Linear walking mechanism and pipe and pipe plate detection robot

Abstract

The invention discloses a linear walking mechanism and a pipe and pipe plate detection robot. The linear walking mechanism comprises a middle rack, a left rack and a right rack. One side of the middle rack is connected with the left rack in a sliding mode, the other side of the middle rack is connected with the right rack in a sliding mode, a sliding track between the middle rack and the left rack and a sliding track between the middle rack and the right rack are distributed in parallel, and a driving device used for driving the left rack and the right rack to move is arranged on the middle rack. The structure can realize linear walking of the robot.

Description

Technical Field

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

[0002] Heat exchangers are devices that transfer part of the heat of hot fluid to cold fluid. They are also called heat exchangers. They are widely used in industrial production such as petroleum, chemical, light industry, pharmaceutical, and energy. In the manufacturing process of heat exchangers, the quality of the corner weld joints of tubes and tube sheets has always been one of the key issues in heat exchanger quality control. Since the surrounding structure of the tube-tube sheet weld joints is relatively complex and the weld meat is relatively thin, even small welding defects will greatly reduce the sealing and connection strength of such joints. Investigations have shown that pore defects are an important cause of leakage and failure of the corner weld joints of tubes and tube sheets. The key factor to ensure that large, complex, and high-parameter chemical heat exchanger products can operate reliably under harsh operating conditions and reduce the unplanned shutdown rate of the unit is the quality of the corner weld seams of the heat exchanger tubes and tube sheets. Frequent leakage of the corner welds of the tubes and tube sheets not only reduces the heat exchange efficiency of the unit, but also leads to unstable operating parameters, seriously affecting the service life of the unit.

[0003] Nowadays, manual inspection methods are mostly used when inspecting the tubes and tube sheets of heat exchangers. However, manual inspection takes a long time and is costly, and often leads to missed inspections and false inspections during the inspection process. In addition, publication number CN211741121U discloses a robot-based tube and tube sheet X-ray digital imaging automatic inspection device, including a robot, a digital imaging unit, a video positioning unit, a pre-detection unit and a remote control unit; the digital imaging unit, the video positioning unit and the pre-detection unit are installed in one body as a digital imaging inspection system, and are respectively connected to the robot; the robot, the digital imaging unit, the video positioning unit and the pre-detection unit are respectively communicated and interconnected with the remote control unit; the digital imaging inspection system is fixedly installed on the robot; the robot is provided with a crawling claw, and the robot is connected through the The crawling claw is fixed on the tube sheet and moves on the tube sheet according to the control of the remote control unit. When working, the X-ray digital imaging detection system is combined with the automatic detection device to realize high-precision and high-efficiency automatic detection, greatly improve the detection efficiency, reduce the labor intensity of personnel, and realize high-quality and efficient X-ray detection; a video positioning unit is set in the automatic detection device to calibrate the rod anode to achieve precise positioning and improve the detection quality; a pre-detection rod is added to the automatic detection device to detect the heat exchange tube to be detected to determine whether there is any blocking foreign matter to prevent damage to the rod anode; an anti-collision structure is provided to protect the rod anode.

[0004] The use of tube and tube sheet inspection robots to inspect them can avoid these situations. However, the current tube and tube sheet inspection robots cannot automatically walk in a straight line during inspection, resulting in low inspection efficiency. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a linear walking mechanism and a tube and tube sheet inspection robot, which can realize linear walking of the robot.

[0006] To achieve the above object, the present invention discloses a linear walking mechanism, comprising a middle frame, a left frame and a right frame;

[0007] One side of the middle frame is slidably connected to the left frame, and the other side of the middle frame is slidably connected to the right frame, wherein the sliding track between the middle frame and the left frame and the sliding track between the middle frame and the right frame are distributed in parallel, and a driving device for driving the left frame and the right frame to move is arranged on the middle frame.

[0008] The further improvement of the linear travel mechanism of the present invention is:

[0009] Furthermore, a first dovetail slot is provided on the left frame, a second dovetail slot is provided on the right frame, a first dovetail slider matching with the first dovetail slot is provided on one side of the middle frame, and a second dovetail slider matching with the second dovetail slot is provided on the other side of the middle frame, and the first dovetail slot is distributed in parallel with the second dovetail slot.

[0010] Furthermore, the driving device includes a gear rack transmission mechanism, a driving motor and a driving gear;

[0011] The rack and pinion transmission mechanism includes a first rack and a driven gear, wherein the first rack is arranged on the end face of the right frame, the driving gear is connected to the output shaft of the driving motor through a gear shaft, the driving gear is located on the middle frame, the driving gear is meshed with the driven gear, and the driven gear is meshed with the first rack.

