Flexible guide rail crawler for assisting boiler tube screen detection

Abstract

The utility model relates to a flexible guide rail crawler for assisting in boiler tube screen detection. Comprising a flexible guide rail walking mechanism A, a flexible guide rail walking mechanism B, a carrying hook and a controller, the flexible guide rail walking mechanism A and the flexible guide rail walking mechanism B are the same in structure and each comprise a flexible guide rail and a walking mechanism, and the two ends of the flexible guide rail of the flexible guide rail walking mechanism A are fixed to the top of one side of a tested tube panel; one end of a flexible guide rail of the flexible guide rail walking mechanism B is fixed below the walking mechanism of the flexible guide rail walking mechanism A, the other end of the flexible guide rail is fixed to the ground, the flexible guide rail walking mechanism A is used for walking in the horizontal direction, and the flexible guide rail walking mechanism B is used for walking in the vertical direction. The power plant boiler tube panel nondestructive testing device has the advantages of being large in load capacity, high in crawling speed, convenient to assemble and disassemble and convenient to carry, greatly improves the efficiency of power plant boiler tube panel nondestructive testing work, is particularly suitable for continuous and multi-point testing, and achieves intelligentization of power plant boiler tube panel nondestructive testing.

Description

Technical Field

[0001] The utility model belongs to the technical field of nondestructive testing, and particularly relates to a flexible guide crawler that is equipped with different testing equipment and is used to assist in tasks such as testing the thickness of boiler tube walls, testing the oxide scale inside tubes, and testing the wear of tube outer walls in power plants. The crawler assists in the testing of boiler tube panels. Background Art

[0002] Every year, power plants must conduct a Class C overhaul or temporary overhaul of the units, during which they must conduct boiler anti-wear and explosion inspections and eliminate defects. However, due to the short overhaul period, it is impossible to set up scaffolding or lifting platforms for comprehensive inspection of the water-cooled walls or heating surfaces, so effective and comprehensive inspections cannot be achieved. At present, water-cooled wall inspection robots can also be used for inspection. Water-cooled wall inspection robots operate on the water-cooled walls through ferromagnetic suction, but due to limited suction, the water-cooled wall inspection robot has insufficient magnetic force on water-cooled wall tube screens that are severely coked or sprayed with anti-wear coatings, which affects the inspection. In particular, circulating fluidized bed boilers are equipped with anti-wear beams that make it impossible for crawling robots to cross over. The screen-type superheater suspended on the top of the furnace requires a scaffold for inspection, which is time-consuming and laborious.

[0003] Therefore, it is necessary to develop an auxiliary device for anti-wear and explosion-proof inspection of power plant boilers. When conducting digital radiographic inspection of oxide scale inside high-temperature superheater and high-temperature reheater tubes, it can solve the problem that the digital radiograph and imaging board need to be repositioned and focused every time they work, resulting in low efficiency. The auxiliary device can be equipped with digital radiographs and imaging boards to perform semi-automatic oxide scale inspection on the tube screen to improve the inspection efficiency. In addition, the device can also be equipped with other non-destructive testing equipment such as thickness gauges and endoscopes to perform anti-wear and explosion-proof work such as thickness inspection and tube outer wall wear inspection on the power plant boiler tube screen, thereby improving work efficiency. Summary of the invention

[0004] In order to overcome the deficiencies existing in the above-mentioned prior art, the utility model provides a flexible guide rail crawler for assisting boiler tube panel inspection, which can be equipped with a thickness measuring device to assist in the inspection of the thickness of the boiler water-cooled wall tube; it can be equipped with a digital radiograph and an imaging plate to assist in the digital radiographic imaging inspection of the oxide scale inside the boiler water-cooled wall tube; it can also be equipped with an endoscope, a dust cleaning and de-coking device, a spraying device and other non-destructive testing equipment to perform tube wall wear inspection, dust cleaning and de-coking, spraying and other tasks on the boiler tube panel of a power plant, thereby improving work efficiency.

[0005] A flexible guide crawler for assisting boiler tube panel inspection is composed of a flexible guide walking mechanism A for horizontal walking and a flexible guide walking mechanism B for vertical walking. The walking is controlled by a controller to realize the inspection of any point on the water-cooled wall surface. It has the characteristics of large load capacity, fast crawling speed, convenient assembly and disassembly, and easy to carry. It greatly improves the efficiency of non-destructive inspection work such as tube wall thickness inspection, inner tube oxide scale inspection, and outer tube wall wear inspection of power plant boiler tube panels. It is especially suitable for continuous and multi-point inspection, realizing intelligent non-destructive inspection of power plant boiler tube panels.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is: a flexible guide crawler for assisting boiler tube panel detection, characterized in that it includes a flexible guide walking mechanism A, a flexible guide walking mechanism B, a load hook, and a controller;

[0007] The flexible guide rail traveling mechanism A and the flexible guide rail traveling mechanism B have the same structure, both comprising a flexible guide rail and a traveling mechanism;

[0008] The walking mechanism includes a guide tube A, a battery, a tensioning wheel, a driving wheel, a guide bracket, a motor, and a guide tube B. Connectors for installing cargo hooks are reserved on the upper, lower, left, and right sides of the walking mechanism.

