A pipe tube plate detection robot mechanism

Abstract

The application discloses a tube plate detection robot mechanism, which comprises a rack, a linear walking mechanism, a rotating mechanism and a plurality of crawling feet arranged on the rack. The linear walking mechanism drives the rack to move linearly, the rotating mechanism drives the rack to rotate, and the crawling feet fix the rack on the heat exchange tube. The mechanism can stably operate on the tube plate of the heat exchanger.

Description

TECHNICAL FIELD

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

[0002] The tube sheet welding method is widely applied in the tube heat exchanger, is a device related to life safety and dangerous, and is widely applied in the chemical industry, energy industry and the like due to the characteristics of structural firmness and strong heat conductivity. The defects at the welded joint of the tube sheet, such as pores, cracks, incomplete fusion and incomplete penetration, are important reasons for leakage accidents, which can cause serious consequences. Therefore, the internal defect detection of the tube sheet fillet weld must be performed before the heat exchanger device is put into production.

[0003] In the actual application of the tube sheet linkage, a group of heat exchange tubes are orderly arranged, and then linked with the tube sheet to form an industrial assembly. In the process of linking a plurality of heat exchange tubes with the tube sheet, any welding method can cause linkage interface defects (welding crack, bubble and the like). Once the tube sheet with defects is applied to the actual industry, it will cause immeasurable consequences. Therefore, in order to meet the basic requirements in industrial application, the detection link is essential. SUMMARY

[0004] The application aims to overcome the defects of the prior art, and provides a tube sheet detection robot mechanism, which can stably operate on the heat exchanger tube sheet.

[0005] To achieve the above object, the application discloses a tube sheet detection robot mechanism, which comprises a rack, a linear walking mechanism, a rotating mechanism and a plurality of climbing feet arranged on the rack. The rack is driven to move linearly by the linear walking mechanism, the rack is driven to rotate by the rotating mechanism, and the rack is fixed on the heat exchange tube by the climbing feet.

[0006] Further, the rack comprises a left rack, a middle rack and a right rack.

[0007] The first dovetail sliding groove is arranged on the left rack, the second dovetail sliding groove is arranged on the right rack, the first dovetail sliding block is arranged on one side of the middle rack, and the second dovetail sliding block is arranged on the other side of the middle rack. The first dovetail sliding block is located in the first dovetail sliding groove, and the second dovetail sliding block is located in the second dovetail sliding groove.

[0008] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0009] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0010] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0011] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0012] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0013] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0014] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0015] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

[0016] Further, the straight line walking mechanism comprises a gear and rack transmission mechanism, a driving motor and a driving gear, the output shaft of the driving motor passes through the driving gear; the driving gear is engaged with the driven gear, and the rack is arranged 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 engaged with the driven gear, and the rack on the right side surface of the left frame is engaged with the driving gear.

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

[0018] The application discloses a tube tube plate detection robot mechanism, which comprises a rack and a linear walking mechanism, a rotating mechanism and a plurality of crawling feet arranged on the rack.

[0019] The crawling foot comprises a dovetail wedge block holder, a compression spring, a clamping sliding block, an extendable leg shell, an outer sleeve, an inner sleeve, a roller a, a cylindrical cam, a roller b and a driving shaft.

[0020] The clamping sliding block is matched with a dovetail sliding groove on the dovetail wedge block holder, and a wedge surface end of the inner sleeve is in contact with a wedge surface end of the clamping sliding block.

[0021] An 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 extendable leg shell is located outside the outer sleeve, rollers a are arranged between the outer sleeve and the cylindrical cam, rollers b are arranged between the outer sleeve and the cylindrical cam, the outer side of the cylindrical cam is provided with double profile grooves, the rollers a are located in one profile groove, and the rollers b are located in the other profile groove.