[0012] Furthermore, the first rack is distributed in parallel with the first dovetail slot and the second dovetail slot.

[0013] Furthermore, the first rack is fixed to the right frame by screws.

[0014] Furthermore, the driven gear is connected to the middle frame through a gear shaft.

[0015] Furthermore, it also includes a second rack, wherein the second rack is fixed on the end surface of the left frame, and the driving gear is meshed with the second rack.

[0016] Furthermore, the second rack is distributed in parallel with the first rack, the first dovetail slot and the second dovetail slot.

[0017] The invention discloses a tube and tube sheet inspection robot, comprising a linear walking mechanism, wherein the linear walking mechanism comprises a middle frame, a left frame and a right frame;

[0018] One side of the middle frame is slidably connected to the left frame, and the other side of the middle frame is slidably connected to the right frame, wherein the sliding track between the middle frame and the left frame and the sliding track between the middle frame and the right frame are distributed in parallel, and a driving device for driving the left frame and the right frame to move is arranged on the middle frame.

[0019] The present invention has the following beneficial effects:

[0020] During specific operation, the linear walking mechanism and the tube and tube sheet inspection robot described in the present invention have sliding tracks between the middle frame and the left frame and sliding tracks between the middle frame and the right frame distributed in parallel, and the middle frame is provided with a driving device for driving the left frame and the right frame to move, so as to realize linear travel, with a simple structure, convenient operation and strong practicality.

[0021] Furthermore, the first dovetail slot is distributed in parallel with the second dovetail slot; the second rack is distributed in parallel with the first rack, the first dovetail slot and the second dovetail slot, ensuring that the mechanism can achieve straight-line travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a structural diagram of the present invention;

[0024] Figure 2 It is a schematic diagram of the present invention when walking;

[0025] Figure 3 It is a schematic diagram of the structure of the rack and pinion transmission mechanism 4 in the present invention;

[0026] Figure 4 It is a structural diagram of the left frame 2 and the right frame 3 in the present invention;

[0027] Figure 5 It is a structural diagram of the middle frame 2 in the present invention.

[0028] Among them, 1 is the left frame, 2 is the middle frame, 3 is the right frame, 4 is the gear rack transmission mechanism, 5 is the driving motor, 6 is the driving gear, 4-1 is the first rack, 4-2 is the driven gear, and 4-3 is the gear shaft. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0031] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0032] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0033] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0034] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0037] As is known, in a heat exchanger, tubes and tube sheets are two important components that work together to achieve effective heat transfer. The following is a detailed introduction to the tubes and tube sheets of heat exchangers: The heat exchange tube is the core component of the shell-and-tube heat exchanger, responsible for transferring heat from one fluid to another. The heat exchange tube is usually made of materials with good thermal conductivity, such as brass tubes, copper fin tubes or steel tubes. They are arranged in parallel or spirally in the shell, and different numbers of tube passes are set as needed. The tube sheet is a round steel fitting with holes slightly larger than the outer diameter of the tube drilled on a circular steel plate, which is used to fix the tube and seal the medium. It penetrates the tube and welds it to fix it, playing the role of supporting and fixing the tube. The tube sheet is also used to seal the medium to prevent fluid leakage. The tube sheet is usually made of thick steel plate, which has sufficient strength and rigidity to withstand the influence of fluid pressure and temperature changes. Depending on the use environment, different materials can be selected for the tube sheet. For example, in general non-corrosive media circulation, Q345R container plates can be used; while in strong acid, high pressure and high temperature, nuclear energy and other environments, corrosion-resistant materials such as stainless steel, 16 manganese, and titanium alloys are required. Tube sheets are widely used in shell-and-tube heat exchangers, boilers, pressure vessels, steam turbines, large central air conditioners and other industries. It is mainly used in chemical containers, such as shell-and-tube heat exchangers, pressure vessels, boilers, condensers, central air conditioners, evaporators, seawater desalination, etc., to support and fix the tubes. The connection between the tube and the tube sheet is mostly welded: simple processing, good connection strength, can ensure the tightness and pull-off resistance of the connection at high temperature and high pressure. However, residual thermal stress and stress concentration may be generated after welding, causing stress corrosion and fatigue damage.

