Crawling type hydrogen production reformer furnace tube whole-section detection equipment and detection method

Abstract

The invention discloses whole-section detection equipment and detection method for a furnace tube of a crawl type hydrogen production reformer, relates to the technical field of furnace tube detection, and solves the technical problems that the current detection equipment is poor in adaptability and the whole-section detection of the furnace tube is difficult to complete. Comprising a crawling mechanism crawling along the outer surface of the furnace tube, and a detection mechanism used for detecting the furnace tube is loaded on the crawling mechanism; the crawling mechanism comprises a front vehicle body, a gravity locking mechanism, an elastic hinge, a rear vehicle body and a double-wheel clamping mechanism, the gravity locking mechanism is installed on the front vehicle body and used for tightly holding the furnace tube and crawling along the furnace tube, and the double-wheel clamping mechanism is installed on the rear vehicle body and used for clamping the furnace tube and crawling along the furnace tube. According to the invention, a double-wheel mechanical clamping mode and a holding mode based on a gravity self-locking double-section design are adopted, so that a good anti-falling effect is achieved, the device can be suitable for pipelines with different sizes in a certain range, a detection mechanism is carried to crawl along a furnace tube, and the whole-section detection of the furnace tube can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of furnace tube detection, and in particular to a creeping type hydrogen production reformer furnace tube full-section detection device and a detection method. Background Art

[0002] The furnace tubes of hydrogen production reformers are in high temperature, high pressure and hydrogen-exposed state for a long time. In such working environment, oxidation, corrosion, high temperature creep and other damages often occur, forming micro holes in the furnace tube wall. With the further expansion and connection of the micro holes, micro cracks are finally generated. Micro cracks are very easy to expand under high temperature, high pressure and hydrogen-exposed working conditions, causing the furnace tube to crack and fail, causing the hydrogen production device to stop, affecting the production process of the enterprise, causing economic losses, and even causing major safety accidents due to pipe explosions, posing a serious threat to the environment and the safety of people's lives and property. Therefore, regular inspection and protection of oxygen production reformer tubes are of great significance to ensure safe and stable operation.

[0003] Boiler tubes are divided into seamless steel tubes and welded steel tubes. The specifications of steel tubes are expressed by external dimensions (such as outer diameter or side length) and wall thickness. The size range is very wide, from capillaries with very small diameters to large-diameter tubes with diameters of several meters. Due to the wide range of boiler tube sizes, traditional ultrasonic flaw detection equipment can generally only detect boilers of a single size, with poor adaptability and inaccurate test results. In addition, the furnace tubes are closely arranged, and the environment in which the test equipment can be installed is extremely narrow. At present, it is difficult for the main test equipment to complete the full-section test of a single furnace tube. Summary of the invention

[0004] The purpose of the present invention is to provide a creeping hydrogen production reformer furnace tube full section detection device and detection method, which solves the problem that the current detection equipment has poor adaptability and is difficult to complete the furnace tube full section detection.

[0005] The purpose of the present invention can be achieved through the following technical solutions: A crawling type hydrogen production reformer furnace tube full section detection device, comprising a crawling mechanism crawling along the outer surface of the furnace tube, the crawling mechanism is loaded with a detection mechanism for detecting the furnace tube; The crawling mechanism comprises a front body, a gravity locking mechanism, an elastic hinge, a rear body and a double-wheel clamping mechanism, wherein the gravity locking mechanism is installed on the front body and is used to hold the furnace pipe tightly and crawl along it, and the double-wheel clamping mechanism is installed on the rear body and is used to clamp the furnace pipe tightly and crawl along it, and the front body and the rear body are connected by an elastic hinge; The detection mechanism includes a carrying platform, a mechanical arm, a clamping mechanism and a probe. The carrying platform is installed on a side of the front body away from the furnace pipe. The clamping mechanism is connected to the carrying platform through the mechanical arm, and the clamping mechanism is used to clamp the probe.

[0006] As a further solution of the present invention: the gravity locking mechanism includes a main driving wheel, a driven wheel, a first driving member, a wheelbase adjustment assembly and a free roller, the driven wheel is located below the front body, the main driving wheel is located on the side of the furnace pipe away from the driven wheel, and the main driving wheel is located above the driven wheel, the main driving wheel is connected to the front body through the first driving member, the driven wheel is connected to the front body through the wheelbase adjustment assembly, and the wheelbase adjustment assembly is used to adjust the horizontal distance between the driven wheel and the main driving wheel, the free roller is hinged to the top of the front body through a roller frame, and the free roller is used to detect changes in the diameter of the furnace pipe.

[0007] As a further solution of the present invention: the double-wheel clamping mechanism includes a secondary drive wheel, a screw assembly, a second drive member and an ultrasonic sensor, the screw assembly is installed on the rear body, and the screw assembly is used to control the two secondary drive wheels to clamp the furnace tube, the second drive member is installed on the screw assembly and drives the secondary drive wheel to rotate, the ultrasonic sensor is installed on the side of the rear body close to the furnace tube, and the ultrasonic sensor is used to sense the distance between the furnace tube and the rear body.