[0022] In the initial stage, the axial displacement of the inner sleeve and the outer sleeve is 0, at this time, the rollers b and the rollers a are located at the lowest point of the double profile grooves; when the cylindrical cam rotates to 1 / 2 of the circumference, the inner sleeve and the outer sleeve are axially moved by 25 mm, and the crawling foot is inserted into the heat exchange pipe; when the cylindrical cam rotates to 3 / 4 of the circumference, the outer sleeve is not axially moved, the inner sleeve is axially moved by 5 mm, the clamping sliding block is moved by 1.4 mm in the radial direction, the clamping sliding block is clamped and fixed on the tube tube plate, and when the cylindrical cam continues to rotate by 1 / 4 of the circumference, the outer sleeve and the inner sleeve are reversely moved in the axial direction under the action of the rollers b and the rollers a to the lowest point of the cam.

[0023] The application has the following beneficial effects:

[0024] In the specific operation of the tube tube plate detection robot mechanism, the rack is provided with the linear walking mechanism, the rotating mechanism and the plurality of crawling feet, the rack is linearly moved by the linear walking mechanism, the rack is rotated by the rotating mechanism, and the rack is fixed on the heat exchange pipe by the crawling feet, the linear walking mechanism, the rotating mechanism and the crawling feet realize linear movement, rotation and fixation, stable operation on the heat exchanger tube tube plate is realized, the structure is simple, and the design is novel.

[0025] Further, the transmission is completed through the cooperation of the gear and the rack, the transmission efficiency is good, and the transmission precision is high. Meanwhile, the design of the dovetail sliding groove and the dovetail sliding block makes the movement of the two moving mechanisms on the left side and the right side more stable.

[0026] Further, the transmission is completed by the cooperation of the internal and external meshing gears, the control of the selected mechanism can be achieved by controlling the rotation of the internal gear only, the control is simple and efficient; the transmission efficiency is high, and the movement is more stable.

[0027] Further, the whole mechanical movement can be completed by the cylindrical cam in the working process, the pipe plate detection robot can stably run on the heat exchanger pipe plate, the operation precision is high, the heat exchanger structure is not easy to be damaged, and the operation is stable and efficient. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated herein by reference. The embodiments disclosed in the drawings are illustrative of the application and are not meant to limit the application as described in this specification. In the drawings:

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

[0030] Figure 2 It is a whole structural diagram of the linear walking mechanism 1 of the application.

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

[0032] Figure 4 It is a structural diagram of the rack 6 of the application.

[0033] Figure 5 It is a whole structural diagram of the rotating mechanism 2 of the application.

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

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

[0036] Figure 8 It is a three-dimensional appearance diagram of the crawling foot of the application.

[0037] Figure 9 It is a whole structural diagram of the crawling foot of the application.

[0038] Figure 10 It is a principle diagram of the clamping structure of the crawling foot of the application.

[0039] Figure 11 It is a structural diagram of the swallow-tail wedge block holder 20 of the application.

[0040] Figure 12 It is a structural diagram of the clamping sliding block 22 of the application.

[0041] Figure 13 It is a structural diagram of the cylindrical cam 27 of the application.

[0042] Figure 14 For the inner sleeve 25 structure diagram in the application.

[0043] Figure 15 For the outer sleeve 24 structure diagram in the application.

[0044] Figure 16 For the linear motion crawling foot frame 30 structure diagram in the application.

[0045] Figure 17 For the rotating motion crawling foot frame 32 structure diagram in the application.

[0046] Wherein: 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 and rack transmission mechanism, 9 is a drive 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 holder, 21 is a compression spring, 22 is a clamping sliding block, 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 drive 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 technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] In the description of the present application, it should be understood that the terms "include" and "contain" indicate the existence of described features, whole, steps, operations, elements and / or components, but do not exclude the existence or addition of one or more other features, whole, steps, operations, elements, components and / or sets thereof.

[0049] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, unless otherwise clear from the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0050] It should be further understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items, and that the term "at least one of A and / or B" means A or B or both A and B. In addition, the character " / " as used herein generally indicates an "or" relationship between the associated objects before and after the " / ".

[0051] It should be understood that, even though the terms first, second, third, etc. can be used herein to describe various ranges or elements, these ranges or elements should not be limited to these terms. These terms are only used to distinguish one range or element from another. For example, a first range could be termed a second range without departing from the scope of the embodiments.

