13 is a gear shaft, 14 is a middle frame, 15 is an outer block inner gear, 16 is a rotating base, 17 is a gear, 18 is a connecting shaft, 19 is a rotating motor, 20 is a dovetail wedge retainer, 21 is a compression spring, 22 is a clamping slider, 23 is a telescopic leg shell, 24 is an outer sleeve, 25 is an inner sleeve, 26 is a roller, 27 is a cylindrical cam, 28 is a roller, 29 is a driving shaft, 30 is a linear motion crawling foot frame, 31 is a motor a; 32 is a rotating motion crawling foot frame. DETAILED DESCRIPTION

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] refer to Figure 1 and Figure 2 The tube and tube sheet inspection robot structure of the present invention includes a linear walking mechanism 1, a rotating mechanism 2, a frame 3 and a crawling foot 4, wherein the frame 3 includes a left frame 5, a middle frame 6 and a right frame 7, and the linear walking mechanism 1 includes a gear rack transmission mechanism 8, a driving motor 9 and a driving gear 10;

[0056] A first dovetail slide groove is provided on the left frame 5, a second dovetail slide groove is provided on the right frame 7, a first dovetail slider is provided on one side of the middle frame 6, and a second dovetail slider is provided on the other side of the middle frame 6, wherein the first dovetail slider is located in the first dovetail slide groove, and the second dovetail slider is located in the second dovetail slide groove, connecting the left frame 5, the right frame 7 and the middle frame 6, and the output shaft of the drive motor 9 is connected to one end of the gear shaft 13, and the other end of the gear shaft 13 is movably connected to the middle frame 6 after passing through the driving gear 10.

[0057] The driving gear 10 is meshed with the driven gear 12, and racks 11 are provided on the left side surface of the right frame 7 and the right side surface of the left frame 5. The rack 11 on the left side surface of the right frame 7 is meshed with the driven gear 12, and the rack 11 on the right side surface of the left frame 5 is meshed with the driving gear 10. The driving motor 9 drives the driving gear 10 to rotate, thereby driving the driven gear 12 to move on the rack 11, and the driving gear 10 moves on the rack 11, wherein the driving gear 10, the driven gear 12 and the rack 11 constitute a gear and rack transmission mechanism 8.

[0058] refer to Figure 3 One end of the gear shaft 13 is connected to the middle frame 6 , and the other end of the gear shaft 13 passes through the driven gear 12 .

[0059] refer to Figure 4 , Figure 5 , Figure 6 and Figure 7 , the rotating mechanism 2 includes a middle frame 14, an outer block inner gear 15, a rotating base 16, a gear 17, a connecting shaft 18 and a rotating motor 19;

[0060] The outer block inner gear 15 is fixed on the middle frame 14, the gear 17 is arranged in the outer block inner gear 15 and meshes with the outer block inner gear 15, the output shaft of the rotating motor 19 is connected to one end of the connecting shaft 18, and the other end of the connecting shaft 18 passes through the gear 17 and is connected to the rotating base 16, and the middle frame 14 is empty on the middle frame 6.

[0061] refer to Figures 8 to 17The crawling foot 4 is used to clamp and fix on the tube sheet of the heat exchanger, and is used for the walking of the tube sheet detection robot. Specifically, the crawling foot 4 includes a dovetail wedge holder 20, a compression spring 21, a clamping slider 22, a telescopic leg housing 23, an outer sleeve 24, an inner sleeve 25, a roller a26, a cylindrical cam 27, a roller b28 and a drive shaft 29;

[0062] The clamping slider 22 cooperates with the dovetail groove on the dovetail wedge retainer 20, and the wedge surface end of the inner sleeve 25 contacts the wedge surface end of the clamping slider 22. Under the extrusion of the dovetail wedge retainer 20 and the inner sleeve 25, the clamping slider 22 produces radial displacement along the axis to clamp the heat exchange tube.

[0063] refer to Fig.11 The dovetail wedge retainer 20 is a fixed frame at the end of the outer sleeve 24. The dovetail groove on the dovetail wedge retainer 20 can restrict the movement range of the clamping slider 22 and cooperate with the inner sleeve 25 to cause the clamping slider 22 to produce radial displacement.