[0008] As a further solution of the present invention: the first driving member includes a fixed plate with a baffle cover, a main driving motor, a synchronous belt, a pulley and an upper rod, the fixed plate is connected to the outer wall of the front car body through the baffle cover, the upper rod is installed on the side of the fixed plate away from the baffle cover, the main driving wheel is mounted on the upper rod, and one of the pulleys is coaxially connected to the main driving wheel, the main driving motor is installed on the inner side wall of the front car body, and the output shaft of the main driving motor extends to the outside of the front car body and is coaxially connected to another pulley, and the synchronous belt is installed on the two pulleys.

[0009] As a further solution of the present invention: the wheelbase adjustment assembly includes a lower rod, a body slide bar, a movable rod, a first push rod and a telescopic column. Through slots are symmetrically arranged on both sides of the front body, the movable rod is arranged through the through slots, the first push rod is installed in the front body, and its output end is connected to the movable rod, the telescopic column is hinged to the fixed plate, the lower rod is installed at the side wall of the telescopic column away from the fixed plate, the two body slide bars are symmetrically sleeved on the lower rod, and the other end of the body slide bar is rotatably connected to the movable rod, and the driven wheel is sleeved at the middle position of the lower rod.

[0010] As a further solution of the present invention: the screw assembly includes a bracket, a transmission motor, a side plate, a screw, a driving bevel gear, a driven bevel gear, a moving block and a guide block. The two brackets are symmetrically installed on both sides of the rear body, the side plate is installed at the end of the bracket, and the two screws are rotatably installed on the opposite sides of the two side plates respectively. The moving block is threadedly sleeved with the screw, the guide block is slidingly sleeved with the bracket, and the guide block is connected to the moving block through a support rod. A rotating rod is installed on the side of the moving block away from the support rod, the auxiliary driving wheel is coaxially connected with the rotating rod, and the two driven bevel gears are respectively installed on the end of the screw away from the side plate, the transmission motor is installed in the rear body, the driving bevel gear is driven by the transmission motor, and the driving bevel gear is meshed with the two driven bevel gears.

[0011] As a further solution of the present invention: the second driving member includes an auxiliary driving motor, a driving gear and a transmission gear, the auxiliary driving motor is installed at the bottom of the guide block, the driving gear is connected to the output shaft of the auxiliary driving motor, the transmission gear is fixedly sleeved on the rotating rod, and the transmission gear is meshed with the driving gear.

[0012] As a further solution of the present invention: the grasping mechanism includes a cylinder, a frame, a second push rod, a sleeve, a fixed part, a movable part, a first connecting rod, a second connecting rod and a probe grasping clamp, the frame is connected to the end of the robotic arm through the cylinder, the second push rod is installed in the frame, and the output shaft of the second push rod passes through one end of the frame and is connected to the movable part, the fixed part is installed on one side of the frame, the first connecting rod is rotatably connected to the fixed part, the second connecting rod is hinged to the first connecting rod, and the other end of the second connecting rod is connected to the probe grasping clamp through the sleeve, and the sleeve is rotatably connected to the movable part.

[0013] As a further solution of the present invention: a support plate is connected to the frame, a coupling medium injection pipe is provided through the support plate, a nozzle is installed at one end of the coupling medium injection pipe, and a probe carrying platform is installed on the carrying platform.

[0014] A detection method for a crawling hydrogen production reformer furnace tube full section detection device comprises the following steps: Step 1: Start the screw assembly to make the two auxiliary driving wheels clamp the outer wall of the furnace tube, and then start the wheelbase adjustment assembly to adjust the horizontal distance between the driven wheel and the main driving wheel, so that the driven wheel and the main driving wheel are in contact with the outer wall of the furnace tube; Step 2: Install the carrying platform of the detection mechanism on the side wall of the front vehicle body, and under the action of gravity and elastic hinges, the main driving wheel and the driven wheel hold the furnace tube tightly to achieve gravity self-locking; Step 3: Use the clamping mechanism to clamp the probe, and start the robotic arm to adjust the position and angle of the probe according to the detection method of the furnace tube; Step 4: Start the first driving member to drive the main driving wheel to rotate, and start the second driving member to drive the auxiliary driving wheel to rotate, so that the crawling mechanism drives the detection mechanism to crawl along the furnace tube to complete the full section detection of the furnace tube.

[0015] Beneficial effects of the present invention: 1. In the present invention, the crawling mechanism drives the detection mechanism to crawl along the entire furnace tube, so as to facilitate the full-section detection of the furnace tube, the gravity locking mechanism can be used to hold the furnace tube and crawl, and the double-wheel clamping mechanism is used to facilitate the clamping and crawling of the furnace tube. The double-wheel mechanical clamping and the double-stage design based on gravity self-locking clamping method, using this clamping method, not only has a large load capacity, so that the crawling mechanism is not easy to fall when crawling along the furnace tube, and has good crawling stability, but also can be adaptively adjusted according to the change of the furnace tube diameter, suitable for pipes of different sizes within a certain range, and has good applicability.

