A heat exchanger heat transfer tube endoscope array scanning device

Abstract

The present invention discloses an endoscope array scanning device for heat transfer tubes of a heat exchanger, wherein the sliding guide rail provides a guide for the multi-axis mechanical arm to move along both sides of the tube sheet, the mechanical arm lifting platform is arranged on the sliding guide rail, and is used to control the lifting height of the multi-axis mechanical arm, the lifting platform is fixedly mounted on the mechanical arm lifting platform, the multi-axis mechanical arm is arranged on the mechanical arm lifting platform, and is used to extend the endoscope probe into the tube mouth of the heat transfer tube, and the endoscope probe is arranged at the end of the multi-axis mechanical arm, and is used to collect and transmit the tube mouth image of the heat transfer tube; the present invention uses an automated endoscope array to perform intelligent visual inspection of the proximal tube mouth and tube sheet of the condenser, and quantitatively analyzes the defects detected in the tube mouth and tube sheet, which not only solves the problem of blind spots in the traditional eddy current inspection at the tube mouth, but also can perform quantitative analysis and visual management of the detected defects, reduce the burden on the inspection personnel, and improve the accuracy and efficiency of the inspection.

Description

Technical Field

[0001] The invention relates to the technical field of heat exchanger heat transfer tubes, and in particular to an endoscope array scanning device for heat exchanger heat transfer tubes. Background Art

[0002] The condenser of a nuclear power plant provides high-quality cooling water for the secondary circuit system of the conventional island of a nuclear power plant. Its basic function is to receive the exhaust steam of the turbine and condense it into water to form a closed thermal cycle. The heat transfer tube of the condenser is a welded titanium tube, which is the isolation boundary between the secondary circuit and the tertiary circuit. However, due to various reasons, the heat transfer tube will have defects such as perforation, rust, pits, and missing tube mouths during operation. At the same time, the condenser structure, heat transfer tube material, pipe fitting specifications, and operating conditions are different, and the types and locations of defects formed are also varied. Excessive defects will cause the failure of the condenser heat transfer tube, which will not only affect the water quality of the secondary circuit of the nuclear power plant, causing the unit to shut down, directly affecting the economic benefits of the nuclear power plant, but may also cause explosions caused by rapid rupture, leakage of radioactive materials, etc., endangering personal and property safety, and even causing huge catastrophic accidents. Therefore, the in-service inspection of the condenser heat transfer tube is the focus of power plant owners and testing units, and is also an important means to ensure the safe and stable operation of the condenser.

[0003] Eddy current testing and visual inspection are the most widely used non-destructive testing methods in the inspection of in-service condenser heat transfer tubes. Eddy current testing has a high sensitivity to defects on the inner and outer walls of heat transfer tubes, and can detect defects in a timely and accurate manner, which is an important guarantee for the safe operation of equipment. From the analysis of historical eddy current testing data of condensers, it can be seen that the tube sheet area of ​​condenser heat transfer tubes is a defect-prone area. For the eddy current testing of condenser heat transfer tubes, special attention should be paid to the tube sheet area. At the same time, traditional eddy current testing has blind areas for tube sheet and tube mouth inspection, and the perforation signal with low amplitude in the tube is difficult to distinguish, resulting in the possibility of missed detection and false detection in the condenser tube sheet area. In order to solve the problem of blind areas of eddy current testing in the tube sheet area, visual inspection is used as a supplementary inspection method for eddy current testing during in-service inspection, and indirect visual inspection and direct visual inspection are performed on the tube hole and the blind areas of the tube sheet and tube mouth respectively. However, visual inspection is highly dependent on the inspectors and is greatly affected by subjective factors. The reliability and accuracy of the test results cannot be guaranteed, and the test results are difficult to accurately record and quantify. It has the disadvantages of being time-consuming, inefficient, highly subjective, poorly sustainable, and difficult to record test results, which affects subsequent maintenance decisions such as defect repair, blockage treatment, cause analysis, and defect tracing records of heat transfer tubes.

[0004] At present, the in-service inspection of condensers usually adopts the traditional eddy current probe inspection + visual inspection method to carry out defect inspection. When there is an abnormality in the blind area of ​​the tube mouth, it cannot be quantified and cannot provide a basis for defect assessment and treatment. In addition, there are no products on the market for visual inspection of the condenser tube sheet area. It is urgent to develop an automatic defect identification device to realize automatic identification and quantitative analysis of defects in the condenser tube sheet area and provide data support for maintenance decisions. Summary of the invention

[0005] The main purpose of the present invention is to provide a heat exchanger heat transfer tube endoscope array scanning device, aiming to solve the existing technical problems.

