A full-section detection device and detection method for a crawling hydrogen production reformer furnace tube

Abstract

The present invention discloses a full-section detection device and detection method for a crawler-type hydrogen production reformer furnace tube, which relates to the technical field of furnace tube detection and solves the technical problems of poor adaptability of current detection devices and difficulty in completing the full-section detection of furnace tubes. It includes a crawler mechanism that crawls along the outer surface of the furnace tube, and a detection mechanism for detecting the furnace tube is loaded on the crawler mechanism. The crawler mechanism includes a front body, a gravity locking mechanism, an elastic hinge, a rear body, and a double-wheel clamping mechanism. The gravity locking mechanism is installed on the front body and is used to hold the furnace tube tightly and crawl along it. The double-wheel clamping mechanism is installed on the rear body and is used to clamp the furnace tube and crawl along it. The present invention adopts a double-wheel mechanical clamping and a holding method with a two-section design based on gravity self-locking, which not only has a good anti-falling effect but also can be applied to different-sized pipes within a certain range. By carrying the detection mechanism and crawling along the furnace tube, the full-section detection of the furnace tube can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of furnace tube detection, and particularly relates to a crawler-type full-section detection device and detection method for hydrogen production reforming furnace tubes. Background Art

[0002] The furnace tubes of hydrogen production reforming furnaces are in a high-temperature, high-pressure and hydrogen-containing environment for a long time. Under such working conditions, damages such as oxidation, corrosion, and high-temperature creep often occur, forming micro-holes in the furnace tube walls. With the further expansion and connection of the micro-holes, micro-cracks are finally generated. Micro-cracks are extremely easy to expand under the high-temperature, high-pressure and hydrogen-containing working conditions, resulting in the cracking and failure of the furnace tubes, triggering the shutdown of the hydrogen production device, affecting the production process of enterprises, causing economic losses, and even triggering major safety accidents due to pipe bursts, posing a serious threat to the environment and the safety of people's lives and property. Therefore, regular inspection and protection of oxygen production reforming furnace tubes are of great significance for ensuring safe and stable operation.

[0003] Furnace tubes are divided into seamless steel tubes and welded steel tubes. The specifications of steel tubes are represented by external dimensions (such as outer diameter or side length) and wall thickness, and their size ranges are very wide, from capillary tubes with very small diameters to large-diameter tubes with diameters up to several meters. Due to the wide size range of boiler pipes, traditional ultrasonic flaw detection equipment can generally only detect boilers of a single size, with poor adaptability and inaccurate detection results. In addition, the furnace tubes are arranged closely, and the environment where detection equipment can be installed is extremely narrow. Currently, the main detection equipment is difficult to complete the full-section detection of a single furnace tube. Summary of the Invention

[0004] The purpose of the present invention is to provide a crawler-type full-section detection device and detection method for hydrogen production reforming furnace tubes, which solves the problems of poor adaptability of current detection equipment and difficulty in completing the full-section detection of furnace tubes.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A crawler-type full-section detection device for hydrogen production reforming furnace tubes includes a crawler mechanism that crawls along the outer surface of the furnace tube, and a detection mechanism for detecting the furnace tube is loaded on the crawler mechanism;

[0007] The crawler mechanism includes a front body, a gravity locking mechanism, an elastic hinge, a rear body, and a double-wheel clamping mechanism. The gravity locking mechanism is installed on the front body, and the gravity locking mechanism is used to hold the furnace tube tightly and crawl along it. The double-wheel clamping mechanism is installed on the rear body, and the double-wheel clamping mechanism is used to clamp the furnace tube and crawl along it. The front body and the rear body are connected by an elastic hinge;

[0008] The detection mechanism includes a mounting platform, a robotic arm, a gripping mechanism, and a probe. The mounting platform is installed on one side of the front body away from the furnace tube. The gripping mechanism is connected to the mounting platform through the robotic arm, and the gripping mechanism is used to clamp the probe.

[0009] As a further aspect 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 tube away from the driven wheel and 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 bracket, and the free roller is used to detect the change in the diameter of the furnace tube.

[0010] As a further aspect of the present invention: The double-wheel clamping mechanism includes a secondary driving wheel, a lead screw assembly, a second driving member, and an ultrasonic sensor. The lead screw assembly is installed on the rear body and is used to control two secondary driving wheels to clamp the furnace tube. The second driving member is installed on the lead screw assembly and drives the secondary driving 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.