[0016] 2. In the present invention, the detection mechanism is conveniently installed on the side wall of the front vehicle body through the carrying platform, and the selected probe is conveniently positioned and clamped according to needs by using the clamping mechanism, and the probe is conveniently driven to perform multi-degree-of-freedom adjustment in conjunction with the robotic arm, thereby facilitating the adjustment of the position and angle of the probe according to detection needs to ensure the detection effect of the probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 It is a front view of a crawling type hydrogen production reformer furnace tube full section detection device of the present invention; Figure 2 It is a first-angle stereoscopic view of the connection part between the crawling mechanism and the furnace tube in a crawling type hydrogen production reformer furnace tube full-section detection device of the present invention; Figure 3 It is a second perspective stereogram of the connection part between the crawling mechanism and the furnace tube in a crawling type hydrogen production reformer furnace tube full section detection device of the present invention; Figure 4 It is a partial stereogram of a gravity locking mechanism in a crawling type hydrogen production reformer furnace tube full section detection device of the present invention; Figure 5 It is a stereoscopic view of the connection part between the rear body and the double-wheel clamping mechanism in a crawling type hydrogen production reformer furnace tube full-section detection device of the present invention; Figure 6 It is a stereoscopic diagram of a detection mechanism in a crawling type hydrogen production reformer furnace tube full section detection device of the present invention; Figure 7 It is a stereoscopic diagram of a gripping mechanism in a crawling type hydrogen production reformer furnace tube full section detection device of the present invention; Figure 8It is a stereoscopic diagram of a mechanical arm in a crawling type hydrogen production reformer furnace tube full section detection device of the present invention; Fig. 9 It is a three-dimensional diagram of a probe carrying platform in a crawling type hydrogen production reformer furnace tube full section detection device of the present invention; Fig.10 The present invention discloses a force analysis diagram between a main driving wheel, a driven wheel and a furnace tube in a creeping hydrogen production reformer furnace tube full-section detection device.

[0019] In the figure: 1, furnace tube; 2, crawling mechanism; 21, front body; 211, through groove; 22, gravity locking mechanism; 221, main driving wheel; 222, driven wheel; 223, first driving member; 2231, baffle; 2232, fixing plate; 2233, main driving motor; 2234, synchronous belt; 2235, pulley; 2236, upper rod; 224, wheelbase adjustment assembly; 2241, lower rod; 2242, body slide bar; 2243, movable Moving rod; 2244, first push rod; 2245, telescopic column; 225, free roller; 23, elastic hinge; 24, rear body; 25, double wheel clamping mechanism; 251, auxiliary driving wheel; 252, screw assembly; 2521, bracket; 2522, transmission motor; 2523, side plate; 2524, screw; 2525, driving bevel gear; 2526, driven bevel gear; 2527, moving block; 2528, guide block; 253, second driving member ; 2531, auxiliary drive motor; 2532, drive gear; 2533, transmission gear; 254, ultrasonic sensor; 3, detection mechanism; 31, carrying platform; 32, mechanical arm; 321, rotating table; 322, bottom plate; 3221, first motor; 323, first swing arm; 3231, second motor; 324, second swing arm; 3241, third motor; 325, third swing arm; 3251, fourth motor; 3252, belt Component; 326, U-shaped plate; 3261, fifth motor; 33, gripping mechanism; 331, cylinder; 332, frame; 333, second push rod; 334, bushing; 335, fixing member; 336, moving member; 337, first connecting rod; 338, second connecting rod; 339, probe gripping clamp; 34, probe; 4, support plate; 5, coupling medium injection tube; 6, nozzle; 7, probe carrying platform; 71, annular cavity; 72, arc-shaped clamping plate; 73, spring. DETAILED DESCRIPTION

[0020] 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 only 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.

[0021] like Figure 1-Figure 9 As shown, the present invention is a crawling type hydrogen production reformer furnace tube full section detection equipment, comprising a crawling mechanism 2 crawling along the outer surface of the furnace tube 1, the crawling mechanism 2 is loaded with a detection mechanism 3 for detecting the furnace tube 1; the crawling mechanism 2 comprises a front body 21, a gravity locking mechanism 22, an elastic hinge 23, a rear body 24 and a double-wheel clamping mechanism 25, the gravity locking mechanism 22 is installed on the front body 21, and the gravity locking mechanism 22 is used to hold the furnace tube 1 tightly and crawl along it, the double-wheel clamping mechanism 25 The tightening mechanism 25 is installed on the rear body 24, and the double-wheel clamping mechanism 25 is used to clamp the furnace tube 1 and crawl along it. The front body 21 and the rear body 24 are connected by an elastic hinge 23; the detection mechanism 3 includes a carrying platform 31, a mechanical arm 32, a clamping mechanism 33 and a probe 34. The carrying platform 31 is installed on the side of the front body 21 away from the furnace tube 1. The clamping mechanism 33 is connected to the carrying platform 31 through the mechanical arm 32, and the clamping mechanism 33 is used to clamp the probe 34.