[0064] The clamping slider 22 is a double-bevel structure, wherein one bevel of the clamping slider 22 is a dovetail slider structure for cooperating with the dovetail slot on the dovetail wedge retainer 20 , and the other bevel cooperates with the bevel end of the inner sleeve 25 .

[0065] The end of the drive shaft 29 is inserted into one end of the cylindrical cam 27, the other end of the cylindrical cam 27 is inserted into the inner sleeve 25, the outer sleeve 24 is located on the outside of the inner sleeve 25 and the cylindrical cam 27, the telescopic leg housing 23 is located on the outside of the outer sleeve 24, a roller a26 is provided between the outer sleeve 24 and the cylindrical cam 27, and a roller b28 is provided between the outer sleeve 24 and the cylindrical cam 27.

[0066] refer to Fig.13 The outer side of the cylindrical cam 27 is provided with a double profile groove, the roller a26 is located in one profile groove, and the roller b28 is located in the other profile groove. The inner sleeve 25 and the outer sleeve 24 move axially under the action of the roller a26 and the roller b28. In the initial stage, the axial displacement of the inner sleeve 25 and the outer sleeve 24 is 0. At this time, the roller b28 and the roller a26 are both located at the lowest point of the double profile groove; when the cylindrical cam 27 rotates to 1 / 2 of the circumference, the inner sleeve 25 and the outer sleeve 24 both move axially. 25mm, the crawling foot mechanism is inserted into the heat exchange tube; when the cylindrical cam 27 rotates to 3 / 4 of the circle, the outer sleeve 24 has no axial movement, and the inner sleeve 25 moves axially by 5mm, so that the clamping slider 22 moves radially by about 1.4mm, and the clamping slider 22 is clamped and fixed on the tube sheet; when the cylindrical cam 27 continues to rotate 1 / 4 of the circle, the outer sleeve 24 and the inner sleeve 25 move in the opposite axial direction under the action of rollers b28 and a26 to the lowest point of the cam, and one cycle of movement ends.

[0067] refer to Fig.14 The inclined surface at the front end of the inner sleeve 25 cooperates with the dovetail wedge retainer 20 to cause the clamping slider 22 to be displaced, and its large diameter end relies on roller a26 to cooperate with the cylindrical cam 27 to perform regular axial movement according to the trajectory of the cylindrical cam 27.

[0068] Reference Fig.15 As shown, the outer sleeve 24 serves as the telescopic head of the crawling foot. One end of the outer sleeve 24 is provided with a plurality of rectangular grooves for the clamping slider 22 to pass through. The other end of the outer sleeve 24 cooperates with the cylindrical cam 27 by means of roller b28 and performs regular axial movement according to the trajectory on the cylindrical cam 27.

[0069] refer to Fig.16 The motor a31 is fixed on the linear motion crawling foot frame 30, and the output shaft of the motor a31 is connected to the driving shaft 29.

[0070] Working principle of the present invention;

[0071] First, when the tube and tube sheet inspection robot moves linearly, the left frame 5 and the right frame 7 are fixed on the plate surface, and the driving motor 9 starts to rotate, driving the driving gear 10 and the driven gear 12 to rotate, and the driving gear 10 and the driven gear 12 cooperate with the rack 11, and finally push the middle frame 6 forward.

[0072] The middle frame 6 is fixed on the board surface, the left frame 5 and the right frame 7 are released from the board surface, and the driving motor 9 is reversed. At this time, the rack 11 also starts to move under the rotation of the driven gear 12 and the driving gear 10, and finally drives the left frame 5 and the right frame 7 to move forward. At this time, the linear travel mechanism 1 completes a forward movement.

[0073] When the tube and tube sheet inspection robot rotates, the middle frame 14 is fixed on the plate surface, and the rotating motor 19 drives the gear 17 to rotate, and then drives the inner gear 15 of the outer block to rotate, and finally completes the rotation work of the tube and tube sheet inspection robot.

[0074] The crawling foot mechanism is inserted into the heat exchange tube: the cylindrical cam 27 rotates counterclockwise to 1 / 2 circle, the outer sleeve 24 and the inner sleeve 25 move axially under the action of roller b28 and roller a26, the inner sleeve 25 and the outer sleeve 24 both move axially 25mm, the roller b28 moves to the maximum stroke, and the outer sleeve 24 is inserted into the heat exchange tube.