[0009] Among them, one end of the flexible guide rail is first fixed, and the other end passes through the guide tube A of the walking mechanism, and then passes between the tension wheel and the driving wheel, and is pressed on the gear of the driving wheel by the tension wheel. The driving wheel rotates forward under the drive of the motor, driving the flexible guide rail to continue to move forward, pass between the driving wheel and the inner wall of the guide bracket, and then pass through the guide tube B. The appropriate length is selected according to the conditions of the detection site and then fixed;

[0010] Wherein, both ends of the flexible guide rail of the flexible guide rail walking mechanism A are fixed at the top position of one side of the measured tube panel;

[0011] Among them, one end of the flexible guide rail of the flexible guide rail traveling mechanism B is fixed under the traveling mechanism of the flexible guide rail traveling mechanism A, and the other end is fixed to the ground.

[0012] Among them, the flexible guide rail walking mechanism A is used for walking in the horizontal direction, and the flexible guide rail walking mechanism B is used for walking in the vertical direction.

[0013] Among them, the flexible guide rail walking mechanism A and the flexible guide rail walking mechanism B have a maximum load of 180kg and a maximum walking speed of 11m / min.

[0014] The walking mechanism is controlled by a controller to move forward, backward and pause on the flexible guide rail.

[0015] The maximum length of the flexible guide rail is 150m, and it is a special rope.

[0016] Wherein, the guide bracket is semicircular.

[0017] The flexible guide rail walking mechanism B can be loaded with a thickness measuring component for thickness measurement, and a flexible guide rail crawler for assisting boiler tube panel detection is installed on one side of the tube panel to be measured, and the hard guide rail is loaded through the load hook installed on the flexible guide rail walking mechanism B;

[0018] Among them, the length of the rigid guide rail is 2m, and electromagnets are set at both ends of the rigid guide rail. When the electromagnet is electromagnetized, the electromagnet adsorbs the rigid guide rail on the screen wall of the measured pipe through ferromagnetism, and the thickness measuring device installed on the rigid guide rail performs thickness measurement. When the electromagnet is powered off and demagnetized, the rigid guide rail can move following the movement of the flexible guide rail walking mechanism B.

[0019] Among them, the flexible guide rail walking mechanism B can be loaded with a digital radiographic imaging device for measuring oxide scale, and a flexible guide rail crawler for assisting boiler tube panel detection is installed on both sides of the tube panel to be tested. One side is loaded with a digital radiographic machine through a loading hook, and the other side is loaded with an imaging plate through a loading hook.

[0020] The flexible guide rail travel mechanism B can also be loaded with an endoscope device for inspecting the wear of the outer wall of the boiler tube panel, a dust and coke removal device, and a spraying device.

[0021] By adopting the above technical solution, the beneficial effects obtained by the utility model are:

[0022] The utility model discloses a flexible guide crawler for assisting boiler tube panel detection, which has a large load capacity, a fast crawling speed, is easy to assemble and disassemble, and is easy to carry. It is composed of a flexible guide crawler mechanism A for horizontal walking and a flexible guide crawler mechanism B for vertical walking. The walking is controlled by a controller to realize the detection of any point on the surface of the water-cooled wall, which greatly improves the efficiency of non-destructive detection work such as tube wall thickness detection, tube inner oxide scale detection, tube outer wall wear detection, etc. of power plant boiler tube panel, and is especially suitable for continuous and multi-point detection, thereby realizing intelligent non-destructive detection of power plant boiler tube panel.

[0023] In summary, the utility model is a flexible guide crawler for assisting boiler tube panel inspection, which has the characteristics of large load capacity, fast crawling speed, convenient assembly and disassembly, and easy to carry. For pipes that require continuous and multi-point inspection, the inspection speed is fast, which saves the time for re-placing the inspection equipment, and greatly improves the efficiency of non-destructive inspection of boiler tube panels in power plants. It is especially suitable for continuous and multi-point inspection, and realizes the intelligent non-destructive inspection of boiler tube panels in power plants.

[0024] The utility model is described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The utility model is a structural diagram of a flexible guide crawler for assisting boiler tube panel detection.

[0026] In the figure: 1-flexible guide rail walking mechanism A, 2-flexible guide rail walking mechanism B, 3-carrying hook, 4-electromagnet, 5-rigid guide rail, 6-thickness measuring device, 11-flexible guide rail, 12-guide tube A, 13-battery, 14-tensioning wheel, 15-driving wheel, 16-guide bracket, 17-motor, 18-guide tube B, 19-walking mechanism. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the implementation scheme of the present invention is described in detail below with reference to the accompanying drawings.