[0022] It should be noted that, when in use, the detection mechanism 3 can be loaded on the side wall of the front body 21 through the carrying platform 31, and the front body 21 can be clamped and crawled along the furnace pipe 1 in cooperation with the gravity locking mechanism 22 under the action of gravity. At the same time, the double-wheel clamping mechanism 25 makes the rear body 24 clamped and crawled along the furnace pipe 1. The double-wheel mechanical clamping and the clamping method of the two-stage design based on gravity self-locking make the crawling mechanism 2 have a good anti-falling effect. The front body 21 and the rear body 24 are connected by the elastic hinge 23, which can not only adapt to the movement of pipelines with different curvatures, but also provide additional clamping force for the gravity locking mechanism 22, which is conducive to improving the clamping stability; according to the detection needs, the selected probe 34 is clamped by the clamping mechanism 33, and the mechanical arm 32 can drive the probe 34 to adjust with multiple degrees of freedom, so as to adjust the position and angle of the probe 34 according to the detection needs. As the crawling mechanism 2 crawls along the entire section of the furnace pipe 1 with the probe 34, the entire section of the furnace pipe 1 can be detected; In this embodiment, the robotic arm 32 is a six-degree-of-freedom robotic arm. The present application does not limit the specific structure of the robotic arm 32. Only a specific structure is provided below for reference. The robotic arm 32 includes a rotating table 321, a base plate 322, a first swing arm 323, a second swing arm 324, a third swing arm 325 and a U-shaped plate 326 connected in sequence. The rotating table 321 is installed on the carrying platform 31 and drives the base plate 322 to rotate. The base plate 322 is provided with a first motor 3221 for controlling the swing of the first swing arm 323, the first swing arm 323 is provided with a second motor 3231 for controlling the swing of the second swing arm 324, the second swing arm 324 is provided with a third motor 3241 for controlling the rotation of the third swing arm 325, the third swing arm 325 is installed with a fourth motor 3251 and a belt assembly 3252 for controlling the deflection of the U-shaped plate 326, and the U-shaped plate 326 is provided with a fifth motor 3261 for controlling the rotation of the clamping mechanism 33.

[0023] like Figure 1-Figure 2 As shown, the gravity locking mechanism 22 includes a main driving wheel 221, a driven wheel 222, a first driving member 223, a wheelbase adjustment assembly 224 and a free roller 225, the driven wheel 222 is located below the front body 21, the main driving wheel 221 is located on the side of the furnace tube 1 away from the driven wheel 222, and the main driving wheel 221 is located above the driven wheel 222, the main driving wheel 221 is connected to the front body 21 through the first driving member 223, the driven wheel 222 is connected to the front body 21 through the wheelbase adjustment assembly 224, and the wheelbase adjustment assembly 224 is used to adjust the horizontal distance between the driven wheel 222 and the main driving wheel 221, the free roller 225 is hinged to the top of the front body 21 through a roller frame, and the free roller 225 is used to detect the change in the diameter of the furnace tube 1.

[0024] It should be noted that the position of the driven wheel 222 is adjusted by the wheelbase adjustment component 224 so that the horizontal distance between the driven wheel 222 and the main driving wheel 221 matches the outer diameter of the furnace tube 1. The main driving wheel 221 and the driven wheel 222 are both V-shaped wheels, so as to increase the fit with the tube wall of the furnace tube 1. The detection mechanism 3 installed at the side wall of the front body 21 will generate a deflection force on the front body 21 under the action of gravity. Under the action of the deflection force, the main driving wheel 221 and the driven wheel 222 hold the furnace tube 1 tightly, realizing gravity self-locking, and the first driving member 223 drives the main driving wheel 221 to rotate, so that the front body 21 crawls; An angle sensor and a torsion spring are installed in the roller frame of the free roller 225. The torsion spring can make the free roller 225 always fit the furnace tube 1. The free roller 225 plays a guiding role in the crawling process. When the diameter of the furnace tube 1 changes, the free roller 225 will adaptively deflect the angle. The angle sensor detects the angle change value and cooperates with the external controller to calculate the specific change value of the diameter of the furnace tube 1, so as to facilitate the use of the wheelbase adjustment component 224 to adjust the horizontal distance between the driven wheel 222 and the main driving wheel 221 accordingly, so that when the diameter of the furnace tube 1 changes, the front body 21 can still move parallel to the wall of the furnace tube 1.

[0025] like Figure 3 and Figure 5 As shown, the double-wheel clamping mechanism 25 includes an auxiliary driving wheel 251, a screw assembly 252, a second driving member 253 and an ultrasonic sensor 254. The screw assembly 252 is installed on the rear body 24, and the screw assembly 252 is used to control the two auxiliary driving wheels 251 to clamp the furnace tube 1. The second driving member 253 is installed on the screw assembly 252 and drives the auxiliary driving wheel 251 to rotate. The ultrasonic sensor 254 is installed on the side of the rear body 24 close to the furnace tube 1, and the ultrasonic sensor 254 is used to sense the distance between the furnace tube 1 and the rear body 24.

