Tube panel detection climbing device and use method thereof

Abstract

The invention discloses a pipe panel detection climbing device and a use method thereof, and belongs to the technical field of pipe fitting climbing. The problems that according to an existing pipe fitting climbing device, the clamping angle cannot be flexibly adjusted, the requirement for the distance between solar heat absorption pipe panels is high, and then detection cannot be conducted are solved. The transmission assembly and the clamping assembly are arranged on the two sides of the holder support respectively, clamping and loosening of the clamping assembly are controlled through the transmission assembly, the support where the solar heat absorption tube panel is located is clamped through the clamping assembly, and the moving mechanism is fixedly connected between the first clamping mechanism and the second clamping mechanism. The first clamping mechanism and the second clamping mechanism are driven by the moving mechanism to move along the support where the solar heat absorption tube panel is located. Through clamping paws of the upper clamping assembly and the lower clamping assembly, the tube panel detection climbing device can be suitable for solar heat absorption tube panels with different tube diameters and different gaps, and large-range scanning detection of the solar heat absorption tube panels is achieved by carrying the scanning device.

Description

Technical Field

[0001] The invention relates to a pipe panel detection climbing device and a use method thereof, belonging to the technical field of pipe climbing. Background Art

[0002] At present, the quality inspection of solar thermal absorber panels in service is mostly carried out by manual methods such as "Spider-Man", which is labor-intensive and dangerous. It is necessary to design a device that can climb along the solar thermal absorber panels and carry relevant testing instruments to detect parameters such as cracks and coatings of solar thermal absorber panels.

[0003] Traditional pipe climbing devices, such as a pole climbing robot in the prior art, crawls along the pole through multiple rolling crawling modules, and detects the climbed pole through a detection module. It can only climb and detect a single pole and a single point. In addition, the diameters of solar heat absorbing tube screens are different, and the spacing between solar heat absorbing tube screens is different. As a result, the existing pipe climbing device cannot flexibly adjust the clamping angle according to solar heat absorbing tube screens with different diameters, has high requirements on the spacing between solar heat absorbing tube screens, cannot climb solar heat absorbing tube screens with small gaps, and cannot detect the relevant parameters of the solar heat absorbing tube screens that cannot be climbed. Summary of the invention

[0004] The present invention is to solve the above-mentioned problem and further provides a tube panel detection climbing device and a use method thereof.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A tube panel detection climbing device comprises a clamping mechanism, a moving mechanism, two sets of telescopic rods and a multi-stage telescopic device, wherein the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism of the same structure and arranged opposite to each other on the left and right, wherein the first clamping mechanism comprises a clamping bracket, a transmission assembly and a clamping assembly, wherein the transmission assembly and the clamping assembly are respectively arranged on both sides of the clamping bracket, and the clamping and releasing of the clamping assembly are controlled by the transmission assembly, and the bracket where the solar heat absorbing tube panel is located is clamped by the clamping assembly, wherein the moving mechanism is fixedly connected between the first clamping mechanism and the second clamping mechanism, and the first clamping mechanism and the second clamping mechanism are driven by the moving mechanism to move along the bracket where the solar heat absorbing tube panel is located, wherein both sides of the multi-stage telescopic device are respectively fixedly connected to the first clamping mechanism and the second clamping mechanism by telescopic rods, and the detection range is adjusted by the telescopic movement of the multi-stage telescopic device.

[0007] Furthermore, the transmission assembly includes a clamper motor, a pulley bracket, a driving pulley, a belt, two first driven pulleys and two second driven pulleys, the driving pulley is connected to the output shaft of the clamper motor, the driving pulley and the two first driven pulleys are fixed to the clamper bracket through the pulley bracket, the two second driven pulleys are symmetrically connected to the clamper bracket, the belt is sleeved on the driving pulley and the two second driven pulleys, and the outer side of the belt is connected to the two first driven pulleys.