[0052] The word "if" as used herein means "when" or "upon" or "in response to a determination" or "in response to a detection," depending on the context. Similarly, the phrase "if it is determined" or "if a detection (of a stated condition or event) is made," as used herein, can be interpreted to mean "upon a determination," or "in response to a determination," or "upon detecting (something)," or "in response to detecting (something)," depending on the context.

[0053] In order to make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Generally, the components of the embodiments of the present application described herein and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0054] Various structural schematic diagrams according to the disclosed embodiments of the present application are shown in the accompanying drawings. These diagrams are not drawn to scale, in which some details are exaggerated for the purpose of clarity, and some details can be omitted. The shapes of various regions, layers, and their relative sizes and positional relationships shown in the diagrams are only exemplary, and in actuality, there can be deviations due to manufacturing tolerances or technical limitations, and a person skilled in the art can additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0055] Reference is made to Figure 1 andFigure 2 The tube tube plate detection robot structure comprises a linear walking mechanism 1, a rotating mechanism 2, a frame 3 and a crawling foot 4, the frame 3 comprises a left frame 5, a middle frame 6 and a right frame 7, the linear walking mechanism 1 comprises a gear and rack transmission mechanism 8, a driving motor 9 and a driving gear 10;

[0056] A first dovetail sliding groove is arranged on the left frame 5, a second dovetail sliding groove is arranged on the right frame 7, a first dovetail sliding block is arranged on one side of the middle frame 6, and a second dovetail sliding block is arranged on the other side of the middle frame 6, wherein the first dovetail sliding block is located in the first dovetail sliding groove, the second dovetail sliding block is located in the second dovetail sliding groove, the left frame 5, the right frame 7 and the middle frame 6 are connected, the output shaft of the driving motor 9 is connected with one end of a gear shaft 13, and the other end of the gear shaft 13 is movably connected to the middle frame 6 after penetrating through the driving gear 10.

[0057] The driving gear 10 is engaged with the driven gear 12, a rack 11 is arranged 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 engaged with the driven gear 12, the rack 11 on the right side surface of the left frame 5 is engaged 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 the gear and rack transmission mechanism 8.

[0058] Reference 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 penetrates through the driven gear 12.

[0059] Reference Figure 4 、 Figure 5 、 Figure 6 and Figure 7 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.

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

[0061] Reference Figures 8 to 17The crawling foot 4 is used for clamping and fixing on a heat exchanger tube plate and walking of a tube plate detection robot. Specifically, the crawling foot 4 comprises a dovetail wedge holder 20, a compression spring 21, a clamping slider 22, an extension leg shell 23, an outer sleeve 24, an inner sleeve 25, a roller a 26, a cylindrical cam 27, a roller b 28 and a driving shaft 29.

[0062] The clamping slider 22 is matched with the dovetail sliding groove on the dovetail wedge holder 20, the wedge surface end of the inner sleeve 25 is in contact with the wedge surface end of the clamping slider 22, and the clamping slider 22 is radially displaced along the axis under the extrusion of the dovetail wedge holder 20 and the inner sleeve 25, so as to clamp the heat exchange tube.

[0063] Referring to Figure 11 The dovetail wedge holder 20 is a fixing frame at the end of the outer sleeve 24, the dovetail sliding groove on the dovetail wedge holder 20 can constrain the movement range of the clamping slider 22, and cooperates with the inner sleeve 25 to make the clamping slider 22 radially displace.

[0064] The clamping slider 22 is a double-inclined-surface structure, one inclined surface of the clamping slider 22 is a dovetail sliding block structure matched with the dovetail sliding groove on the dovetail wedge holder 20, and the other inclined surface is matched with the inclined end of the inner sleeve 25.

[0065] The end of the driving 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 extension leg shell 23 is located outside the outer sleeve 24, the roller a 26 is arranged between the outer sleeve 24 and the cylindrical cam 27, and the roller b 28 is arranged between the outer sleeve 24 and the cylindrical cam 27.