[0006] To achieve the above-mentioned purpose, the present invention provides a heat exchanger heat transfer tube endoscope array scanning device, comprising a sliding guide rail, a mechanical arm lifting platform, a lifting platform fixing frame, a multi-axis mechanical arm and an endoscope probe;

[0007] The sliding guide rail provides a guide for the multi-axis robot arm to move along the two sides of the tube sheet. The robot arm lifting platform is arranged on the sliding guide rail and is used to control the lifting height of the multi-axis robot arm. The lifting platform is fixedly mounted on the robot arm lifting platform and is used to extend into the heat transfer tube to fix the robot arm lifting platform. The multi-axis robot arm is arranged on the robot arm lifting platform and is used to extend the endoscope probe into the pipe mouth of the heat transfer tube. The endoscope probe is arranged at the end of the multi-axis robot arm and is used to collect and transmit the pipe mouth image of the heat transfer tube.

[0008] Furthermore, a folding arm is provided at the end of the multi-axis robotic arm, the endoscopic probe is provided at one end of the folding arm, a through hole is opened at the other end of the folding arm, an annular guide groove is provided on the periphery of the through hole, a slidable bracket is provided in the annular guide groove, a telescopic arm facing the center of the through hole is provided on the bracket, a sleeve perpendicular to the center of the through hole is provided at the end of the telescopic arm, a slidable guide column is inserted in the sleeve, and a marking ring with a diameter greater than the diameter of the heat exchange tube orifice is provided at the end of the guide column.

[0009] Furthermore, a rubber ring is provided at the tube mouth of the sleeve, the diameter of the rubber ring is larger than the diameter of the marking ring, and two circles of evenly distributed pinholes are opened on the surface of the rubber ring, the two circles of pinholes are respectively in contact with the marking ring in the extension and retraction paths, a sponge layer is adhered to the inner surface of the rubber ring, and the rubber ring is connected to the liquid storage box through a liquid tube.

[0010] Furthermore, the folding arm includes a first arm and a second arm, and a first rotating shaft and a second rotating shaft are respectively inserted at one end of the first arm and the second arm, and the first rotating shaft and the second rotating shaft are both inserted at different positions on the shaft seat, and a power mechanism for driving the first rotating shaft and the second rotating shaft respectively is provided on one side of the shaft seat.

[0011] Furthermore, the endoscopic probe is constrained to a guide rod, which has a first rod and a second rod, the first rod being formed by a plurality of short chains connected in sequence, adjacent short chains being connected by torsion springs, the short chains at both ends being a free end and a fixed end respectively, the front end of the endoscopic probe being connected to the first rod, the short chain at the free end being bolted with a pull wire, the pull wire passing through the second rod and being connected to a winding mechanism, the second rod being inserted into a mounting seat and being rotatable.

[0012] Furthermore, the mounting seat is movably arranged on a combined guide rail, the combined guide rail includes a circular guide rail, the circular guide rail is provided with at least one circle, and a linear guide rail is provided outside the circular guide rail, the linear guide rail is distributed around the circular guide rail to form a rectangular shape, the circular guide rail and the linear guide rail are both provided with stop points adapted to the spacing between the heat exchange tubes, and the circular guide rail and the linear guide rail are smoothly connected by a track.

[0013] Furthermore, a gauge plate is provided on the robotic arm lifting platform, and the gauge plate has plug posts at both ends, and the gauge plate is arranged on a cross rail. The gauge plate can move along the cross rail and extend one end to the outside of the cross rail, and the length of the gauge plate is adapted to the detection width of the endoscopic probe.

[0014] Furthermore, a slide is provided on the transverse rail, a steering mechanism is provided on the slide, and an output end of the steering mechanism is connected to one end of the gauge plate for driving the gauge plate to adjust between horizontal, inclined and vertical states.

[0015] Furthermore, the lifting platform fixing frame includes a fixing seat, a horizontal driving arm is provided on the fixing seat, a positioning column is provided at the front end of the driving arm, a cylindrical air bag is sleeved on the surface of the positioning column, and the diameter of the positioning column is smaller than the diameter of the tube mouth of the heat exchange tube.