[0075] The clamping slider 22 is clamped and fixed: the cylindrical cam 27 continues to rotate counterclockwise to 3 / 4 of the circumference, the outer sleeve 24 does not produce axial displacement at the maximum stroke, and the inner sleeve 25 moves axially under the action of roller a26. At this time, the outer sleeve 24 has no axial movement, and the inner sleeve 25 moves axially by 5mm, causing the clamping slider 22 to move radially about 1.4mm, and the clamping slider 22 is clamped and fixed on the pipe plate.

[0076] The clamping slider 22 is released: the cylindrical cam 27 rotates counterclockwise, the outer sleeve 24 does not produce axial displacement at the maximum stroke, and the inner sleeve 25 moves in the opposite direction along the axial direction under the action of the roller a26, and the clamping slider 22 is released under the action of the compression spring 21.

[0077] The crawling foot mechanism withdraws from the heat exchange tube: the cylindrical cam 27 continues to rotate 1 / 4 of a circle, and the outer sleeve 24 and the inner sleeve 25 move in the opposite direction along the axial direction under the action of the roller b28 and the roller a26. When they reach the lowest point of the cam, the inner sleeve 25 and the outer sleeve 24 both move to the starting position of the stroke. At this time, the outer sleeve 24 withdraws from the heat exchange tube, and a cycle of movement ends.

[0078] 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.

[0079] 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.

[0080] 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 tube and tube sheet inspection robot mechanism, characterized in that: The invention comprises a frame (3), a linear walking mechanism (1), a rotating mechanism (2) and a plurality of crawling feet (4) arranged on the frame (3), wherein the linear walking mechanism (1) drives the frame (3) to move linearly, the rotating mechanism (2) drives the frame (3) to rotate, and the crawling feet (4) fix the frame (3) on the heat exchange tube.

2. The tube and tube sheet inspection robot mechanism according to claim 1, characterized in that: The frame (3) comprises a left frame (5), a middle frame (6) and a right frame (7); A first dovetail slide groove is arranged on the left frame (5), a second dovetail slide groove is arranged on the right frame (7), a first dovetail slider is arranged on one side of the middle frame (6), and a second dovetail slider is arranged on the other side of the middle frame (6), wherein the first dovetail slider is located in the first dovetail slide groove, and the second dovetail slider is located in the second dovetail slide groove.

3. The tube and tube sheet inspection robot mechanism according to claim 2, characterized in that: The linear travel mechanism (1) comprises a gear rack transmission mechanism (8), a drive motor (9) and a driving gear (10), wherein the output shaft of the drive motor (9) passes through the driving gear (10); the driving gear (10) is meshed with the driven gear (12); a rack (11) is provided on the left side surface of the right frame (7) and the right side surface of the left frame (5); the rack (11) on the left side surface of the right frame (7) is meshed with the driven gear (12), and the rack (11) on the right side surface of the left frame (5) is meshed with the driving gear (10).

4. The tube and tube sheet inspection robot mechanism according to claim 1, characterized in that: It also includes a gear shaft (13), one end of which is connected to the middle frame (6), and the other end of which passes through the driven gear (12).

5. The tube and tube sheet inspection robot mechanism according to claim 2, characterized in that: The rotating mechanism (2) comprises a middle frame (14), an outer block inner gear (15), a rotating base (16), a gear (17), a connecting shaft (18) and a rotating motor (19); The outer block inner gear (15) is fixed on the middle frame (14), the gear (17) is located in the outer block inner gear (15), the gear (17) is meshed with the outer block inner gear (15), the output shaft of the rotating motor (19) is connected to one end of the connecting shaft (18), the other end of the connecting shaft (18) passes through the gear (17) and is connected to the rotating base (16), and the middle frame (14) is hollowly sleeved on the middle frame (6).