[0011] As a further aspect of the present invention: The first driving member includes a fixed plate with a cover, a main driving motor, a synchronous belt, a belt pulley, and an upper rod member. The fixed plate is connected to the outer side wall of the front body through the cover. The upper rod member is installed on the side of the fixed plate away from the cover. The main driving wheel is sleeved on the upper rod member, and one of the belt pulleys is coaxially connected to the main driving wheel. The main driving motor is installed on the inner side wall of the front body, and the output shaft of the main driving motor extends to the outside of the front body and is coaxially connected to the other belt pulley. The synchronous belt is installed on the two belt pulleys.

[0012] As a further aspect of the present invention: The wheelbase adjustment assembly includes a lower rod member, a body slide rod, a movable rod, a first push rod, and a telescopic column. Through grooves are symmetrically arranged on both sides of the front body. The movable rod passes through the through groove. The first push rod is installed inside 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 member is installed at the side wall of the end of the telescopic column away from the fixed plate. The two body slide rods are symmetrically sleeved on the lower rod member, and the other end of the body slide rod is rotatably connected to the movable rod. The driven wheel is sleeved at the middle position of the lower rod member.

[0013] As a further solution of the present invention: The lead screw assembly includes brackets, a driving motor, side plates, lead screws, driving bevel gears, driven bevel gears, moving blocks and guiding blocks. The two brackets are symmetrically installed on both sides of the rear body. The side plates are installed at the ends of the brackets. The two lead screws are respectively rotatably installed on the opposite sides of the two side plates. The moving blocks are threadedly sleeved on the lead screws. The guiding blocks are slidably sleeved on the brackets. And the guiding blocks and the moving blocks are connected by support rods. A rotating rod is installed on one side of the moving block away from the support rod. The auxiliary driving wheel is coaxially connected to the rotating rod. The two driven bevel gears are respectively installed at one ends of the lead screws away from the side plates. The driving motor is installed in the rear body. The driving bevel gear is driven by the driving motor. And the driving bevel gear meshes with the two driven bevel gears.

[0014] 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 guiding 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 meshes with the driving gear.

[0015] As a further solution of the present invention: The gripping mechanism includes a cylinder body, a frame body, a second push rod, a shaft sleeve, a fixing member, a moving member, a first connecting rod, a second connecting rod and a probe gripper. The frame body is connected to the end of the robotic arm through the cylinder body. The second push rod is installed in the frame body. And the output shaft of the second push rod penetrates through one end of the frame body and is connected to the moving member. The fixing member is installed on one side of the frame body. The first connecting rod is rotatably connected to the fixing member. 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 gripper through the shaft sleeve. The shaft sleeve is rotatably connected to the moving member.

[0016] As a further solution of the present invention: A support plate is connected to the frame body. A coupling medium injection pipe is penetrated through the support plate. A nozzle is installed at one end of the coupling medium injection pipe. A probe mounting platform is installed on the mounting platform.

[0017] A detection method for a full-section detection device of a crawling hydrogen production reformer furnace tube includes the following steps:

[0018] Step 1: Start the lead screw assembly to clamp the outer wall of the furnace tube with the two auxiliary driving wheels. Then start the wheelbase adjustment assembly to adjust the horizontal distance between the driven wheel and the main driving wheel so that both the driven wheel and the main driving wheel are in contact with the outer wall of the furnace tube.

[0019] Step 2: Install the mounting platform of the detection mechanism on the side wall of the front body. Under the action of gravity and the elastic hinge, the main driving wheel and the driven wheel are clamped to the furnace tube to achieve gravity self-locking.

[0020] Step 3: Use the gripper mechanism to clamp the probe. According to the detection method of the furnace tube, start the robotic arm to adjust the position and angle of the probe.

[0021] Step 4: Start the first driving member to drive the main driving wheel to rotate, and at the same time start the second driving member to drive the auxiliary driving wheel to rotate, so that the crawling mechanism can drive the detection mechanism to crawl along the furnace tube to complete the full-section detection of the furnace tube.

[0022] Advantages of the present invention:

[0023] 1. In the present invention, the crawling mechanism drives the detection mechanism to crawl along the entire furnace tube, which is convenient for full-section detection of the furnace tube. The gravity locking mechanism can be used to tightly hold the furnace tube for crawling, and the double-wheel clamping mechanism is convenient for clamping and crawling the furnace tube. The double-wheel mechanical clamping and the holding method based on the double-section design of gravity self-locking are used. With this holding method, it not only has a large load capacity, making it difficult for the crawling mechanism to fall when crawling along the furnace tube, having good crawling stability, but also can be adaptively adjusted according to the change of the furnace tube diameter, being applicable to different sizes of pipes within a certain range and having good applicability.