[0016] Furthermore, the lifting platform fixing frame is symmetrically distributed on both sides of the multi-axis robotic arm on the robotic arm lifting platform.

[0017] The beneficial effects of the present invention are embodied in:

[0018] The present invention uses an automated endoscope array to perform intelligent visual inspection of the proximal tube orifice and tube sheet of the condenser, and quantitatively analyzes the defects detected at the tube orifice and tube sheet. It not only solves the problem of blind spots in traditional eddy current inspection at the tube orifice, but also can quantitatively analyze and visually manage the detected defects, reduce the burden on inspection personnel, and improve the accuracy and efficiency of inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention;

[0020] Figure 2It is a schematic diagram of the connection between the folding arm and the marking ring structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the structure of the marking ring of the present invention;

[0022] Figure 4 It is a side view schematic diagram of the folding arm structure of the present invention;

[0023] Figure 5 It is a schematic diagram of the guide rod structure of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the combined guide rail of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of the gauge plate of the present invention;

[0026] Figure 8 It is a schematic diagram of the structure of the lifting platform fixing frame of the present invention.

[0027] Description of reference numerals:

[0028] 10. Sliding guide rail; 20. Robot arm lifting platform; 21. Gauge plate; 22. Insert column; 23. Cross rail; 24. Sliding seat; 25. Steering mechanism; 30. Lifting platform fixing frame; 31. Fixing seat; 32. Driving arm; 33. Positioning column; 34. Tubular airbag; 40. Multi-axis robot arm; 41. Folding arm; 41a. First arm; 41b. Second arm; 41c. First rotating shaft; 41d. Second rotating shaft; 41 e. shaft seat; 42. annular guide groove; 43. bracket; 44. telescopic arm; 45. sleeve; 46. guide column; 47. marking ring; 48. rubber ring; 49. liquid storage box; 50. endoscope probe; 51. guide rod; 51a. first rod; 51b. second rod; 52. pull wire; 53. winding mechanism; 54. mounting seat; 55. combined guide rail; 55a. circular guide rail; 55b. linear guide rail; 55c. track. 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 only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. 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.

[0030] See also Figure 1 The present invention provides a heat exchanger heat transfer tube endoscope array scanning device, including a sliding guide rail 10, a mechanical arm lifting platform 20, a lifting platform fixing frame 30, a multi-axis mechanical arm 40 and an endoscope probe 50;

[0031] The sliding guide rail 10 provides guidance for the multi-axis robot 40 to move along both sides of the tube sheet. The robot arm lifting platform 20 is arranged on the sliding guide rail 10, and is used to control the lifting height of the multi-axis robot 40. The lifting platform fixing frame 30 is arranged on the robot arm lifting platform 20, and is used to extend into the heat transfer tube to fix the robot arm lifting platform 20. The multi-axis robot 40 is arranged on the robot arm lifting platform 20, and is used to extend the endoscope probe 50 into the pipe mouth of the heat transfer pipe. The endoscope probe 50 is arranged at the end of the multi-axis robot 40, and is used to collect the pipe mouth image of the heat transfer pipe and transmit it.

[0032] In this embodiment, the sliding rail 10, the robot arm lifting platform 20, the multi-axis robot arm 40 and the array endoscope probe 50 are connected to the remote integrated low-voltage control cabinet through a composite cable. The control cabinet can control the lifting height of the robot arm lifting platform 20, the position and posture of the multi-axis robot arm 40 and the motion trajectory, and at the same time obtain the image information collected by the array endoscope probe 50, and transmit the image information after intelligent processing to the monitoring display of the console to assist the inspection personnel in identifying defects.