[0008] Furthermore, the clamping assembly includes an upper clamping assembly and a lower clamping assembly with the same structure and arranged opposite to each other up and down, the upper clamping assembly includes a first gear, a second gear, a first connecting rod, a second connecting rod, a slide groove, a slide groove bracket, a slide rod, a fixed shaft and a clamping claw, the first gear is rotatably connected to the clamper bracket and is coaxially fixed with the second driven pulley, the second gear is rotatably connected to the clamper bracket and meshes with the first gear, one end of the fixed shaft is connected to the second gear, the other end of the fixed shaft is connected to the first connecting rod, the other end of the first connecting rod is rotatably connected to the second connecting rod, the slide groove is fixed to the clamper bracket through the slide groove bracket, one end of the slide rod passes through the slide groove and is rotatably connected to the second connecting rod, and the other end of the slide rod is connected to the clamping claw.

[0009] Furthermore, the moving mechanism includes a telescopic motor, a first drive block, a second drive block and a support rod assembly, the first drive block and the second drive block are coaxially connected for rotation, the output shaft of the telescopic motor is fixedly connected to the transmission shaft of the first drive block, the angle between the first drive block and the second drive block is adjusted by the telescopic motor, the support rod group is arranged in a prism shape, and the two ends of the support rod group are respectively connected for rotation to the first drive block and the second drive block.

[0010] Furthermore, the support rod assembly includes three connecting blocks and four support rods, and the support rods are rotatably connected through the connecting blocks.

[0011] Furthermore, the multi-stage telescopic device includes a driving motor, a third driven pulley, a fixed frame, a first extension bracket, a second extension bracket, a first transmission gear, a first rack, a second transmission gear and a second rack. The driving motor is fixedly connected to one end of the first extension bracket, and the other end of the first extension bracket is fixedly connected to the third driven pulley. A belt transmission is implemented between the driving motor and the third driven pulley. The second transmission gear is connected to the rotating shaft of the third driven pulley, and the end of the second extension bracket is fixedly connected to the second rack meshing with the second transmission gear. The first transmission gear is connected to the output shaft of the driving motor, and the end of the fixed frame is fixedly connected to the first rack meshing with the first transmission gear.

[0012] Furthermore, a fixed interface is provided at the end of the second elongated bracket for connecting to a scanning device.

[0013] Furthermore, the clamping claw includes a claw bracket, two clamping fingers, two holding wheels and multiple tensioning springs, the two clamping fingers are respectively rotatably connected to the two ends of the claw bracket, the two holding wheels are respectively rotatably connected to the opposite sides of the two clamping fingers, one end of the multiple tensioning springs is connected to the bottom of the claw bracket, and the other ends of the multiple tensioning springs are respectively connected to the two clamping fingers and on the same side as the holding wheels.

[0014] Furthermore, the holding wheel includes a tire, a connecting shaft, a ratchet gear and a pawl. The tire and the connecting shaft are rotatably connected via a bearing. The ratchet gear is fixed to the tire, the pawl is fixed to the connecting shaft, and the pawl is clamped on the ratchet teeth of the ratchet gear.

[0015] A method for using a tube panel detection climbing device, which includes placing the tube panel detection climbing device on a bracket where a solar heat absorbing tube panel to be detected is located, and at the same time, holding a first clamping mechanism and a second clamping mechanism tightly on the bracket where the screen tube to be detected is located, extending the multi-stage telescopic device until the actual scanning range reaches a preset scanning range and scanning is performed. After the preset scanning range is scanned, the first clamping mechanism is released from the bracket, and the moving mechanism is controlled to extend and then drive the first clamping mechanism to move along the bracket to the next preset scanning range. The first clamping mechanism is held tightly on the bracket, and at the same time, the second clamping mechanism is controlled to be released from the bracket, and the moving mechanism is controlled to shorten and then drive the second clamping mechanism to move along the bracket to the position of the initial first clamping mechanism. The actual scanning range is then scanned by the multi-stage telescopic device, and this cycle is repeated until all solar heat absorbing tube panels are detected.