[0038] Embodiment 1

[0039] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The linear travel mechanism of the present invention comprises a left frame 1, a middle frame 2, a right frame 3, a gear rack transmission mechanism 4, a driving motor 5 and a driving gear 6;

[0040] One side of the middle frame 2 is slidably connected to the left frame 1, and the other side of the middle frame 2 is slidably connected to the right frame 3, wherein the sliding track between the middle frame 2 and the left frame 1 and the sliding track between the middle frame 2 and the right frame 3 are distributed in parallel.

[0041] As an embodiment of the present invention, the left frame 1 is provided with a first dovetail slide groove, the right frame 3 is provided with a second dovetail slide groove, one side of the middle frame 2 is provided with a first dovetail slider matching with the first dovetail slide groove, and the other side of the middle frame 2 is provided with a second dovetail slider matching with the second dovetail slide groove, and the first dovetail slide groove is distributed in parallel with the second dovetail slide groove.

[0042] As an implementation scheme of the present invention, the rack and pinion transmission mechanism 4 includes a first rack 4-1 and a driven gear 4-2, wherein the first rack 4-1 is arranged on the end face of the right frame 3, and the first rack 4-1 is distributed in parallel with the first dovetail groove and the second dovetail groove, the driving gear 6 is connected to the output shaft of the driving motor 5 through the gear shaft 4-3, the driving gear 6 is located on the middle frame 2, the driving gear 6 is meshed with the driven gear 4-2, and the driven gear 4-2 is meshed with the first rack 4-1.

[0043] During operation, the driving motor 5 drives the driving gear 6 to rotate, thereby driving the rack and pinion transmission mechanism 4 to move, thereby achieving the function of controlling the movement of the linear travel mechanism.

[0044] As an embodiment of the present invention, reference Figure 3 Specifically, the first rack 4-1 is fixed to the right frame 3 by screws, the driven gear 4-2 is connected to the middle frame 2 by the gear shaft 4-3, and the driven gear 4-2 is meshed with the first rack 4-1.

[0045] As an embodiment of the present invention, it also includes a second rack, wherein the second rack is fixed on the end face of the left frame 1, the driving gear 6 is meshed with the second rack, and the second rack is distributed in parallel with the first rack 4-1, the first dovetail groove and the second dovetail groove.

[0046] The working principle of the present invention is:

[0047] First, the tube and tube sheet inspection robot is fixed on the plate surface to be inspected. At this time, the left frame 1 and the right frame 3 are fixed on the plate surface. At this time, the driving motor 5 starts to rotate, and drives the driving gear 6 and the driven gear 4-2 to rotate. At this time, the first rack 4-1 and the second rack fixed in the left frame 1 and the right frame 3, which are meshed with the driving gear 6 and the driven gear 4-2, also start to move under the rotation of the driving gear 6 and the driven gear 4-2, and finally push the middle frame 2 forward.

[0048] Then the middle frame 2 is fixed to the board surface, the left frame 1 and the right frame 3 are released from the board surface, and the driving motor 5 is reversed. At this time, the first rack 4-1 and the second rack fixed in the left frame 1 and the right frame 3, which are meshed with the driving gear 6 and the driven gear 4-2, also start to move under the rotation of the driving gear 6 and the driven gear 4-2, and finally drive the left frame 1 and the right frame 3 to move forward. At this time, the linear travel mechanism completes a forward movement.

[0049] Embodiment 2

[0050] The tube and tube sheet inspection robot described in this embodiment includes a linear walking mechanism, which includes a middle frame 2, a left frame 1 and a right frame 3; one side of the middle frame 2 is slidably connected to the left frame 1, and the other side of the middle frame 2 is slidably connected to the right frame 3, wherein the sliding track between the middle frame 2 and the left frame 1 and the sliding track between the middle frame 2 and the right frame 3 are distributed in parallel, and a driving device for driving the left frame 1 and the right frame 3 to move is provided on the middle frame 2.

[0051] Embodiment 3

[0052] The tube and tube sheet inspection robot described in the present invention includes a linear walking mechanism; the linear walking mechanism includes a middle frame 2, a left frame 1 and a right frame 3; one side of the middle frame 2 is slidably connected to the left frame 1, and the other side of the middle frame 2 is slidably connected to the right frame 3, wherein the sliding track between the middle frame 2 and the left frame 1 and the sliding track between the middle frame 2 and the right frame 3 are distributed in parallel, and the middle frame 2 is provided with a driving device for driving the left frame 1 and the right frame 3 to move; the left frame 1 is provided with a first dovetail slide, and the right frame 3 is provided with a second dovetail slide, one side of the middle frame 2 is provided with a first dovetail slider matched with the first dovetail slide, and the other side of the middle frame 2 is provided with a second dovetail slider matched with the second dovetail slide; the first dovetail slide and the second dovetail slide are distributed in parallel.