[0033] At the beginning of the scan, the sliding guide rail 10 is fixed in front of the condenser tube sheet, and the robot arm lifting platform 20 is installed on the sliding guide rail 10, so that the robot arm lifting platform 20 can cover the tube sheets on both sides, ensuring that the range of movement of the multi-axis robot arm 40 can cover all areas of the condenser tube sheet; after the sliding guide rail 10 is fixed, the robot arm lifting platform 20 is raised to a certain height, and the pneumatic support frame of the lifting platform fixing frame 30 is placed in the condenser heat transfer tube to fix the robot arm lifting platform 20, thereby assisting the multi-axis robot arm 40 to move the array endoscope according to the predetermined trajectory. The endoscope probe 50 is sent into the condenser tube mouth for inspection; when the inspection of the condenser tube mouth and tube sheet at this height is completed, the pneumatic support frame of the lifting platform fixing frame 30 withdraws from the heat transfer tube, and the mechanical arm lifting platform 20 continues to rise to a certain height under the control of the console. At the same time, the lifting platform fixing frame 30 continues to fix the mechanical arm lifting platform 20, assisting the multi-axis mechanical arm 40 to detect the defect status of the condenser tube mouth and tube sheet area at the current height; continue to repeat this operation, and at the same time, by moving the sliding guide rail 10, finally complete the visual inspection of the tube sheets and tube mouths on the left and right sides of the condenser. During the scanning process, the control cabinet processes the image information collected by the array endoscope probe 50, quantifies the detected defects, and displays the detected defect images and size information on the monitoring display screen. At the same time, the defective heat transfer tubes or tube sheets are marked to provide data support for subsequent equipment engineers to make maintenance decisions.

[0034] In one embodiment, see Figure 2 and Figure 3A folding arm 41 is provided at the end of the multi-axis robot arm 40, an endoscopic probe 50 is provided at one end of the folding arm 41, a through hole is opened at the other end of the folding arm 41, the size of the through hole is slightly larger than the range that can be covered by a single scan of the endoscopic probe 50, an annular guide groove 42 is provided on the periphery of the through hole, a slidable bracket 43 is provided in the annular guide groove 42, a telescopic arm 44 facing the center of the through hole is provided on the bracket 43, a sleeve 45 perpendicular to the center of the through hole is provided at the end of the telescopic arm 44, a slidable guide column 46 is inserted in the sleeve 45, the guide column 46 can be driven by a cylinder, a marking ring 47 with a diameter larger than the diameter of the heat exchange tube mouth is provided at the end of the guide column 46, and the marking ring 47 can be coated with a conspicuous material, such as the marking material of a marker pen.

[0035] The present embodiment is configured in this way. Since there are a large number of heat exchange tube openings that need to be inspected, it is difficult to accurately and quickly lock the heat exchange tubes that need to be inspected and maintained after the scanning and inspection. The present embodiment marks the heat exchange tubes that need to be inspected and maintained by means of a marking ring 47. Specifically, when the endoscopic probe 50 scans the heat exchange tubes in sequence according to the trajectory and moves to the next scanning position, the scanning and inspection data locks the abnormal heat exchange tubes, drives the telescopic arm 44 to drive the marking ring 47 to move to the heat exchange tube at the previous abnormal scanning position, and drives the marking ring 47 to move to the abnormal heat exchange tube opening through the guide column 46 and contact with its outer edge, so as to mark the heat exchange tube opening with a conspicuous mark, so that the staff can quickly lock the abnormal heat exchange tubes after the scanning and perform maintenance on them in time.

[0036] Among them, the bracket 43 can make approximately circular motion around the annular guide groove 42, and is used to cooperate with the telescopic arm 44 to quickly drive the marking ring 47 to the required marking position. Specifically, the folding arm 41 is provided with a rotating rod driven by a motor, and the end of the rotating rod is connected to the bracket 43.

[0037] In one embodiment, see Figure 3 A rubber ring 48 is provided at the tube mouth of the sleeve 45. The diameter of the rubber ring 48 is larger than the diameter of the marking ring 47, and two circles of evenly distributed pinholes are opened on the surface of the rubber ring 48. The two circles of pinholes are respectively in contact with the marking ring 47 in the extension and retraction paths. A sponge layer is attached to the inner surface of the rubber ring 48, and the rubber ring 48 is connected to a liquid storage box 49 through a liquid tube. The liquid storage box 49 is filled with liquid for marking.

[0038] The present embodiment is configured such that during the movement of the marking ring 47 driven by the guide column 46, the marking ring 47 will repeatedly pass through the rubber ring 48. Since the diameter of the rubber ring 48 is larger than the diameter of the marking ring 47, the rubber ring 48 will be squeezed when the marking ring 47 passes by, causing the liquid in the rubber ring 48 to overflow onto the marking ring 47, so that the marking ring 47 can maintain the clarity of the marking during the repeated marking process.

[0039] The sponge layer is provided to block the liquid in the rubber ring 48 so that the liquid will not overflow without external force.

[0040] The two circles of pinholes allow the marking ring 47 to adhere to the marking liquid during the extension and retraction paths, and further allow the marking ring 47 to maintain the clarity of the marking during repeated marking processes.