[0028] In one embodiment of the utility model, a flexible guide crawler for assisting boiler tube panel detection is characterized by comprising a flexible guide rail walking mechanism A1, a flexible guide rail walking mechanism B2, a load hook 3, and a controller.

[0029] like Figure 1 As shown, the flexible guide rail traveling mechanism A1 has the same structure as the flexible guide rail traveling mechanism B2, and both include a flexible guide rail 11 and a traveling mechanism 19.

[0030] like Figure 1 As shown, the walking mechanism 19 includes a guide tube A12, a battery 13, a tensioning wheel 14, a driving wheel 15, a guide bracket 16, a motor 17, and a guide tube B18.

[0031] In an embodiment of the present utility model, connectors for mounting the cargo hook 3 are reserved on the upper, lower, left and right surfaces of the walking mechanism 19 .

[0032] In one embodiment of the utility model, one end of the flexible guide rail 11 is first fixed, and the other end passes through the guide tube A12 of the walking mechanism 19, and then passes between the tensioning wheel 14 and the driving wheel 15, and is pressed against the gear of the driving wheel 15 by the tensioning wheel 14. The driving wheel 15 rotates forward under the drive of the motor 17, driving the flexible guide rail 11 to continue to move forward, pass between the driving wheel 15 and the inner wall of the guide bracket 16, and then pass through the guide tube B18, and then select a suitable length according to the conditions of the detection site and fix it.

[0033] In one embodiment of the present invention, both ends of the flexible guide rail 11 of the flexible guide rail walking mechanism A1 are fixed at the top position of one side of the tube panel to be tested.

[0034] In one embodiment of the present utility model, one end of the flexible guide rail 11 of the flexible guide rail traveling mechanism B2 is fixed under the traveling mechanism 19 of the flexible guide rail traveling mechanism A1, and the other end is fixed to the ground.

[0035] In one embodiment of the present utility model, the flexible guide rail walking mechanism A1 is used for walking in the horizontal direction, and the flexible guide rail walking mechanism B2 is used for walking in the vertical direction.

[0036] In one embodiment of the present invention, the flexible guide rail traveling mechanism A1 and the flexible guide rail traveling mechanism B2 have a maximum load of 180 kg and a maximum traveling speed of 11 m / min.

[0037] In one embodiment of the present invention, the walking mechanism 19 is controlled by a controller to move forward, backward, and pause on the flexible guide rail 11 .

[0038] In one embodiment of the present invention, the flexible guide rail 11 has a maximum length of 150 m and is a dedicated rope.

[0039] In one embodiment of the present invention, the guide bracket 16 is semicircular.

[0040] In one embodiment of the utility model, when the thickness of the boiler water-cooled wall tube wall is detected, the flexible guide rail walking mechanism B2 is loaded with a thickness measuring component for thickness measurement, and a flexible guide rail crawler for assisting the boiler tube panel detection is installed on one side of the tube panel to be measured. The hard guide rail 5 is loaded through the loading hook 3 installed on the flexible guide rail walking mechanism B2. The hard guide rail 5 is 2m long. Electromagnets 4 are arranged at both ends of the hard guide rail 5. When the electromagnet 4 is electromagnetized, the electromagnet 4 adsorbs the hard guide rail 5 on the tube panel wall to be measured through ferromagnetism. The thickness measuring device 6 installed on the hard guide rail 5 performs thickness measurement. When the electromagnet 4 is powered off and demagnetized, the hard guide rail 5 can move following the movement of the flexible guide rail walking mechanism B2.

[0041] In one embodiment of the utility model, when detecting the amount of oxide scale accumulation at the elbows of the high-temperature superheater and the high-temperature reheater, a flexible guide crawler for assisting the boiler tube panel detection is installed on both sides of the tube panel, the flexible guide rail walking mechanism B2 on one side is loaded with a digital X-ray machine through a loading hook 3, and the flexible guide rail walking mechanism B2 on the other side is loaded with an imaging plate through a loading hook 3. The flexible guide rail walking mechanisms A1 on both sides of the tube panel move in the horizontal direction, and the flexible guide rail walking mechanism B2 hung on the flexible guide rail walking mechanism A1 moves in the vertical direction. The auxiliary X-ray machine and the imaging plate move synchronously on both sides of the tested tube panel to realize continuous, multi-point real-time X-ray imaging.

[0042] In one embodiment of the utility model, the flexible guide rail walking mechanism B2 can also be loaded with an endoscope device for inspecting the wear of the outer wall of the boiler tube panel, a dust cleaning and de-coking device, and a spraying device.