[0026] It should be noted that the auxiliary driving wheel 251 is also designed as a V-shaped wheel that can increase the fit. Starting the screw assembly 252 can make the two auxiliary driving wheels 251 approach each other to clamp the furnace tube 1. The second driving member 253 can drive the auxiliary driving wheel 251 to rotate, so that the rear body 24 can crawl. When the diameter of the furnace tube 1 changes, it is detected by the ultrasonic sensor 254, and the outer diameter of the pipe that the auxiliary driving wheel 251 will pass through is calculated in conjunction with the external controller, and then the screw assembly 252 is used to adjust the size between the two auxiliary driving wheels 251 accordingly to improve applicability.

[0027] like Figure 2-Figure 4 As shown, the first driving member 223 includes a fixed plate 2232 with a baffle 2231, a main driving motor 2233, a synchronous belt 2234, a pulley 2235 and an upper rod 2236. The fixed plate 2232 is connected to the outer wall of the front body 21 through the baffle 2231. The upper rod 2236 is installed on the side of the fixed plate 2232 away from the baffle 2231. The main driving wheel 221 is mounted on the upper rod 2236, and one of the pulleys 2235 is coaxially connected to the main driving wheel 221. The main driving motor 2233 is installed on the inner wall of the front body 21, and the output shaft of the main driving motor 2233 extends to the outside of the front body 21 and is coaxially connected to another pulley 2235. The synchronous belt 2234 is installed on the two pulleys 2235.

[0028] It should be noted that one end of the upper rod 2236 away from the fixed plate 2232 is in contact with the end of the main driving wheel 221, so that the main driving wheel 221 will not be separated from the upper rod 2236. The main driving motor 2233 is started to cooperate with the synchronous belt 2234 and the pulley 2235 to drive, so that the main driving wheel 221 can rotate.

[0029] like Figure 2-Figure 4 As shown, the wheelbase adjustment assembly 224 includes a lower rod 2241, a body slide bar 2242, a movable rod 2243, a first push rod 2244 and a telescopic column 2245. Through grooves 211 are symmetrically provided on both sides of the front body 21. The movable rod 2243 is arranged through the through grooves 211. The first push rod 2244 is installed in the front body 21, and its output end is connected to the movable rod 2243. The telescopic column 2245 is hinged to the fixed plate 2232. The lower rod 2241 is installed at the side wall of the telescopic column 2245 away from the fixed plate 2232. The two body slide bars 2242 are symmetrically sleeved on the lower rod 2241, and the other end of the body slide bar 2242 is rotatably connected to the movable rod 2243. The driven wheel 222 is sleeved at the middle position of the lower rod 2241.

[0030] It should be noted that the diameter of the middle part of the lower rod 2241 is smaller than the diameter of the two ends, which is convenient for the limited installation of the driven wheel 222. The first push rod 2244 is started to drive the movable rod 2243 to slide up along the through groove 211, and the lower rod 2241 can be lifted in cooperation with the body slide rod 2242, and the telescopic column 2245 can be driven to deflect along the hinge point, thereby increasing the horizontal distance between the driven wheel 222 and the main driving wheel 221. Similarly, the horizontal distance between the driven wheel 222 and the main driving wheel 221 can be reduced by pushing down the movable rod 2243, so as to facilitate the adaptation to the furnace tube 1 with a changed size. In order to ensure the clamping effect between the main driving wheel 221 and the furnace tube 1 and the driven wheel 222 and the furnace tube 1, in this embodiment, the telescopic column 2245 is built with an electric push rod, and the length of the telescopic column 2245 is controlled by the electric push rod (this is the prior art and will not be described in detail here). The specific analysis is as follows: like Fig.10 As shown, the wheel diameter of the main driving wheel 221 is set to r1, the wheel diameter of the driven wheel 222 is set to r2, the length of the telescopic column 2245 is set to L, the outer diameter of the furnace tube 1 is set to D, the vertical distance between the center of gravity of the whole machine and the furnace tube 1 is set to C, the vertical height between the axis of the main driving wheel 221 and the axis of the driven wheel 222 is set to a, and the driving force of the main driving wheel 221 and the driven wheel 222 is set to F T , the clamping force between the main driving wheel 221 and the driven wheel 222 and the furnace tube 1 is F N According to the Pythagorean theorem, we know that: a 2 + (D + r1 + r2) 2 =L 2, the minimum friction coefficient u between the main driving wheel 221 and the furnace tube 1 and the driven wheel 222 and the furnace tube 1 min =F T ÷F N =a÷C. When the outer diameter D of the furnace tube 1 increases, if the length L of the telescopic column 2245 remains unchanged, a will become smaller, thereby causing the friction coefficient to become lower, affecting the stability of the gravity-holding self-locking. Therefore, in this embodiment, the telescopic column 2245 is designed to be adjustable in length. When the outer diameter D of the furnace tube 1 increases, the length L of the telescopic column 2245 is correspondingly increased, so that the friction coefficient between the main driving wheel 221 and the furnace tube 1 and between the driven wheel 222 and the furnace tube 1 can be adjusted accordingly with the change in the diameter of the furnace tube 1.