[0024] 2. In the present invention, the detection mechanism is conveniently installed on the side wall of the front vehicle body through the mounting platform. The gripper mechanism is used to conveniently position and clamp the selected probe according to needs, and cooperate with the robotic arm to conveniently drive the probe for multi-degree-of-freedom adjustment, so as to facilitate adjusting the position and angle of the probe according to the detection requirements and ensure the detection effect of the probe. Description of the Drawings

[0025] The present invention will be further described below with reference to the drawings.

[0026] Figure 1 is the front view of a full-section detection device for a crawling hydrogen production reforming furnace tube of the present invention;

[0027] Figure 2 is the first perspective three-dimensional view of the connection part between the crawling mechanism and the furnace tube in a full-section detection device for a crawling hydrogen production reforming furnace tube of the present invention;

[0028] Figure 3 is the second perspective three-dimensional view of the connection part between the crawling mechanism and the furnace tube in a full-section detection device for a crawling hydrogen production reforming furnace tube of the present invention;

[0029] Figure 4 is the partial three-dimensional view of the gravity locking mechanism in a full-section detection device for a crawling hydrogen production reforming furnace tube of the present invention;

[0030] Figure 5 is the three-dimensional view of the connection part between the rear vehicle body and the double-wheel clamping mechanism in a full-section detection device for a crawling hydrogen production reforming furnace tube of the present invention;

[0031] Figure 6 It is a three-dimensional view of the detection mechanism in a full-section detection device for a crawling hydrogen production reformer furnace tube of the present invention;

[0032] Figure 7 It is a three-dimensional view of the grasping mechanism in a full-section detection device for a crawling hydrogen production reformer furnace tube of the present invention;

[0033] Figure 8 It is a three-dimensional view of the robotic arm in a full-section detection device for a crawling hydrogen production reformer furnace tube of the present invention;

[0034] Figure 9 It is a three-dimensional view of the probe mounting platform in a full-section detection device for a crawling hydrogen production reformer furnace tube of the present invention;

[0035] Figure 10 It is a force analysis diagram between the main driving wheel and the driven wheel and the furnace tube in a full-section detection device for a crawling hydrogen production reformer furnace tube of the present invention.

[0036] 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, shield; 2232, fixing plate; 2233, main driving motor; 2234, synchronous belt; 2235, belt pulley; 2236, upper rod; 224, wheelbase adjusting assembly; 2241, lower rod; 2242, body slide bar; 2243, movable rod; 2244, first push rod; 2245, telescopic column; 225, free roller; 23, elastic hinge; 24, rear body; 25, double-wheel clamping mechanism; 251, sub-driving wheel; 252, lead screw assembly; 2521, bracket; 2522, driving motor; 2523, side plate; 2524, lead screw; 2525, driving bevel gear; 2526, driven bevel gear; 2527, moving block; 2528, guiding block; 253, second driving member; 2531, sub-driving motor; 2532, driving gear; 2533, transmission gear; 254, ultrasonic sensor; 3, detection mechanism; 31, mounting platform; 32, robotic arm; 321, rotating table; 322, base 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 assembly; 326, U-shaped plate; 3261, fifth motor; 33, gripping mechanism; 331, cylinder body; 332, frame; 333, second push rod; 334, bushing; 335, fixing member; 336, moving member; 337, first connecting rod; 338, second connecting rod; 339, probe gripper; 34, probe; 4, support plate; 5, coupling medium injection pipe; 6, nozzle; 7, probe mounting table; 71, annular cavity; 72, arc-shaped clamping plate; 73, spring. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] As Figures 1-9As shown in the figure, the present invention is a full-section detection device for a crawling hydrogen production reformer furnace tube, which includes a crawling mechanism 2 that crawls along the outer surface of the furnace tube 1, and a detection mechanism 3 for detecting the furnace tube 1 is loaded on the crawling mechanism 2; the crawling mechanism 2 includes 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 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 mounting platform 31, a robotic arm 32, a gripping mechanism 33 and a probe 34. The mounting platform 31 is installed on the side of the front body 21 away from the furnace tube 1. The gripping mechanism 33 is connected to the mounting platform 31 through the robotic arm 32, and the gripping mechanism 33 is used to hold the probe 34.