[0041] In one embodiment, see Figure 4 The folding arm 41 includes a first arm 41a and a second arm 41b. The first arm 41a and the second arm 41b are respectively connected with a first rotating shaft 41c and a second rotating shaft 41d at one end. The first rotating shaft 41c and the second rotating shaft 41d are inserted at different positions on the shaft seat 41e, so that the driven ends of the first rotating shaft 41c and the second rotating shaft 41d are located on the same side of the shaft seat 41e, avoiding the problem of obstruction when the folding arm 41 is close to the heat exchange tube. A power mechanism for driving the first rotating shaft 41c and the second rotating shaft 41d respectively is provided on one side of the shaft seat 41e.

[0042] The present embodiment is configured such that when the endoscopic probe 50 moves along the set path to scan to the edge and needs to return to scan the next position, the first arm 41a is driven to rotate downward so that the first arm 41a and the second arm 41b are at a 90° angle, thereby ensuring that the scanning and subsequent abnormal marking do not affect each other and maintaining the smoothness of the scanning operation; when the endoscopic probe 50 moves laterally from the next position, the first arm 41a and the second arm 41b are driven to adjust their positions, so that the marking ring 47 can mark the abnormalities of the previous two scanning positions of the current scanning position until the first arm 41a and the second arm 41b are readjusted to the same straight line, and this is continued to ensure the smoothness of the scanning at the corner position and improve the scanning efficiency.

[0043] In one embodiment, see Figure 5 The endoscopic probe 50 is constrained on the guide rod 51. The guide rod 51 has a first rod 51a and a second rod 51b. The first rod 51a is formed by connecting multiple short chains in sequence. Adjacent short chains are connected by torsion springs. The short chains at both ends are free ends and fixed ends respectively. The front end of the endoscopic probe 50 is connected to the first rod 51a. The short chain at the free end is bolted with a pull wire 52. The pull wire 52 passes through the second rod 51b and is connected to the winding mechanism 53. The second rod 51b is inserted into the mounting seat 54 and can be rotatable.

[0044] The present embodiment is configured such that the endoscopic probe 50 is constrained on the guide rod 51 and the bending angle of the first rod 51a is controlled to drive the endoscopic probe 50 to adjust the angle in the heat exchange tube opening, thereby performing a more comprehensive scan of the situation in the heat exchange tube opening to ensure that there are no blind spots in the scan. Specifically, by controlling the length of the pull wire 52, the multiple short chains of the first rod 51a are pulled to bend into different angles. When the length of the pull wire 52 is shortened, the bending angle of the first rod 51a is larger, and when the length of the pull wire 52 is released, the bending angle of the first rod 51a is smaller.

[0045] In one embodiment, see Figure 6 The mounting seat 54 is movably arranged on the combined guide rail 55, and the combined guide rail includes a circular guide rail 55a, the circular guide rail 55a is provided with at least one circle, and a linear guide rail 55b is arranged outside the circular guide rail 55a, and the linear guide rail 55b is distributed around the circular guide rail 55a to form a rectangular shape. The circular guide rail 55a and the linear guide rail 55b are both provided with stop points adapted to the spacing between the heat exchange tubes, and the circular guide rail 55a and the linear guide rail 55b are smoothly connected by a track 55c.

[0046] The present embodiment is configured in this way. Since the heat exchange pipe openings to be scanned have edges and are partially irregularly arranged, that is, a single scan cannot fully utilize the endoscopic probe 50, which reduces the scanning efficiency. According to the distribution of the heat exchange pipes in the area to be scanned, the mounting seat 54 drives the corresponding endoscopic probe 50 to move to a specified position along the linear guide rail 55b and the circular guide rail 55a. When it moves as a whole to the next scanning area, it can just fit the irregularly arranged heat exchange pipe openings in this area, and quickly perform a scanning operation on them, thereby improving the scanning efficiency and the use efficiency of the endoscopic probe 50.

[0047] Specifically, a camera is provided for detecting the position of the next scanning area in advance, so that it can detect the position arrangement of the heat exchange pipe opening in advance when the endoscopic probe 50 moves to this scanning area, so that the endoscopic probe 50 can adjust its position in advance, thereby improving the overall scanning efficiency.

[0048] In one embodiment, see Figure 7 A gauge plate 21 is provided on the robot arm lifting platform 20, and both ends of the gauge plate 21 have plug posts 22. The plug posts 22 can be driven by a linear drive mechanism, and the gauge plate 21 is provided on a cross rail 23. The gauge plate 21 can move along the cross rail 23 and extend one end to the outside of the cross rail 23, and the length of the gauge plate 21 is adapted to the detection width of the endoscope probe 50.