[0031] like Figure 3 and Figure 5 As shown, the screw assembly 252 includes a bracket 2521, a transmission motor 2522, a side plate 2523, a screw 2524, an active bevel gear 2525, a driven bevel gear 2526, a moving block 2527 and a guide block 2528. The two brackets 2521 are symmetrically mounted on both sides of the rear body 24, the side plates 2523 are mounted on the ends of the brackets 2521, the two screws 2524 are rotatably mounted on the opposite sides of the two side plates 2523, the moving block 2527 is threadedly sleeved with the screw 2524, and the guide block 252 8 is slidably sleeved with the bracket 2521, and the guide block 2528 is connected to the moving block 2527 through a support rod. A rotating rod is installed on the side of the moving block 2527 away from the support rod. The auxiliary driving wheel 251 is coaxially connected with the rotating rod. The two driven bevel gears 2526 are respectively installed at one end of the screw rod 2524 away from the side plate 2523. The transmission motor 2522 is installed in the rear body 24. The driving bevel gear 2525 is driven by the transmission motor 2522, and the driving bevel gear 2525 is meshed with the two driven bevel gears 2526.

[0032] It should be noted that, by starting the transmission motor 2522 to drive the active bevel gear 2525 to rotate, the two screw rods 2524 connected to the driven bevel gear 2526 can be driven to rotate synchronously in the opposite direction. The thread directions of the two screw rods 2524 are consistent. Since the guide block 2528 slides along the bracket 2521, the rotational freedom of the moving block 2527 is limited. Therefore, when the two screw rods 2524 rotate synchronously in the opposite direction, the two moving blocks 2527 and the two guide blocks 2528 will be driven to move toward each other, which can drive the two auxiliary drive wheels 251 to clamp the furnace tube 1.

[0033] like Figure 3 and Figure 5As shown, the second driving member 253 includes an auxiliary driving motor 2531, a driving gear 2532 and a transmission gear 2533. The auxiliary driving motor 2531 is installed at the bottom of the guide block 2528, the driving gear 2532 is connected to the output shaft of the auxiliary driving motor 2531, and the transmission gear 2533 is fixedly sleeved on the rotating rod, and the transmission gear 2533 is meshed with the driving gear 2532.

[0034] It should be noted that when the guide block 2528 moves, it drives the auxiliary driving motor 2531 to move synchronously, so that the driving gear 2532 and the corresponding transmission gear 2533 always maintain a meshing state. When the auxiliary driving motor 2531 drives the driving gear 2532 to rotate, the rotating rod can drive the auxiliary driving wheel 251 to rotate.

[0035] like Figure 6-Figure 7 As shown, the clamping mechanism 33 includes a cylinder 331, a frame 332, a second push rod 333, a sleeve 334, a fixing member 335, a moving member 336, a first connecting rod 337, a second connecting rod 338 and a probe clamp 339. The frame 332 is connected to the end of the mechanical arm 32 through the cylinder 331, the second push rod 333 is installed in the frame 332, and the output shaft of the second push rod 333 passes through one end of the frame 332 and is connected to the moving member 336, the fixing member 335 is installed on one side of the frame 332, the first connecting rod 337 is rotatably connected to the fixing member 335, the second connecting rod 338 is hinged to the first connecting rod 337, and the other end of the second connecting rod 338 is connected to the probe clamp 339 through the sleeve 334, and the sleeve 334 is rotatably connected to the moving member 336.

[0036] It should be noted that the second push rod 333 partially extends into the cylinder 331, and the second push rod 333 is used to facilitate pushing the movable member 336 to move forward or retract. When the movable member 336 moves in a direction away from the frame 332, the hinge points of the second connecting rod 338 and the first connecting rod 337 will approach each other. At this time, the second connecting rod 338 drives the shaft sleeve 334 to rotate adaptively, so that the shaft sleeve 334 drives the two probe clamps 339 to deflect synchronously and move away from each other, so that the two probe clamps 339 are in an open state, and the probe 34 is placed between the two probe clamps 339. The movable member 336 is driven to retract, so that the two probe clamps 339 are close to each other to achieve clamping of the probe 34.

[0037] like Figure 6-Figure 7 As shown, a support plate 4 is connected to the frame 332 , a coupling medium injection pipe 5 is provided through the support plate 4 , a nozzle 6 is installed at one end of the coupling medium injection pipe 5 , and a probe mounting platform 7 is installed on the mounting platform 31 .

[0038] It should be noted that different detection methods require different probes 34, and different detection methods may require coupling agents, especially ultrasonic detection probes, which require coupling agents for detection. The coupling medium injection tube 5 is used to conveniently spray the coupling agent through the nozzle 6 onto the outer surface of the furnace tube 1; The present application does not limit the specific structure of the probe carrying platform 7. Only one specific structure is provided below for reference. A plurality of annular cavities 71 are circumferentially arranged on the probe carrying platform 7. A plurality of arc-shaped clamping plates 72 are circumferentially arranged inside the annular cavity 71. The arc-shaped clamping plates 72 are connected to the inner wall of the annular cavity 71 via springs 73. The tension of the springs 73 is utilized in combination with the plurality of arc-shaped clamping plates 72 to conveniently clamp the probe 34. By carrying a variety of probes 34 on the probe carrying platform 7, different detection needs can be conveniently met.