[0053] Embodiment 4

[0054] The tube and tube sheet inspection robot of the present invention includes a linear walking mechanism; the linear walking mechanism includes a middle frame 2, a left frame 1 and a right frame 3; one side of the middle frame 2 is slidably connected to the left frame 1, and the other side of the middle frame 2 is slidably connected to the right frame 3, wherein the sliding track between the middle frame 2 and the left frame 1 and the sliding track between the middle frame 2 and the right frame 3 are distributed in parallel, and a driving device for driving the left frame 1 and the right frame 3 to move is provided on the middle frame 2; the driving device includes a gear rack transmission mechanism 4, a driving motor 5 and a driving gear 6; the gear rack transmission mechanism 4 includes a first rack 4-1 and a driven gear 4-2, wherein the first rack 4-1 is arranged on the end face of the right frame 3 On the right frame 3, the driving gear 6 is connected to the output shaft of the driving motor 5 through the gear shaft 4-3, the driving gear 6 is located on the middle frame 2, the driving gear 6 is meshed with the driven gear 4-2, the driven gear 4-2 is meshed with the first rack 4-1; the first rack 4-1 is parallel to the first dovetail slot and the second dovetail slot; the first rack 4-1 is fixed to the right frame 3 by screws; the driven gear 4-2 is connected to the middle frame 2 through the gear shaft 4-3; this embodiment also includes a second rack, wherein the second rack is fixed on the end face of the left frame 1, the driving gear 6 is meshed with the second rack; the second rack is parallel to the first rack 4-1, the first dovetail slot and the second dovetail slot.

[0055] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and disclosure of the invention. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0056] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0057] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A linear travel mechanism, characterized in that: It comprises a middle frame (2), a left frame (1) and a right frame (3); One side of the middle frame (2) is slidably connected to the left frame (1), and the other side of the middle frame (2) is slidably connected to the right frame (3), wherein a sliding track between the middle frame (2) and the left frame (1) and a sliding track between the middle frame (2) and the right frame (3) are distributed in parallel, and a driving device for driving the left frame (1) and the right frame (3) to move is arranged on the middle frame (2).

2. The linear travel mechanism according to claim 1, characterized in that: The left frame (1) is provided with a first dovetail slide groove, the right frame (3) is provided with a second dovetail slide groove, one side of the middle frame (2) is provided with a first dovetail slider matched with the first dovetail slide groove, and the other side of the middle frame (2) is provided with a second dovetail slider matched with the second dovetail slide groove.

3. The linear travel mechanism according to claim 2, characterized in that: The first dovetail sliding groove and the second dovetail sliding groove are distributed in parallel.

4. The linear travel mechanism according to claim 1, characterized in that: The driving device comprises a gear rack transmission mechanism (4), a driving motor (5) and a driving gear (6); The rack and pinion transmission mechanism (4) comprises a first rack (4-1) and a driven gear (4-2), wherein the first rack (4-1) is arranged on the end surface of the right frame (3), the driving gear (6) is connected to the output shaft of the driving motor (5) through the gear shaft (4-3), the driving gear (6) is located on the middle frame (2), the driving gear (6) is meshed with the driven gear (4-2), and the driven gear (4-2) is meshed with the first rack (4-1).

5. The linear travel mechanism according to claim 4, characterized in that: The first rack (4-1) is distributed parallel to the first dovetail sliding groove and the second dovetail sliding groove.

6. The linear travel mechanism according to claim 4, characterized in that: The first rack (4-1) is fixed on the right frame (3) by means of screws.

7. The linear travel mechanism according to claim 4, characterized in that: The driven gear (4-2) is connected to the middle frame (2) via a gear shaft (4-3).

8. The linear travel mechanism according to claim 4, characterized in that: It also includes a second rack, wherein the second rack is fixed on the end surface of the left frame (1), and the driving gear (6) is meshed with the second rack.

9. The linear travel mechanism according to claim 8, characterized in that: The second rack is distributed in parallel with the first rack (4-1), the first dovetail slide groove and the second dovetail slide groove.

10. A tube and tube sheet inspection robot, characterized in that: It comprises the linear travel mechanism described in any one of claims 1 to 9.

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