[0049] The present embodiment is configured in such a way that the distance moved by the endoscope probe 50 each time is kept constant by setting the gauge plate 21, thereby reducing the problem that the endoscope probe 50 is difficult to accurately extend into the heat exchange tube opening due to movement error. Specifically, the gauge plate 21 moves to the next scanning area ahead of the endoscope probe 50. After the gauge plate 21 moves into place, the position is fixed by inserting the plug 22 into the heat exchange tube opening. Subsequently, the robotic arm lifting platform 20 drives the endoscope probe 50 to move to the next scanning area. During the movement, the end of the gauge plate 21 moves along the cross rail 23, and the marking plate 21 and the endoscope probe 50 maintain relative sliding until the endoscope probe 50 moves into place. This ensures that the endoscope probe 50 moves an accurate distance each time, thereby reducing the problem that the endoscope probe 50 is not aligned with the heat exchange tube opening.

[0050] In one embodiment, see Figure 7 A slide 24 is provided on the cross rail 23, a steering mechanism 25 is provided on the slide 24, and an output end of the steering mechanism 25 is connected to one end of the gauge plate 21 for driving the gauge plate 21 to adjust between horizontal, inclined and vertical states.

[0051] The present embodiment is configured such that when the endoscopic probe 50 moves to the edge of the heat exchange pipe opening, the steering mechanism 25 drives the gauge plate 21 to rotate to 90°, ensuring that when the folding arm 41 adjusts its posture, it maintains position guidance for the downward movement of the endoscopic probe 50, ensuring that the endoscopic probe 50 moves an accurate distance each time, and reducing the problem of the endoscopic probe 50 not being aligned with the heat exchange pipe opening.

[0052] In one embodiment, see Figure 8 The lifting platform fixing frame 30 includes a fixing seat 31, a horizontal driving arm 32 is provided on the fixing seat 31, a positioning column 33 is provided at the front end of the driving arm 32, a cylindrical air bag 34 is sleeved on the surface of the positioning column 33, and the diameter of the positioning column 33 is smaller than the diameter of the tube mouth of the heat exchange tube.

[0053] This embodiment is configured such that when the endoscopic probe 50 is moved into position, it extends into the heat exchange pipe opening through the positioning column 33, and drives the cylindrical airbag 34 to expand and contact the inner wall of the heat exchange pipe opening, thereby fixing the robot arm lifting platform 20 and protecting the inner wall of the heat exchange pipe opening, reducing damage to the heat exchange pipe opening.

[0054] In one embodiment, the lifting platform fixing brackets 30 are symmetrically distributed on both sides of the multi-axis robot 40 on the robot lifting platform 20 .

[0055] It should be noted that if the embodiments of the present invention involve directional indications such as up, down, left, right, front, back, etc., then the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes that A and B meet at the same time. In addition, "multiple" refers to more than two. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist.

[0057] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A heat exchanger heat transfer tube endoscope array scanning device, characterized in that: It comprises a sliding guide rail (10), a mechanical arm lifting platform (20), a lifting platform fixing frame (30), a multi-axis mechanical arm (40) and an endoscope probe (50); The sliding guide rail (10) provides guidance for the multi-axis robot arm (40) to move along both sides of the tube sheet. The robot arm lifting platform (20) is arranged on the sliding guide rail (10) and is used to control the lifting height of the multi-axis robot arm (40). The lifting platform fixing frame (30) is arranged on the robot arm lifting platform (20) and is used to extend into the heat transfer tube to fix the robot arm lifting platform (20). The multi-axis robot arm (40) is arranged on the robot arm lifting platform (20) and is used to extend the endoscope probe (50) into the tube mouth of the heat transfer tube. The endoscope probe (50) is arranged at the end of the multi-axis robot arm (40) and is used to collect and transmit the tube mouth image of the heat transfer tube.