[0039] It should be noted that during use, the detection mechanism 3 can be loaded on the side wall of the front body 21 through the mounting platform 31. Under the action of gravity, the front body 21 is held tightly and crawls along the furnace tube 1 in cooperation with the gravity locking mechanism 22. At the same time, the double-wheel clamping mechanism 25 makes the rear body 24 clamp and crawl along the furnace tube 1. The double-wheel mechanical clamping and the clamping method of the two-stage design based on gravity self-locking enable the crawling mechanism 2 to have a good anti-falling effect. The connection between the front body 21 and the rear body 24 by the elastic hinge 23 can not only adapt to the movement of pipes with different curvatures, but also facilitate providing an additional clamping force to the gravity locking mechanism 22, which is beneficial to improving the clamping stability; according to the detection needs, the selected probe 34 is held by the gripping mechanism 33, and the robotic arm 32 can drive the probe 34 to make multi-degree-of-freedom adjustments, so as to adjust the position and angle of the probe 34 according to the detection needs. As the crawling mechanism 2 drives the probe 34 to crawl along the entire section of the furnace tube 1, the full-section detection of the furnace tube 1 can be realized;

[0040] In this embodiment, the robotic arm 32 is a six-degree-of-freedom robotic arm. The specific structure of the robotic arm 32 is not limited in this application. Only a specific structure is provided for reference below. The robotic arm 32 includes a rotating table 321, a bottom plate 322, a first swing arm 323, a second swing arm 324, a third swing arm 325, and a U-shaped plate 326 that are connected in sequence. The rotating table 321 is installed on the carrying platform 31 and drives the bottom plate 322 to rotate. A first motor 3221 for controlling the swing of the first swing arm 323 is provided on the bottom plate 322. A second motor 3231 for controlling the swing of the second swing arm 324 is provided on the first swing arm 323. A third motor 3241 for controlling the rotation of the third swing arm 325 is provided on the second swing arm 324. A fourth motor 3251 for controlling the deflection of the U-shaped plate 326 and a belt assembly 3252 are installed on the third swing arm 325. A fifth motor 3261 for controlling the rotation of the clamping mechanism 33 is provided on the U-shaped plate 326.

[0041] As Figures 1-2 shown, the gravity locking mechanism 22 includes a main driving wheel 221, a driven wheel 222, a first driving member 223, a wheel pitch adjusting assembly 224, and a free roller 225. The driven wheel 222 is located below the front vehicle body 21. The main driving wheel 221 is located on the side of the furnace tube 1 away from the driven wheel 222 and above the driven wheel 222. The main driving wheel 221 is connected to the front vehicle body 21 through the first driving member 223. The driven wheel 222 is connected to the front vehicle body 21 through the wheel pitch adjusting assembly 224, and the wheel pitch adjusting 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 through a roller bracket, and the free roller 225 is used to detect the change in the pipe diameter of the furnace tube 1.

[0042] It should be noted that the position of the driven wheel 222 is adjusted by the wheel pitch adjusting assembly 224 so that the horizontal distance between it and the main driving wheel 221 matches the outer pipe diameter of the furnace tube 1. Both the main driving wheel 221 and the driven wheel 222 are V-shaped wheels, so as to increase the degree of fit with the pipe wall of the furnace tube 1. The detection mechanism 3 installed on the side wall of the front vehicle body 21 will generate a deflection force on the front vehicle body 21 under the action of gravity. Under the action of the deflection force, the main driving wheel 221 and the driven wheel 222 will hold the furnace tube 1 tightly to achieve gravity self-locking. The first driving member 223 drives the main driving wheel 221 to rotate to realize the crawling of the front vehicle body 21;

[0043] An angle sensor and a torsion spring are installed inside the roller frame of the free roller 225. The torsion spring can keep the free roller 225 always in contact with the furnace tube 1. The free roller 225 plays a guiding role during the crawling process. When the diameter of the furnace tube 1 changes, the free roller 225 will adaptively deflect at an angle. The angle sensor detects the angle change value and, in cooperation with an external controller, can calculate the specific change value of the diameter of the furnace tube 1, so as to facilitate the use of the wheel distance adjustment assembly 224 to correspondingly adjust the horizontal distance between the driven wheel 222 and the main driving wheel 221, so that when the diameter of the furnace tube 1 changes, the front vehicle body 21 can still move parallel along the wall of the furnace tube 1.