[0066] Referring to Figure 13 The outer side of the cylindrical cam 27 is provided with double profile grooves, the roller a 26 is located in one profile groove, the roller b 28 is located in the other profile groove, the inner sleeve 25 and the outer sleeve 24 move axially under the action of the roller a 26 and the roller b 28, in the initial stage, the axial displacement of the inner sleeve 25 and the outer sleeve 24 is 0, at this time, the roller b 28 and the roller a 26 are located at the lowest point of the double profile grooves, when the cylindrical cam 27 rotates to 1 / 2 of the circumference, the inner sleeve 25 and the outer sleeve 24 move axially by 25 mm, the crawling foot mechanism is inserted into the heat exchange tube, when the cylindrical cam 27 rotates to 3 / 4 of the circumference, the outer sleeve 24 does not move axially, the inner sleeve 25 moves axially by 5 mm, the clamping slider 22 moves radially by about 1.4 mm, and the clamping slider 22 is clamped and fixed on the tube plate, when the cylindrical cam 27 continues to rotate by 1 / 4 of the circumference, the outer sleeve 24 and the inner sleeve 25 move reversely along the axis under the action of the roller b 28 and the roller a 26, to the lowest point of the cam, and one cycle of movement ends.

[0067] Reference Figure 14 The slope of the front end of the inner sleeve 25 cooperates with the dovetail wedge block holder 20 to displace the clamping slider 22, and the large diameter end of the clamping slider 22 is in cooperation with the roller a 26 and the cylindrical cam 27 to move along the track of the cylindrical cam 27.

[0068] Reference Figure 15 As shown in the drawings, the outer sleeve 24 is the telescopic head of the crawling foot, and one end of the outer sleeve 24 is provided with a plurality of rectangular grooves for the clamping slider 22 to pass through, and the other end of the outer sleeve 24 is in cooperation with the roller b 28 and the cylindrical cam 27 to move along the track on the cylindrical cam 27.

[0069] Reference Figure 16 The motor a 31 is fixed on the linear motion crawling foot frame 30, and the output shaft of the motor a 31 is connected with the driving shaft 29.

[0070] Working principle of the application

[0071] First, the pipe plate detection robot moves linearly, at this time, the left frame 5 and the right frame 7 are fixed on the plate, at this time, the driving motor 9 starts to rotate, driving the driving gear 10 and the driven gear 12 to rotate, the driving gear 10 and the driven gear 12 cooperate with the rack 11, and finally the middle frame 6 is pushed forward.

[0072] The middle frame 6 is fixed on the plate, and the left frame 5 and the right frame 7 are fixed on the plate, and the driving motor 9 is reversed, at this time, the rack 11 starts to move under the rotation of the driven gear 12 and the driving gear 10, finally driving the left frame 5 and the right frame 7 to move forward, at this time, the linear walking mechanism 1 completes a forward movement work.

[0073] When the pipe plate detection robot rotates, at this time, the middle frame 14 is fixed on the plate, at this time, the rotating motor 19 drives the gear 17 to rotate, and then drives the outer block inner gear 15 to rotate, finally completes the rotation work of the pipe plate detection robot.

[0074] The crawling foot mechanism is inserted into the heat exchange pipe: the cylindrical cam 27 rotates counterclockwise to 1 / 2 circle, the outer sleeve 24 and the inner sleeve 25 move along the axis under the action of the roller b 28 and the roller a 26, the inner sleeve 25 and the outer sleeve 24 move axially 25mm, the roller b 28 moves to the maximum stroke, at this time, the outer sleeve 24 is inserted into the heat exchange pipe.

[0075] Clamping slider 22 clamping: cylindrical cam 27 continues to rotate counterclockwise to 3 / 4 circumference, outer sleeve 24 does not produce axial displacement at the maximum stroke, and inner sleeve 25 moves axially under the action of roller a 26, at this time outer sleeve 24 has no axial movement, inner sleeve 25 moves axially 5mm, so that clamping slider 22 moves radially about 1.4mm, clamping slider 22 clamps on the pipe plate.