2. The heat exchanger heat transfer tube endoscope array scanning device according to claim 1, characterized in that: A folding arm (41) is provided at the end of the multi-axis mechanical arm (40), the endoscopic probe (50) is provided at one end of the folding arm (41), a through hole is opened at the other end of the folding arm (41), an annular guide groove (42) is provided on the periphery of the through hole, a slidable bracket (43) is provided in the annular guide groove (42), a telescopic arm (44) facing the center of the through hole is provided on the bracket (43), a sleeve (45) perpendicular to the center of the through hole is provided at the end of the telescopic arm (44), a slidable guide column (46) is inserted in the sleeve (45), and a marking ring (47) with a diameter larger than the diameter of the heat exchange tube orifice is provided at the end of the guide column (46).

3. The heat exchanger heat transfer tube endoscope array scanning device according to claim 2, characterized in that: A rubber ring (48) is provided at the tube mouth of the sleeve (45), the diameter of the rubber ring (48) is larger than the diameter of the marking ring (47), and two circles of evenly distributed pinholes are opened on the surface of the rubber ring (48), the two circles of pinholes are respectively in contact with the marking ring (47) in the extension and retraction paths, a sponge layer is attached to the inner surface of the rubber ring (48), and the rubber ring (48) is connected to the liquid storage box (49) through a liquid tube.

4. The heat exchanger heat transfer tube endoscope array scanning device according to claim 2, characterized in that: The folding arm (41) comprises a first arm (41a) and a second arm (41b); one end of the first arm (41a) and the second arm (41b) are respectively plugged with a first rotating shaft (41c) and a second rotating shaft (41d); the first rotating shaft (41c) and the second rotating shaft (41d) are both plugged at different positions on a shaft seat (41e); one side of the shaft seat (41e) is provided with a power mechanism for respectively driving the first rotating shaft (41c) and the second rotating shaft (41d).

5. The heat exchanger heat transfer tube endoscope array scanning device according to claim 1, characterized in that: The endoscopic probe (50) is bound to a guide rod (51), and the guide rod (51) has a first rod (51a) and a second rod (51b). The first rod (51a) is formed by connecting a plurality of short chains in sequence, and adjacent short chains are connected by torsion springs. The short chains at both ends are free ends and fixed ends, respectively. The front end of the endoscopic probe (50) is connected to the first rod (51a), and the short chain at the free end is bolted with a pull wire (52), which passes through the second rod (51b) and is connected to a winding mechanism (53). The second rod (51b) is inserted into a mounting seat (54) and can be rotatable.

6. The heat exchanger heat transfer tube endoscope array scanning device according to claim 5, characterized in that: The mounting seat (54) is movably arranged on a combined guide rail (55), wherein the combined guide rail comprises a circular guide rail (55a), wherein the circular guide rail (55a) is provided with at least one circle, and a linear guide rail (55b) is provided outside the circular guide rail (55a), wherein the linear guide rail (55b) is distributed around the circular guide rail (55a) to form a rectangular shape, and the circular guide rail (55a) and the linear guide rail (55b) are both provided with stop points adapted to the spacing between the heat exchange tubes, and the circular guide rail (55a) and the linear guide rail (55b) are smoothly connected via a track (55c).

7. The heat exchanger heat transfer tube endoscope array scanning device according to claim 1 or 5, characterized in that: The mechanical arm lifting platform (20) is provided with a gauge plate (21), the two ends of the gauge plate (21) are provided with plug posts (22), and the gauge plate (21) is arranged on a transverse rail (23), the gauge plate (21) can move along the transverse rail (23) and make one end extend to the outside of the transverse rail (23), and the length of the gauge plate (21) is adapted to the detection width of the endoscope probe (50).

8. The heat exchanger heat transfer tube endoscope array scanning device according to claim 7, characterized in that: A slide seat (24) is provided on the transverse rail (23), a steering mechanism (25) is provided on the slide seat (24), an output end of the steering mechanism (25) is connected to one end of the gauge plate (21), and is used to drive the gauge plate (21) to adjust between horizontal, inclined and vertical states.

9. The heat exchanger heat transfer tube endoscope array scanning device according to claim 1, characterized in that: The lifting platform fixing frame (30) comprises a fixing seat (31), a horizontal driving arm (32) is provided on the fixing seat (31), a positioning column (33) is provided at the front end of the driving arm (32), a cylindrical air bag (34) is sleeved on the surface of the positioning column (33), and the diameter of the positioning column (33) is smaller than the diameter of the pipe mouth of the heat exchange pipe.

10. The heat exchanger heat transfer tube endoscope array scanning device according to claim 9, characterized in that: The lifting platform fixing frame (30) is symmetrically distributed on both sides of the multi-axis robotic arm (40) on the robotic arm lifting platform (20).

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