[0044] As Figure 3 and Figure 5 shown, the double-wheel clamping mechanism 25 includes a sub-driving wheel 251, a lead screw assembly 252, a second driving member 253, and an ultrasonic sensor 254. The lead screw assembly 252 is installed on the rear vehicle body 24, and the lead screw assembly 252 is used to control the two sub-driving wheels 251 to clamp the furnace tube 1. The second driving member 253 is installed on the lead screw assembly 252 and drives the sub-driving wheel 251 to rotate. The ultrasonic sensor 254 is installed on one side of the rear vehicle 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 vehicle body 24.

[0045] It should be noted that the sub-driving wheel 251 is also designed as a V-shaped wheel that can increase the degree of fit. Starting the lead screw assembly 252 can make the two sub-driving wheels 251 approach each other to clamp the furnace tube 1. The second driving member 253 can drive the sub-driving wheel 251 to rotate to realize the crawling of the rear vehicle body 24. When the diameter of the furnace tube 1 changes, it is detected by the ultrasonic sensor 254, and in cooperation with an external controller, the outer diameter size of the pipe that the sub-driving wheel 251 will pass through is calculated, and then the size between the two sub-driving wheels 251 is correspondingly adjusted by using the lead screw assembly 252 to improve the applicability.

[0046] As Figures 2-4 shown, the first driving member 223 includes a fixing plate 2232 with a cover 2231, a main driving motor 2233, a synchronous belt 2234, a belt pulley 2235, and an upper rod member 2236. The fixing plate 2232 is connected to the outer side wall of the front vehicle body 21 through the cover 2231. The upper rod member 2236 is installed on the side of the fixing plate 2232 away from the cover 2231. The main driving wheel 221 is sleeved on the upper rod member 2236, and one of the belt pulleys 2235 is coaxially connected to the main driving wheel 221. The main driving motor 2233 is installed on the inner side wall of the front vehicle body 21, and the output shaft of the main driving motor 2233 extends to the outside of the front vehicle body 21 and is coaxially connected to the other belt pulley 2235. The synchronous belt 2234 is installed on the two belt pulleys 2235.

[0047] It should be noted that one end of the upper rod 2236 away from the fixed plate 2232 fits against the end of the main drive wheel 221, so that the main drive wheel 221 will not be separated from the upper rod 2236. Starting the main drive motor 2233 and cooperating with the synchronous belt 2234 and the pulley 2235 for transmission can make the main drive wheel 221 rotate.

[0048] As Figures 2-4 shown, the wheelbase adjustment assembly 224 includes 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 is arranged through the through groove 211. The first push rod 2244 is installed inside 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 on the side wall of one end of the telescopic column 2245 away from the fixed plate 2232. Two vehicle body slide rods 2242 are symmetrically sleeved on the lower rod 2241, and the other end of the vehicle body slide rod 2242 is rotatably connected to the movable rod 2243. The driven wheel 222 is sleeved on the middle position of the lower rod 2241.

[0049] It should be noted that the diameter of the middle part of the lower rod 2241 is smaller than that of both ends, which is convenient for the driven wheel 222 to be limited and installed. Starting the first push rod 2244 drives the movable rod 2243 to slide up along the through groove 211, and cooperating with the vehicle body slide rod 2242 can lift the lower rod 2241 and drive the telescopic column 2245 to deflect along the hinge point, thereby increasing the horizontal distance between the driven wheel 222 and the main drive wheel 221. Similarly, pushing down the movable rod 2243 can reduce the horizontal distance between the driven wheel 222 and the main drive wheel 221, thus facilitating adaptation to the furnace tube 1 with size changes;

[0050] In order to ensure the clamping effect between the main drive wheel 221 and the furnace tube 1 and between the driven wheel 222 and the furnace tube 1, in this embodiment, an electric push rod is built in the telescopic column 2245 to control the length of the telescopic column 2245 (this is the prior art and will not be elaborated here). The specific analysis is as follows:

[0051] As Figure 10 shown, it is set that the wheel diameter of the main drive wheel 221 is r1, the wheel diameter of the driven wheel 222 is r2, the length of the telescopic column 2245 is L, the outer diameter of the furnace tube 1 is D, the vertical distance between the center of gravity of the whole machine and the furnace tube 1 is C, the vertical height between the axis of the main drive wheel 221 and the axis of the driven wheel 222 is a, and the driving force of the main drive wheel 221 and the driven wheel 222 is F T , the clamping force between the main drive wheel 221 and the driven wheel 222 and the furnace tube 1 is F N , according to the Pythagorean theorem, it is known that: a 2 +(D + r1 + r2) 2 = L2 The minimum friction coefficient μ between the main driving wheel 221 and the furnace tube 1 and between 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, it will cause a to become smaller, thus resulting in a lower friction coefficient and affecting the stability of gravity clamping and self-locking. Therefore, in this embodiment, the telescopic column 2245 is designed to have an adjustable 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 correspondingly adjusted according to the change of the diameter of the furnace tube 1.