[0016] Compared with the prior art, the present invention has the following effects:

[0017] The present invention controls the clamping and loosening of the clamping claws by the forward and reverse rotation of the clamping motor, and cooperates with the extension and compression of the telescopic mechanism to enable the tube panel detection climbing device to climb along the bracket, and the clamping claws of the upper clamping assembly and the lower clamping assembly clamp a bracket at the same time, thereby greatly improving the climbing stability of the present invention;

[0018] The present invention uses the clamping claws of the upper clamping assembly and the lower clamping assembly to enable the tube panel detection climbing device to be applicable to solar heat absorbing tube panels with different pipe diameters and different gaps, and realizes large-scale scanning detection of solar heat absorbing tube panels by carrying a scanning device;

[0019] The present invention clamps the bracket where the solar heat absorbing tube panel is located through a clamping mechanism, and cooperates with the extension and compression of the multi-stage telescopic device to enable the tube panel detection climbing device to climb along the bracket, and clamps one bracket at the same time through the first clamping mechanism and the second clamping mechanism, thereby greatly improving the climbing stability of the present invention; the clamping range of the clamping claw itself can make the tube panel detection climbing device suitable for solar heat absorbing tube panels with different pipe diameters and different gaps, and the scanning detection of the solar heat absorbing tube panel can be realized by carrying a scanning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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:

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the tube panel detection climbing device from the first perspective;

[0022] Figure 2 It is a schematic diagram of the three-dimensional structure of the tube panel detection climbing device from a second perspective;

[0023] Figure 3 It is a schematic diagram of the three-dimensional structure of the telescopic mechanism in the tube panel detection climbing device;

[0024] Figure 4 It is a schematic diagram of the connection relationship between the drive block and the transmission shaft in the tube panel detection climbing device;

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure of the first clamping mechanism in the tube panel detection climbing device;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the clamping claw in the tube panel detection climbing device;

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the holding wheel in the tube panel detection climbing device;

[0028] Figure 8 It is a schematic diagram of the three-dimensional structure of the multi-stage telescopic device in the tube panel detection climbing device;

[0029] Fig. 9 It is a schematic diagram of the three-dimensional structure of the telescopic rod in the tube panel detection climbing device;

[0030] In the figure: 1, clamp bracket; 2, second driven pulley; 3, belt; 4, first driven pulley; 5, driving pulley; 6, clamp motor; 7, pulley bracket; 8, telescopic motor; 9, motor bracket; 10, support rod; 11, connecting block; 11-1, first connecting block; 11-2, second connecting block; 11-3, third connecting block; 12, first driving block; 13, second driving block; 14, tire; 15, first gear; 16, second gear; 17, first connecting rod; 18, second connecting rod; 19, sliding Groove bracket; 20, slide bar; 21, gripper bracket; 22, gripping finger; 23, holding wheel; 24, ratchet gear; 25, pawl; 26, tension spring; 27, fixed shaft; 28, fixed frame; 29, drive motor; 30, slide groove; 31, first rack; 32, first transmission gear; 33, second extension bracket; 34, connecting shaft; 35, third driven pulley; 36, first extension bracket; 37, transmission shaft; 38, fixed interface; 39, telescopic rod; 40, second rack; 41, second transmission gear. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0032] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] See attached Figure 1-9The present embodiment is described, a tube panel detection climbing device comprises a clamping mechanism, a moving mechanism, two sets of telescopic rods and a multi-stage telescopic device, the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism having the same structure and being arranged opposite to each other on the left and right, the first clamping mechanism comprises a clamping bracket 1, a transmission assembly and a clamping assembly, the transmission assembly and the clamping assembly are respectively arranged on both sides of the clamping bracket 1, the clamping and loosening of the clamping assembly are controlled by the transmission assembly, the bracket where the solar heat absorbing tube panel is located is clamped by the clamping assembly, the moving mechanism is fixedly connected between the first clamping mechanism and the second clamping mechanism, and the moving mechanism is fixedly connected between the first clamping mechanism and the second clamping mechanism. The moving mechanism drives the first clamping mechanism and the second clamping mechanism to move along the bracket where the solar heat absorbing tube panel is located. The two sides of the multi-stage telescopic device are respectively fixed to the first clamping mechanism and the second clamping mechanism through the telescopic rod 39. The detection range is adjusted by the telescopic adjustment of the multi-stage telescopic device. Specifically, the solar heat absorbing tube panel is installed on the bracket. The clamping assembly clamped on the solar heat absorbing tube panel will affect the heat absorption process of the solar heat absorbing tube panel. At the same time, the solar heat absorbing tube panel is scratched or damaged during the clamping process, which reduces the heat absorption efficiency of the solar heat absorbing tube panel, and then the bracket where the solar heat absorbing tube panel is located is clamped.