[0039] A detection method for a crawling hydrogen production reformer furnace tube full section detection device comprises the following steps: Step 1: Start the screw assembly 252 to make the two auxiliary driving wheels 251 clamp the outer tube wall of the furnace tube 1, and then start the wheel spacing adjustment assembly 224 to adjust the horizontal distance between the driven wheel 222 and the main driving wheel 221, so that the driven wheel 222 and the main driving wheel 221 are both in contact with the outer tube wall of the furnace tube 1; Step 2: Install the carrying platform 31 of the detection mechanism 3 on the side wall of the front body 21, and under the action of gravity and the elastic hinge 23, the main driving wheel 221 and the driven wheel 222 hold the furnace tube 1 tightly to achieve gravity self-locking; Step 3: Use the clamping mechanism 33 to clamp the probe 34, and start the mechanical arm 32 to adjust the position and angle of the probe 34 according to the detection method of the furnace tube 1; Step 4: Start the first driving member 223 to drive the main driving wheel 221 to rotate, and start the second driving member 253 to drive the auxiliary driving wheel 251 to rotate, so that the crawling mechanism 2 drives the detection mechanism 3 to crawl along the furnace tube 1 to complete the full section detection of the furnace tube 1.

[0040] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A crawling hydrogen production reformer furnace tube full section detection equipment, characterized in that: It comprises a crawling mechanism (2) crawling along the outer surface of the furnace tube (1), wherein the crawling mechanism (2) is equipped with a detection mechanism (3) for detecting the furnace tube (1); The crawling mechanism (2) comprises a front body (21), a gravity locking mechanism (22), an elastic hinge (23), a rear body (24) and a double-wheel clamping mechanism (25); the gravity locking mechanism (22) is mounted on the front body (21), and the gravity locking mechanism (22) is used to hold the furnace tube (1) and crawl along it; the double-wheel clamping mechanism (25) is mounted on the rear body (24), and the double-wheel clamping mechanism (25) is used to clamp the furnace tube (1) and crawl along it; the front body (21) and the rear body (24) are connected via the elastic hinge (23); The detection mechanism (3) comprises a carrying platform (31), a mechanical arm (32), a gripping mechanism (33) and a probe (34); the carrying platform (31) is mounted on a side of the front vehicle body (21) away from the furnace tube (1); the gripping mechanism (33) is connected to the carrying platform (31) via the mechanical arm (32); and the gripping mechanism (33) is used to grip the probe (34).

2. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 1 is characterized in that: The gravity locking mechanism (22) comprises a main driving wheel (221), a driven wheel (222), a first driving member (223), a wheelbase adjustment assembly (224) and a free roller (225), wherein the driven wheel (222) is located below the front body (21), the main driving wheel (221) is located on a side of the furnace tube (1) away from the driven wheel (222), and the main driving wheel (221) is located above the driven wheel (222). The vehicle body (21) is connected to the front vehicle body (21) via a first driving member (223); the driven wheel (222) is connected to the front vehicle body (21) via a wheelbase adjustment assembly (224); the wheelbase adjustment assembly (224) is used to adjust the horizontal distance between the driven wheel (222) and the main driving wheel (221); the free roller (225) is hinged to the top of the front vehicle body (21) via a roller frame; and the free roller (225) is used to detect changes in the diameter of the furnace tube (1).

3. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 1 is characterized in that: The double-wheel clamping mechanism (25) comprises a secondary drive wheel (251), a screw assembly (252), a second drive member (253) and an ultrasonic sensor (254); the screw assembly (252) is mounted on the rear body (24), and the screw assembly (252) is used to control the two secondary drive wheels (251) to clamp the furnace tube (1); the second drive member (253) is mounted on the screw assembly (252) and drives the secondary drive wheel (251) to rotate; the ultrasonic sensor (254) is mounted on a side of the rear body (24) close to the furnace tube (1), and the ultrasonic sensor (254) is used to sense the distance between the furnace tube (1) and the rear body (24).

4. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 2 is characterized in that: The first driving member (223) comprises a fixing plate (2232) with a baffle (2231), a main driving motor (2233), a synchronous belt (2234), a pulley (2235) and an upper rod (2236); the fixing plate (2232) is connected to the outer side wall of the front vehicle body (21) via the baffle (2231); the upper rod (2236) is installed on a side of the fixing plate (2232) away from the baffle (2231); The driving wheel (221) is sleeved on the upper rod (2236), and one of the pulleys (2235) is coaxially connected to the main driving wheel (221). The main driving motor (2233) is mounted on the inner side wall of the front body (21), and the output shaft of the main driving motor (2233) extends to the outside of the front body (21) and is coaxially connected to another pulley (2235). The synchronous belt (2234) is mounted on the two pulleys (2235).

5. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 4 is characterized in that: The wheelbase adjustment assembly (224) comprises a lower rod (2241), a vehicle body slide rod (2242), a movable rod (2243), a first push rod (2244) and a telescopic column (2245); through grooves (211) are symmetrically arranged on both sides of the front vehicle body (21); the movable rod (2243) passes through the through grooves (211); the first push rod (2244) is installed in the front vehicle body (21), and its output end is connected to the movable rod (2243). The telescopic column (2245) is hinged to the fixed plate (2232), the lower rod (2241) is installed at the side wall of one end of the telescopic column (2245) away from the fixed plate (2232), the two body slide bars (2242) are symmetrically sleeved on the lower rod (2241), and the other end of the body slide bar (2242) is rotatably connected to the movable rod (2243), and the driven wheel (222) is sleeved at the middle position of the lower rod (2241).

6. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 3 is characterized in that: The screw rod assembly (252) comprises a bracket (2521), a transmission motor (2522), a side plate (2523), a screw rod (2524), a driving bevel gear (2525), a driven bevel gear (2526), ​​a moving block (2527) and a guide block (2528); the two brackets (2521) are symmetrically mounted on both sides of the rear body (24); the side plates (2523) are mounted on the ends of the brackets (2521); the two screw rods (2524) are rotatably mounted on the opposite sides of the two side plates (2523); the moving block (2527) is threadedly sleeved with the screw rod (2524); and the guide block (2528) is rotatably mounted on the opposite sides of the two side plates (2523). 8) is slidably sleeved with the bracket (2521), and the guide block (2528) is connected to the moving block (2527) via a support rod, a rotating rod is installed on the side of the moving block (2527) away from the support rod, the auxiliary driving wheel (251) is coaxially connected with the rotating rod, the two driven bevel gears (2526) are respectively installed on the end of the screw rod (2524) away from the side plate (2523), the transmission motor (2522) is installed in the rear body (24), the driving bevel gear (2525) is driven by the transmission motor (2522), and the driving bevel gear (2525) is meshed with the two driven bevel gears (2526).

7. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 6 is characterized in that: The second driving member (253) comprises an auxiliary driving motor (2531), a driving gear (2532) and a transmission gear (2533); the auxiliary driving motor (2531) is mounted on the bottom of the guide block (2528); the driving gear (2532) is connected to the output shaft of the auxiliary driving motor (2531); the transmission gear (2533) is fixedly sleeved on the rotating rod, and the transmission gear (2533) is meshed with the driving gear (2532).

8. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 1 is characterized in that: The gripping mechanism (33) comprises a cylinder (331), a frame (332), a second push rod (333), a shaft sleeve (334), a fixing member (335), a moving member (336), a first connecting rod (337), a second connecting rod (338) and a probe gripping clamp (339); the frame (332) is connected to the end of the mechanical arm (32) via the cylinder (331); the second push rod (333) is installed in the frame (332); and the second push rod (333) One end of the output shaft passes through the frame (332) and is connected to the moving part (336); the fixing part (335) is installed on one side of the frame (332); the first connecting rod (337) is rotatably connected to the fixing part (335); the second connecting rod (338) is hinged to the first connecting rod (337); the other end of the second connecting rod (338) is connected to the probe clamp (339) via a shaft sleeve (334); and the shaft sleeve (334) is rotatably connected to the moving part (336).

9. The crawling type hydrogen production reformer furnace tube full section detection equipment according to claim 8 is characterized in that: The frame (332) is connected to a support plate (4), a coupling medium injection pipe (5) is provided through the support plate (4), a nozzle (6) is installed at one end of the coupling medium injection pipe (5), and a probe mounting platform (7) is installed on the mounting platform (31).

10. The detection method of a crawling hydrogen production reformer furnace tube full section detection device according to any one of claims 1 to 9, characterized in that: The steps include: Step 1: starting the screw assembly (252) so that the two auxiliary driving wheels (251) clamp the outer tube wall of the furnace tube (1), and then starting the wheel spacing adjustment assembly (224) to adjust the horizontal distance between the driven wheel (222) and the main driving wheel (221), so that the driven wheel (222) and the main driving wheel (221) are both in contact with the outer tube wall of the furnace tube (1); Step 2: The carrying platform (31) of the detection mechanism (3) is mounted on the side wall of the front body (21), and under the action of gravity and the elastic hinge (23), the main driving wheel (221) and the driven wheel (222) hold the furnace tube (1) tightly, thereby achieving gravity self-locking; Step 3: using the gripping mechanism (33) to clamp the probe (34), and starting the mechanical arm (32) to adjust the position and angle of the probe (34) according to the detection method of the furnace tube (1); Step 4: Start the first driving member (223) to drive the main driving wheel (221) to rotate, and start the second driving member (253) to drive the auxiliary driving wheel (251) to rotate, so that the crawling mechanism (2) drives the detection mechanism (3) to crawl along the furnace tube (1), thereby completing the full section detection of the furnace tube (1).

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