[0052] As Figure 3 and Figure 5 shown, the lead screw assembly 252 includes a bracket 2521, a drive motor 2522, side plates 2523, lead screws 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 installed on both sides of the rear body 24. The side plates 2523 are installed at the ends of the brackets 2521. The two lead screws 2524 are respectively rotatably installed on the opposite sides of the two side plates 2523. The moving block 2527 is threadedly sleeved on the lead screw 2524. The guide block 2528 is slidably sleeved on the bracket 2521, and the guide block 2528 is connected to the moving block 2527 by a support rod. A rotating rod is installed on the side of the moving block 2527 away from the support rod, and the auxiliary driving wheel 251 is coaxially connected to the rotating rod. The two driven bevel gears 2526 are respectively installed at the ends of the lead screws 2524 away from the side plates 2523. The drive motor 2522 is installed in the rear body 24. The driving bevel gear 2525 is driven by the drive motor 2522, and the driving bevel gear 2525 meshes with the two driven bevel gears 2526.

[0053] It should be noted that starting the drive motor 2522 to drive the driving bevel gear 2525 to rotate can drive the two lead screws 2524 connected to the driven bevel gears 2526 to rotate synchronously and in opposite directions. The thread directions of the two lead screws 2524 are the same. Since the guide block 2528 slides and guides along the bracket 2521, the rotational freedom of the moving block 2527 is limited. Therefore, when the two lead screws 2524 rotate synchronously and in opposite directions, they will drive the two moving blocks 2527 and the two guide blocks 2528 to move towards each other, thereby driving the two auxiliary driving wheels 251 to clamp the furnace tube 1.

[0054] As Figure 3 and Figure 5As shown, the second driving member 253 includes a sub-driving motor 2531, a driving gear 2532, and a transmission gear 2533. The sub-driving motor 2531 is installed at the bottom of the guiding block 2528. The driving gear 2532 is connected to the output shaft of the sub-driving motor 2531. The transmission gear 2533 is fixedly sleeved on the rotating rod, and the transmission gear 2533 meshes with the driving gear 2532.

[0055] It should be noted that when the guiding block 2528 moves, it drives the sub-driving motor 2531 to move synchronously, so that the driving gear 2532 and the corresponding transmission gear 2533 always remain in a meshing state. When the sub-driving motor 2531 drives the driving gear 2532 to rotate, the rotating rod can drive the sub-driving wheel 251 to rotate.

[0056] As Figures 6-7 shown, the gripping mechanism 33 includes a cylinder body 331, a frame body 332, a second push rod 333, a bushing 334, a fixing member 335, a moving member 336, a first connecting rod 337, a second connecting rod 338, and a probe gripper 339. The frame body 332 is connected to the end of the robotic arm 32 through the cylinder body 331. The second push rod 333 is installed in the frame body 332, and the output shaft of the second push rod 333 penetrates through one end of the frame body 332 and is connected to the moving member 336. The fixing member 335 is installed on one side of the frame body 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 gripper 339 through the bushing 334. The bushing 334 is rotatably connected to the moving member 336.

[0057] It should be noted that a part of the second push rod 333 extends into the cylinder body 331, which facilitates pushing the moving member 336 to move forward or retract. When the moving member 336 moves forward in a direction away from the frame body 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 bushing 334 to rotate adaptively, so that the bushing 334 drives the two probe grippers 339 to deflect synchronously and move away from each other, so that the two probe grippers 339 are in an open state. Place the probe 34 between the two probe grippers 339, and driving the moving member 336 to retract can make the two probe grippers 339 approach and bite, realizing the clamping of the probe 34.

[0058] As Figures 6-7 shown, a support plate 4 is connected to the frame body 332. A coupling medium injection pipe 5 is penetrated through the support plate 4. A nozzle 6 is installed at one end of the coupling medium injection pipe 5. A probe mounting platform 7 is installed on the carrying platform 31.