[0034] The bracket where the solar heat absorbing tube panel is located is clamped by a clamping mechanism, and the extension and compression of the multi-stage telescopic device are coordinated to enable the tube panel detection climbing device to climb along the bracket, and a bracket is clamped at the same time by the first clamping mechanism and the second clamping mechanism, thereby greatly improving the climbing stability of the present invention; the clamping range of the clamping claw itself can make the tube panel detection climbing device suitable for solar heat absorbing tube panels with different pipe diameters and different gaps, and the scanning detection of the solar heat absorbing tube panel can be realized by carrying a scanning device.

[0035] The transmission assembly includes a clamp motor 6, a pulley bracket 7, a driving pulley 5, a belt 3, two first driven pulleys 4 and two second driven pulleys 2, the driving pulley 5 is connected to the output shaft of the clamp motor 6, the driving pulley 5 and the two first driven pulleys 4 are fixed to the clamp bracket 1 through the pulley bracket 7, the two second driven pulleys 2 are symmetrically connected to the clamp bracket 1, the belt 3 is sleeved on the driving pulley 5 and the two second driven pulleys 2, and the outer side of the belt 3 is connected to the two first driven pulleys 4. Specifically, the clamping motor rotates forward, and the clamping claws of the upper clamping assembly and the lower clamping assembly hold the solar heat absorption tube screen bracket. The clamping motor rotates reversely, and the clamping claws of the upper clamping assembly and the lower clamping assembly release the solar heat absorption tube screen bracket. The active pulley 5 is driven to rotate by the clamping motor 6, and the rotation of the active pulley 5 is transmitted to the two second driven pulleys 2 through the belt 3. The stability of the connection between the belt 3 and the active pulley 5 and the two second driven pulleys 2 is ensured by the two first driven pulleys 4, and the occurrence of slipping and the like is reduced. The clamping assembly can be moved up and down through the transmission assembly, and the adjustment range of the clamping assembly is expanded, thereby meeting the clamping requirements of the brackets where solar heat absorption screen tubes with different diameters are located.

[0036] The clamping assembly includes an upper clamping assembly and a lower clamping assembly with the same structure and arranged relatively to each other up and down, the upper clamping assembly includes a first gear 15, a second gear 16, a first connecting rod 17, a second connecting rod 18, a slide groove 30, a slide groove bracket 19, a slide rod 20, a fixed shaft 27 and a clamping claw, the first gear 15 is rotatably connected to the clamper bracket 1 and is coaxially fixed with the second driven pulley 2, the second gear 16 is rotatably connected to the clamper bracket 1 and meshes with the first gear 15, one end of the fixed shaft 27 is connected to the second gear 16, the other end of the fixed shaft 27 is connected to the first connecting rod 17, the other end of the first connecting rod 17 is rotatably connected to the second connecting rod 18, the slide groove 30 is fixed to the clamper bracket 1 through the slide groove bracket 19, one end of the slide rod 20 passes through the slide groove 30 and is rotatably connected to the second connecting rod 18, and the other end of the slide rod 20 is connected to the clamping claw. By rotating the first connecting rod 17 around the fixed axis 27, the second connecting rod 18 drives the gripper bracket 21 to move. By setting the slide rod 20 and the slide groove 30, the rotation of the fixed axis 27 is converted into the linear motion of the slide rod 20, thereby ensuring that the movement of the gripper bracket 21 is also in a linear direction, thereby ensuring the clamping accuracy and stability of the clamping assembly.

[0037] The moving mechanism includes a telescopic motor 8, a first drive block 12, a second drive block 13 and a support rod assembly. The first drive block 12 and the second drive block 13 are coaxially connected for rotation. The output shaft of the telescopic motor 8 is fixedly connected to the transmission shaft 37 of the first drive block 12. The angle between the first drive block 12 and the second drive block 13 is adjusted by the telescopic motor 8. The support rod assembly is arranged in a prism shape, and the two ends of the support rod assembly are respectively connected to the first drive block 12 and the second drive block 13 for rotation. The telescopic motor 8 adjusts the angle between the first drive block 12 and the second drive block 13, thereby driving the support rod assembly to extend in a direction away from the telescopic motor 8 or shorten in a direction close to the telescopic motor 8, thereby driving the first clamping mechanism and the second clamping mechanism to move closer and farther, and cooperate with the clamping assembly to hold and release the bracket where the solar heat absorption screen tube is located, so as to realize the movement of the clamping mechanism along the bracket where the solar heat absorption screen tube is located. The telescopic motor 8 is connected to the first drive block 12 to realize the direct drive of the telescopic mechanism motor, lighten the telescopic mechanism connection parts, reduce the rotational inertia, and have no wear hysteresis, and have more flexible impact resistance.