[0043] To sum up, the utility model is a flexible guide crawler for assisting boiler tube panel inspection, which has the characteristics of large load capacity, fast crawling speed, convenient assembly and disassembly, and easy to carry. For tube panels that require continuous and multi-point inspection, the inspection speed is fast, which saves the time for re-placing the inspection equipment, and greatly improves the efficiency of non-destructive inspection of boiler tube panels in power plants. It is especially suitable for continuous and multi-point inspection, and realizes the intelligent non-destructive inspection of boiler tube panels in power plants.

[0044] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A flexible guide crawler for assisting boiler tube panel inspection, characterized in that It comprises a flexible guide rail walking mechanism A (1), a flexible guide rail walking mechanism B (2), a loading hook (3), and a controller; The flexible guide rail traveling mechanism A (1) and the flexible guide rail traveling mechanism B (2) have the same structure, both comprising a flexible guide rail (11) and a traveling mechanism (19); The walking mechanism (19) comprises a guide tube A (12), a battery (13), a tensioning wheel (14), a driving wheel (15), a guide bracket (16), a motor (17), and a guide tube B (18); and connecting parts for mounting a load hook (3) are reserved on the upper, lower, left, and right surfaces of the walking mechanism (19); One end of the flexible guide rail (11) is first fixed, and the other end passes through the guide tube A (12) of the walking mechanism (19), and then passes between the tension wheel (14) and the driving wheel (15), and is pressed against the gear of the driving wheel (15) by the tension wheel (14). The driving wheel (15) is driven by the motor (17) to rotate forward, driving the flexible guide rail (11) to continue to move forward, pass between the driving wheel (15) and the inner wall of the guide bracket (16), and then pass through the guide tube B (18), and then select a suitable length according to the conditions of the detection site and fix it; Wherein, both ends of the flexible guide rail (11) of the flexible guide rail walking mechanism A (1) are fixed at the top position of one side of the tube panel to be tested; One end of the flexible guide rail (11) of the flexible guide rail traveling mechanism B (2) is fixed below the traveling mechanism (19) of the flexible guide rail traveling mechanism A (1), and the other end is fixed to the ground.

2. A flexible guide crawler for assisting boiler tube panel inspection according to claim 1, characterized in that The flexible guide rail walking mechanism A (1) is used for walking in the horizontal direction, and the flexible guide rail walking mechanism B (2) is used for walking in the vertical direction.

3. A flexible guide crawler for assisting boiler tube panel inspection according to claim 1, characterized in that The flexible guide rail traveling mechanism A (1) and the flexible guide rail traveling mechanism B (2) have a maximum load of 180 kg and a maximum traveling speed of 11 m / min.

4. A flexible guide crawler for assisting boiler tube panel inspection according to claim 1, characterized in that The walking mechanism (19) is controlled by a controller to move forward, backward, and pause on the flexible guide rail (11).

5. The flexible guide crawler for assisting boiler tube panel inspection according to claim 1 is characterized in that The flexible guide rail (11) has a maximum length of 150 m and is a special rope.

6. A flexible guide crawler for assisting boiler tube panel inspection according to claim 1, characterized in that The guide bracket (16) is semicircular.

7. The flexible guide crawler for assisting boiler tube panel inspection according to claim 1 is characterized in that The flexible guide rail walking mechanism B (2) can be loaded with a thickness measuring component for thickness measurement. A flexible guide rail crawler for assisting boiler tube panel inspection is installed on one side of the tube panel to be measured. The hard guide rail (5) is loaded through a load hook (3) installed on the flexible guide rail walking mechanism B (2). The rigid guide rail (5) is 2 m long, and electromagnets (4) are arranged at both ends of the rigid guide rail (5). When the electromagnets (4) are electromagnetized, the electromagnets (4) adsorb the rigid guide rail (5) on the screen wall of the measured pipe through ferromagnetism, and a thickness measuring device (6) installed on the rigid guide rail (5) performs thickness measurement. When the electromagnets (4) are powered off and demagnetized, the rigid guide rail (5) can move along with the movement of the flexible guide rail walking mechanism B (2).

8. The flexible guide crawler for assisting boiler tube panel inspection according to claim 1 is characterized in that The flexible guide rail walking mechanism B (2) can be loaded with a digital radiographic imaging device for measuring oxide scale. A flexible guide rail crawler for assisting boiler tube panel detection is installed on both sides of the tube panel to be tested. One side is loaded with a digital radiographic device through a loading hook (3), and the other side is loaded with an imaging plate through a loading hook (3).

9. The flexible guide crawler for assisting boiler tube panel inspection according to claim 1 is characterized in that The flexible guide rail travel mechanism B (2) can also be loaded with an endoscope device for inspecting the wear of the outer wall of the boiler tube panel, a dust cleaning and de-coking device, and a spraying device.

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