6. The tube and tube sheet inspection robot mechanism according to claim 1, characterized in that: The crawling foot (4) comprises a dovetail wedge retainer (20), a compression spring (21), a clamping slider (22), a telescopic leg housing (23), an outer sleeve (24), an inner sleeve (25), a roller a (26), a cylindrical cam (27), a roller b (28) and a drive shaft (29); The clamping slide block (22) cooperates with the dovetail groove on the dovetail wedge block retainer (20), and the wedge surface end of the inner sleeve (25) contacts the wedge surface end of the clamping slide block (22); The end of the drive shaft (29) is inserted into one end of the cylindrical cam (27), the other end of the cylindrical cam (27) is inserted into the inner sleeve (25), the outer sleeve (24) is located outside the inner sleeve (25) and the cylindrical cam (27), the telescopic leg housing (23) is located outside the outer sleeve (24), a roller a (26) is provided between the outer sleeve (24) and the cylindrical cam (27), a roller b (28) is provided between the outer sleeve (24) and the cylindrical cam (27), and a double profile groove is provided on the outer side of the cylindrical cam (27), the roller a (26) is located in one profile groove, and the roller b (28) is located in the other profile groove.

7. The tube and tube sheet inspection robot mechanism according to claim 6, characterized in that: The clamping slide block (22) is a double-bevel structure.

8. The tube and tube sheet inspection robot mechanism according to claim 7, characterized in that: One inclined surface of the clamping slider (22) is a dovetail slider structure, which is used to cooperate with the dovetail slot on the dovetail wedge retainer (20), and the other inclined surface cooperates with the inclined surface end of the inner sleeve (25).

9. The tube and tube sheet inspection robot mechanism according to claim 6, characterized in that: In the initial stage, the axial displacements of the inner sleeve (25) and the outer sleeve (24) are both 0, and at this time, the roller b (28) and the roller a (26) are both located at the lowest point of the double profile groove.

10. A tube and tube sheet inspection robot mechanism, characterized in that: The invention comprises a frame (3) and a linear walking mechanism (1), a rotating mechanism (2) and a plurality of crawling feet (4) arranged on the frame (3), wherein the linear walking mechanism (1) drives the frame (3) to move linearly, the rotating mechanism (2) drives the frame (3) to rotate, and the crawling feet (4) fix the frame (3) on the heat exchange tube; The crawling foot (4) comprises a dovetail wedge retainer (20), a compression spring (21), a clamping slider (22), a telescopic leg housing (23), an outer sleeve (24), an inner sleeve (25), a roller a (26), a cylindrical cam (27), a roller b (28) and a drive shaft (29); The clamping slide block (22) cooperates with the dovetail groove on the dovetail wedge block retainer (20), and the wedge surface end of the inner sleeve (25) contacts the wedge surface end of the clamping slide block (22); The end of the drive shaft (29) is inserted into one end of the cylindrical cam (27), the other end of the cylindrical cam (27) is inserted into the inner sleeve (25), the outer sleeve (24) is located outside the inner sleeve (25) and the cylindrical cam (27), the telescopic leg housing (23) is located outside the outer sleeve (24), a roller a (26) is provided between the outer sleeve (24) and the cylindrical cam (27), a roller b (28) is provided between the outer sleeve (24) and the cylindrical cam (27), and a double profile groove is provided on the outer side of the cylindrical cam (27), the roller a (26) is located in one profile groove, and the roller b (28) is located in the other profile groove; At the beginning, the axial displacements of the inner sleeve (25) and the outer sleeve (24) are both 0, and at this time, the roller b (28) and the roller a (26) are both located at the lowest point of the double profile groove; when the cylindrical cam (27) rotates to 1 / 2 of the circle, the inner sleeve (25) and the outer sleeve (24) both move axially by 25 mm, and the crawling foot 4 is inserted into the heat exchange tube; when the cylindrical cam (27) rotates to 3 / 4 of the circle, the outer sleeve (24) has no axial movement, and the inner sleeve (25) moves axially by 5 mm, causing the clamping slider (22) to move radially by 1.4 mm. The clamping slider (22) is clamped and fixed on the tube plate. When the cylindrical cam (27) continues to rotate 1 / 4 of the circle, the outer sleeve (24) and the inner sleeve (25) move in the opposite direction along the axial direction under the action of the roller b (28) and the roller a (26) to the lowest point of the cam.

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