[0038] The support rod assembly includes three connection blocks 11 and four support rods 10, and the support rods 10 are rotatably connected through the connection blocks 11. Specifically, the three connection blocks include a first connection block 11-1, a second connection block 11-2 and a third connection block 11-3, and the four support rods 10 are rotatably connected through the first connection block 11-1, the second connection block 11-2 and the third connection block 11-3, respectively, and the moving mechanism is fixedly connected between the first clamping mechanism and the second clamping mechanism through the side surfaces of the first connection block 11-1 and the second connection block 11-2.

[0039] The multi-stage telescopic device includes a driving motor 29, a third driven pulley 35, a fixed frame 28, a first extension bracket 36, a second extension bracket 33, a first transmission gear 32, a first rack 31, a second transmission gear 41 and a second rack 40. The driving motor 29 is fixedly connected to one end of the first extension bracket 36, and the other end of the first extension bracket 36 is fixedly connected to the third driven pulley 35. The driving motor 29 and the third driven pulley 35 are driven by a belt. The second transmission gear 41 is connected to the rotating shaft of the third driven pulley 35, and the end of the second extension bracket 33 is fixedly connected to the second rack 40 meshing with the second transmission gear 41. The first transmission gear 32 is connected to the output shaft of the driving motor 29, and the end of the fixed frame 28 is fixedly connected to the first rack 31 meshing with the first transmission gear 32. The driving motor 29 provides power, and the third driven pulley 35 transmits power. The first extension bracket 36 is adjusted to extend and reset from the fixed frame 28 by the forward and reverse rotation of the first transmission gear 32 and the first rack 31, and the second extension bracket 33 is adjusted to extend and reset from the first extension bracket 36 by the forward and reverse rotation of the second transmission gear 41 and the second rack 40. The extension and retraction of the first extension bracket 36 and the second extension bracket 33 are controlled by a single driving motor 29, which greatly simplifies the device structure, facilitates control, and improves the range of scanning and detecting the solar heat absorbing tube screen.

[0040] The end of the second elongated bracket 33 is provided with a fixed interface 38 for connecting a scanning device. The solar heat absorbing tube panel is detected by the scanning device, and the detection range of the scanning device is controlled by the multi-stage telescopic device.

[0041] The clamping claw comprises a claw bracket 21, two clamping fingers 22, two holding wheels 23 and a plurality of tightening springs 26. The two clamping fingers 22 are respectively rotatably connected to the two ends of the claw bracket 21, the two holding wheels 23 are respectively rotatably connected to the opposite sides of the two clamping fingers 22, one end of the plurality of tightening springs 26 is connected to the bottom of the claw bracket 21, and the other ends of the plurality of tightening springs 26 are respectively connected to the two clamping fingers 22 and are on the same side as the holding wheels 23. Specifically, the clamping claw is clamped on the bracket through the holding wheels, and the thicker the diameter of the bracket tube, the more the tightening spring 26 is stretched, and then the elongation of the tightening spring 26 makes the clamping claw clamp more stably.

[0042] The holding wheel 23 includes a tire 14, a connecting shaft 34, a ratchet gear 24 and a pawl 25. The tire 14 and the connecting shaft 34 are rotatably connected through a bearing, the ratchet gear 24 is fixed to the tire 14, the pawl 25 is fixed to the connecting shaft 34, and the pawl 25 is clamped on the ratchet teeth of the ratchet gear 24. Through the cooperation of the ratchet gear and the pawl, the holding wheel 23 can only roll in the direction of opening, effectively realize the self-locking function, and improve the climbing stability of the robot. The tension spring 26 cooperates with the ratchet gear 24 in the holding wheel 23 to achieve a good locking effect and improve the gripping ability.