[0076] Clamping slider 22 loosening: cylindrical cam 27 rotates counterclockwise, outer sleeve 24 does not produce axial displacement at the maximum stroke, and inner sleeve 25 moves reversely along the axis under the action of roller a 26, clamping slider 22 loosens under the action of compression spring 21.

[0077] Crawling foot mechanism exits heat exchange tube: cylindrical cam 27 continues to rotate 1 / 4 circumference, outer sleeve 24 and inner sleeve 25 move reversely along the axis under the action of roller b 28 and roller a 26, to the lowest point of the cam, inner sleeve 25 and outer sleeve 24 are moved to the starting position of the stroke, at this time outer sleeve 24 exits the heat exchange tube, and a cycle of movement ends.

[0078] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0079] It is to be understood that the application is not limited to the precise construction described and as shown in the attached drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

[0080] The above description is only the preferred embodiment of the application, not any limitation of the application, any simple modification, change and equivalent structure change of the above embodiment according to the technical essence of the application are still within the protection scope of the technical scheme of the application.

Claims

1. A tube and tube sheet inspection robot mechanism, characterized in that, It includes a frame (3) and a linear walking mechanism (1), a rotating mechanism (2) and several crawling feet (4) set on the frame (3). 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) to the heat exchange tube. The crawling foot (4) includes a dovetail wedge retainer (20), a compression spring (21), a clamping slider (22), a telescopic leg shell (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 slider (22) is engaged with the dovetail groove on the dovetail wedge holder (20), and the wedge end of the inner sleeve (25) is in contact with the wedge end of the clamping slider (22); The end of the drive shaft (29) is inserted into one end of the cylindrical cam (27), and 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 inner sleeve (25) and the cylindrical cam (27), and a roller b (28) is provided between the outer sleeve (24) and the cylindrical cam (27). The outer side of the cylindrical cam (27) is provided with a double profile groove, with roller a (26) located in one profile groove and roller b (28) located in the other profile groove. In the initial stage, the axial displacement of the inner sleeve (25) and the outer sleeve (24) is 0. At this time, roller b (28) and roller a (26) are both located at the lowest point of the contour groove. When the cylindrical cam (27) rotates to 1 / 2 circumference, the inner sleeve (25) and the outer sleeve (24) move axially by 25mm, and the crawling foot is inserted into the heat exchange tube. When the cylindrical cam (27) rotates to 3 / 4 circumference, the outer sleeve (24) does not move axially, and the inner sleeve (25) moves axially by 5mm, so that the clamping slider (22) moves radially by 1.4mm. The clamping slider (22) is clamped and fixed on the tube plate. When the cylindrical cam (27) continues to rotate 1 / 4 circumference, the outer sleeve (24) and the inner sleeve (25) move axially in the opposite direction under the action of roller b (28) and roller a (26) to the lowest point of the cylindrical cam (27).

2. The tube and tube sheet inspection robot mechanism according to claim 1, characterized in that, The rack (3) includes the left rack (5), the middle rack (6) and the right rack (7); A first dovetail slide is provided on the left frame (5), a second dovetail slide 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). The first dovetail slider is located in the first dovetail slide, and the second dovetail slider is located in the second dovetail slide.

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

4. The tube and tube sheet inspection robot mechanism according to claim 3, 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) includes a central frame (14), an outer block internal gear (15), a rotating base (16), a gear (17), a connecting shaft (18), and a rotating motor (19). The inner gear (15) of the outer block is fixed on the middle frame (14). The gear (17) is located inside the inner gear (15) of the outer block. The gear (17) meshes with the inner gear (15) of the outer block. 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). The middle frame (14) is loosely fitted on the middle frame (6).

6. The tube and tube sheet inspection robot mechanism according to claim 1, characterized in that, The clamping slider (22) has a double-sloping surface structure.

7. The tube and tube sheet inspection robot mechanism according to claim 6, characterized in that, One inclined surface of the clamping slider (22) is a dovetail slider structure, which is used to cooperate with the dovetail groove on the dovetail wedge holder (20), and the other inclined surface cooperates with the inclined end of the inner sleeve (25).

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