[0059] It should be noted that different detection methods require the use of different probes 34, and for different detection methods, a coupling agent may be required. In particular, for ultrasonic detection probes, a coupling agent is needed during detection. The coupling medium injection pipe 5 is used to conveniently spray the coupling agent onto the outer surface of the furnace tube 1 via the nozzle 6;

[0060] The specific structure of the probe mounting platform 7 in this application is not limited. The following only provides a specific structure for reference. A number of annular cavities 71 are circumferentially arranged on the probe mounting platform 7. A plurality of arc-shaped clamping plates 72 are circumferentially arranged on the inner circumference of the annular cavity 71. The arc-shaped clamping plates 72 are connected to the inner wall of the annular cavity 71 through springs 73. With the tension of the springs 73, it is convenient to clamp the probe 34 with the cooperation of a plurality of arc-shaped clamping plates 72. By mounting a variety of probes 34 on the probe mounting platform 7, it is convenient to meet different detection needs.

[0061] A detection method for a full-section detection device of a crawler-type hydrogen production reforming furnace tube includes the following steps:

[0062] Step 1: Start the lead screw assembly 252 to clamp the outer wall of the furnace tube 1 with the two sub-driving wheels 251. Then start the wheelbase adjustment assembly 224 to adjust the horizontal distance between the driven wheel 222 and the main driving wheel 221, so that both the driven wheel 222 and the main driving wheel 221 are in contact with the outer wall of the furnace tube 1;

[0063] Step 2: Install the mounting platform 31 of the detection mechanism 3 on the side wall of the front body 21. Under the action of gravity and the elastic hinge 23, the main driving wheel 221 and the driven wheel 222 are made to hold the furnace tube 1 tightly, realizing gravity self-locking;

[0064] Step 3: Use the clamping mechanism 33 to clamp the probe 34. According to the detection method of the furnace tube 1, start the robotic arm 32 to adjust the position and angle of the probe 34;

[0065] Step 4: Start the first driving member 223 to drive the main driving wheel 221 to rotate, and at the same time start the second driving member 253 to drive the sub-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.

[0066] The above has described an embodiment of the present invention in detail, but the content described is only the preferred embodiment of the present invention and cannot be considered as limiting the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A full-section detection device for a crawler-type hydrogen production reforming furnace tube, characterized in that It includes a crawling mechanism (2) that crawls along the outer surface of the furnace tube (1), and a detection mechanism (3) for detecting the furnace tube (1) is loaded on the crawling mechanism (2). The crawling mechanism (2) includes 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) 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 robotic arm (32), a gripping 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 gripping mechanism (33) is connected to the carrying platform (31) through the robotic arm (32), and the gripping mechanism (33) is used to grip the probe (34). The gravity locking mechanism (22) includes a main driving wheel (221), a driven wheel (222), a first driving member (223), a wheel distance adjusting component (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 wheel distance adjusting component (224), and the wheel distance adjusting component (224) is used to adjust the horizontal distance between the driven wheel (222) and the main driving wheel (221), so as to conveniently adapt to the furnace tube (1) with size changes. 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 diameter change of the furnace tube (1). 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 during the crawling process. When the diameter of the furnace tube (1) changes, the free roller (225) will adaptively deflect at an angle. The angle sensor detects the angle change value and cooperates with an external controller to calculate the specific change value of the diameter of the furnace tube (1), so as to conveniently use the wheel distance adjusting component (224) to correspondingly adjust the horizontal distance between the driven wheel (222) and the main driving wheel (221), so that the front body (21) can still move parallel to the wall of the furnace tube (1) when the diameter of the furnace tube (1) changes. The wheelbase adjustment assembly (224) includes a lower rod member (2241), a vehicle body slide rod (2242), a movable rod (2243), a first push rod (2244), and a telescopic column (2245). To ensure the clamping effect between the main drive wheel (221) and the furnace tube (1) as well as between the driven wheel (222) and the furnace tube (1), the telescopic column (2245) is designed to have an adjustable length. Through slots (211) are symmetrically arranged on both sides of the front vehicle body (21), and the movable rod (2243) is arranged through the through slots (211). The first push rod (2244) is installed inside 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) of the first driving member (223). The lower rod member (2241) is installed at the side wall of one end of the telescopic column (2245) away from the fixed plate (2232). The two vehicle body slide rods (2242) are symmetrically sleeved on the lower rod member (2241), and the other end of the vehicle body slide rod (2242) is rotatably connected to the movable rod (2243). The driven wheel (222) is sleeved at the middle position of the lower rod member (2241).