[0043] A method for using a tube panel detection climbing device, wherein the tube panel detection climbing device is placed on a bracket where a solar heat absorbing tube panel to be detected is located, and the clamping motors 6 of the first clamping mechanism and the second clamping mechanism are turned on at the same time to clamp the clamping claws of the upper clamping assembly and the lower clamping assembly tightly on the bracket where the solar heat absorbing screen tube to be detected is located, and the driving motor 29 is turned on to extend the multi-stage telescopic device until the actual scanning range reaches a preset scanning range and scans, and after the preset scanning range is scanned, the clamping motor 6 of the first clamping mechanism is controlled to reverse, so that the clamping claws of the upper clamping assembly and the lower clamping assembly of the first clamping mechanism are released from the bracket, and the telescopic motor is turned on. 8 makes the moving mechanism extend and then drives the first clamping mechanism to move along the bracket to the next preset scanning range, controls the clamping motor 6 of the first clamping mechanism to rotate forward, makes the clamping claws of the upper clamping assembly and the lower clamping assembly of the first clamping mechanism clamp tightly on the bracket, and controls the clamping motor of the second clamping mechanism to reverse at the same time, makes the clamping claws of the upper clamping assembly and the lower clamping assembly of the second clamping mechanism release from the bracket, turns on the telescopic motor to shorten the moving mechanism and then drives the second clamping mechanism to move along the bracket to the initial position of the first clamping mechanism, and then scans the actual scanning range through the multi-stage telescopic device, and repeats until all solar heat absorption tube screens are detected.

[0044] Obviously, the embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to specific implementation methods. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. It is not necessary and impossible to exhaustively list all implementation methods here.

Claims

1. A tube panel detection climbing device, characterized in that: The invention comprises a clamping mechanism, a moving mechanism, two sets of telescopic rods and a multi-stage telescopic device. The clamping mechanism comprises a first clamping mechanism and a second clamping mechanism with the same structure and arranged opposite to each other on the left and right. The first clamping mechanism comprises a clamping bracket (1), a transmission component and a clamping component. The transmission component and the clamping component are respectively arranged on both sides of the clamping bracket (1). The clamping and loosening of the clamping component are controlled by the transmission component. The bracket where the solar heat absorbing tube panel is located is clamped by the clamping component. The moving mechanism is fixedly connected between the first clamping mechanism and the second clamping mechanism. The first clamping mechanism and the second clamping mechanism are driven by the moving mechanism to move along the bracket where the solar heat absorbing tube panel is located. The two sides of the multi-stage telescopic device are respectively fixedly connected to the first clamping mechanism and the second clamping mechanism by telescopic rods (39). The detection range is adjusted by the telescopic adjustment of the multi-stage telescopic device.

2. A tube panel detection climbing device according to claim 1, characterized in that: The transmission assembly comprises a clamp motor (6), a pulley bracket (7), a driving pulley (5), a belt (3), two first driven pulleys (4) and two second driven pulleys (2); the driving pulley (5) is connected to the output shaft of the clamp motor (6); the driving pulley (5) and the two first driven pulleys (4) are fixed to the clamp bracket (1) through the pulley bracket (7); the two second driven pulleys (2) are symmetrically connected to the clamp bracket (1); the belt (3) is sleeved on the driving pulley (5) and the two second driven pulleys (2); and the outer side surface of the belt (3) is connected to the two first driven pulleys (4).

3. A tube panel detection climbing device according to claim 2, characterized in that: The clamping assembly comprises an upper clamping assembly and a lower clamping assembly of the same structure and arranged opposite to each other in the upper and lower parts. The upper clamping assembly comprises a first gear (15), a second gear (16), a first connecting rod (17), a second connecting rod (18), a slide groove (30), a slide groove bracket (19), a slide rod (20), a fixed shaft (27) and a clamping claw. The first gear (15) is rotatably connected to the clamping bracket (1) and is coaxially fixed to the second driven pulley (2). The second gear (16) is rotatably connected to the clamping bracket ( 1) and meshed with the first gear (15), one end of the fixed shaft (27) is connected to the second gear (16), the other end of the fixed shaft (27) is connected to the first connecting rod (17), the other end of the first connecting rod (17) is rotatably connected to the second connecting rod (18), the slide groove (30) is fixed to the clamping device bracket (1) through the slide groove bracket (19), one end of the slide rod (20) passes through the slide groove (30) and is rotatably connected to the second connecting rod (18), and the other end of the slide rod (20) is connected to the clamping claw.

4. A tube panel detection climbing device according to claim 1, characterized in that: The moving mechanism comprises a telescopic motor (8), a first driving block (12), a second driving block (13) and a support rod assembly; the first driving block (12) and the second driving block (13) are coaxially connected for rotation; the output shaft of the telescopic motor (8) is fixedly connected to the transmission shaft (37) of the first driving block (12); the angle between the first driving block (12) and the second driving block (13) is adjusted by the telescopic motor (8); the support rod assembly is arranged in a prism shape; and the two ends of the support rod assembly are respectively connected for rotation with the first driving block (12) and the second driving block (13).

5. A tube panel detection climbing device according to claim 4, characterized in that: The support rod assembly comprises three connecting blocks (11) and four supporting rods (10), and the supporting rods (10) are rotatably connected via the connecting blocks (11).

6. A tube panel detection climbing device according to claim 1, characterized in that: The multi-stage telescopic device comprises a driving motor (29), a third driven pulley (35), a fixed frame (28), a first extension bracket (36), a second extension bracket (33), a first transmission gear (32), a first rack (31), a second transmission gear (41) and a second rack (40); the driving motor (29) is fixedly connected to one end of the first extension bracket (36); the other end of the first extension bracket (36) is fixedly connected to the third driven pulley (35); a belt transmission is provided between the driving motor (29) and the third driven pulley (35); the rotating shaft of the third driven pulley (35) is connected to the second transmission gear (41); the end of the second extension bracket (33) is fixedly connected to the second rack (40) meshing with the second transmission gear (41); the output shaft of the driving motor (29) is connected to the first transmission gear (32); and the end of the fixed frame (28) is fixedly connected to the first rack (31) meshing with the first transmission gear (32).

7. A tube panel detection climbing device according to claim 6, characterized in that: A fixed interface (38) is provided at the end of the second elongated bracket (33) for connecting to a scanning device.

8. A tube panel detection climbing device according to claim 3, characterized in that: The clamping gripper comprises a gripper bracket (21), two gripping fingers (22), two holding wheels (23) and a plurality of tensioning springs (26); the two gripping fingers (22) are respectively rotatably connected to the two ends of the gripper bracket (21); the two holding wheels (23) are respectively rotatably connected to the opposite sides of the two gripping fingers (22); one end of the plurality of tensioning springs (26) is connected to the bottom of the gripper bracket (21); the other ends of the plurality of tensioning springs (26) are respectively connected to the two gripping fingers (22) and are on the same side as the holding wheels (23).

9. A tube panel detection climbing device according to claim 8, characterized in that: The holding wheel (23) comprises a tire (14), a connecting shaft (34), a ratchet gear (24) and a ratchet pawl (25); the tire (14) and the connecting shaft (34) are rotatably connected via a bearing; the ratchet gear (24) is fixed to the tire (14); the ratchet pawl (25) is fixed to the connecting shaft (34); and the ratchet pawl (25) is clamped on the ratchet teeth of the ratchet gear (24).

10. A method for using the tube panel detection climbing device according to any one of claims 1 to 9, characterized in that: The tube panel detection climbing device is placed on the bracket where the solar heat absorbing tube panel to be detected is located, and at the same time, the first clamping mechanism and the second clamping mechanism are clamped on the bracket where the screen tube to be detected is located, and the multi-stage telescopic device is extended until the actual scanning range reaches the preset scanning range and scans. After the preset scanning range is scanned, the first clamping mechanism is released from the bracket, and the moving mechanism is controlled to extend and then drive the first clamping mechanism to move along the bracket to the next preset scanning range. The first clamping mechanism is clamped on the bracket, and at the same time, the second clamping mechanism is controlled to be released from the bracket, and the moving mechanism is controlled to shorten and then drive the second clamping mechanism to move along the bracket to the position of the initial first clamping mechanism. The actual scanning range is scanned by the multi-stage telescopic device, and this cycle is repeated until the detection of all solar heat absorbing tube panels is completed.

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