2. The full-section detection device for the furnace tubes of a crawling hydrogen production reformer according to claim 1, characterized in that, The double-wheel clamping mechanism (25) includes a secondary drive wheel (251), a lead screw assembly (252), a second driving member (253), and an ultrasonic sensor (254). The lead screw assembly (252) is installed on the rear vehicle body (24), and the lead screw assembly (252) is used to control the two secondary drive wheels (251) to clamp the furnace tube (1). The second driving member (253) is installed on the lead screw assembly (252) and drives the secondary drive wheel (251) to rotate. The ultrasonic sensor (254) is installed on one side of the rear vehicle 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 vehicle body (24).

3. The full-section inspection device for a crawling hydrogen production reforming furnace tube according to claim 1, characterized in that, The first driving member (223) includes a fixed plate (2232) with a shield (2231), a main drive motor (2233), a synchronous belt (2234), a belt pulley (2235), and an upper rod member (2236). The fixed plate (2232) is connected to the outer side wall of the front vehicle body (21) through the shield (2231). The upper rod member (2236) is installed on the side of the fixed plate (2232) away from the shield (2231). The main drive wheel (221) is sleeved on the upper rod member (2236), and one of the belt pulleys (2235) is coaxially connected to the main drive wheel (221). The main drive motor (2233) is installed on the inner side wall of the front vehicle body (21), and the output shaft of the main drive motor (2233) extends to the outside of the front vehicle body (21) and is coaxially connected to the other belt pulley (2235). The synchronous belt (2234) is installed on the two belt pulleys (2235).

4. The full-section inspection equipment for the hydrogen production reforming furnace tubes of a crawling type according to claim 2, characterized in that, The screw rod assembly (252) includes a bracket (2521), a driving motor (2522), side plates (2523), screw rods (2524), a driving bevel gear (2525), a driven bevel gear (2526), a moving block (2527) and a guiding block (2528). The two brackets (2521) are symmetrically installed on both sides of the rear body (24). The side plates (2523) are installed at the ends of the brackets (2521). The two screw rods (2524) are respectively rotatably installed on the facing sides of the two side plates (2523). The moving block (2527) is threadedly sleeved on the screw rod (2524). The guiding block (2528) is slidably sleeved on the bracket (2521), and the guiding 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 to the rotating rod. The two driven bevel gears (2526) are respectively installed at the ends of the screw rods (2524) away from the side plates (2523). The driving motor (2522) is installed inside the rear body (24). The driving bevel gear (2525) is driven by the driving motor (2522), and the driving bevel gear (2525) meshes with the two driven bevel gears (2526).

5. The full-section detection device for a crawling hydrogen production reforming furnace tube according to claim 4, characterized in that, 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 guiding 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) meshes with the driving gear (2532).

6. The full-section inspection device for a crawling hydrogen production reforming furnace tube according to claim 1, characterized in that, The grasping mechanism (33) includes a cylinder body (331), a frame body (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 gripper (339). The frame body (332) is connected to the end of the robotic arm (32) through the cylinder body (331). The second push rod (333) is installed inside the frame body (332), and the output shaft of the second push rod (333) penetrates through one end of the frame body (332) and is connected to the moving member (336). The fixing member (335) is installed on one side of the frame body (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 gripper (339) through the shaft sleeve (334). The shaft sleeve (334) is rotatably connected to the moving member (336).

7. The full-section inspection device for a crawling hydrogen production reforming furnace tube according to claim 6, characterized in that, A support plate (4) is connected to the frame body (332). A coupling medium injection pipe (5) is disposed through the support plate (4). A nozzle (6) is installed at one end of the coupling medium injection pipe (5). A probe mounting platform (7) is installed on the carrying platform (31).

8. The detection method of a full-section detection device for a crawling hydrogen production reforming furnace tube according to any one of claims 1-7, characterized in that, It includes the following steps: Step 1: Start the lead screw assembly (252) to clamp the outer wall of the furnace tube (1) with two secondary drive wheels (251), and then start the wheel pitch adjustment assembly (224) to adjust the horizontal distance between the driven wheel (222) and the main drive wheel (221) so that both the driven wheel (222) and the main drive wheel (221) are in contact with the outer 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), make the main drive wheel (221) and the driven wheel (222) hold the furnace tube (1) tightly to achieve gravity self-locking; Step 3: Use the grasping mechanism (33) to hold the probe (34), and according to the detection method of the furnace tube (1), start the robotic arm (32) to adjust the position and angle of the probe (34); Step 4: Start the first driving part (223) to drive the main drive wheel (221) to rotate, and at the same time start the second driving part (253) to drive the secondary drive wheel (251) to rotate, so that the crawling mechanism (2) can drive the detection mechanism (3) to crawl along the furnace tube (1) to complete the full-section detection of the furnace tube (1).

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