CN1745985A - Heating surface pipeline inspecting robot of heat exchanger - Google Patents
Heating surface pipeline inspecting robot of heat exchanger Download PDFInfo
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- CN1745985A CN1745985A CN 200410035727 CN200410035727A CN1745985A CN 1745985 A CN1745985 A CN 1745985A CN 200410035727 CN200410035727 CN 200410035727 CN 200410035727 A CN200410035727 A CN 200410035727A CN 1745985 A CN1745985 A CN 1745985A
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- heat exchanger
- heating surface
- roller
- work machine
- machine arm
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- 238000010438 heat treatment Methods 0.000 title claims description 21
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims description 17
- 239000000523 sample Substances 0.000 claims description 13
- 241001417527 Pempheridae Species 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 5
- 239000011888 foil Substances 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 2
- 239000011521 glass Substances 0.000 claims description 2
- 238000009413 insulation Methods 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 238000004590 computer program Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
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Abstract
A robot for inspecting the pipeline on the heated surface of heat exchanger is composed of a running unit consisting of 4-oeg running frame, rollers installed to legs for longitudinal running, caterpillar belts for transverse running and motor, working platform fixed on said running frame, and such units installed on working platform as computer, radio communication equipment, manipulator, driver, DC power supply and remote monitor.
Description
Technical field
That the present invention relates to is a kind of industrial detection machine people, especially for the robot of Industrial Boiler heating surface piping detection.
Background technology
The boiler heating surface pipeline is under high temperature, high pressure, frayed, the adverse circumstances that are subjected to inside and outside corrosion works, often, heating surface piping causes the accident because of damaging, cause the accident for reducing because of boiler heating surface damages, during boiler maintenance, the inspection of heating surface piping just becomes an important process.All be to organize manpower, mainly by soon, hand is touched wearing and tearing, corrosion situation and other defective of checking heating surface piping in the past.Because condition of work is abominable in the stove, causes very big difficulty to inspection, although each maintenance all is a large amount of manpower and materials of cost, but still do not reach completely, the accident that causes because of omission happens occasionally.For improving efficient and the quality that heating surface piping is checked, the article A Novel Mobile Robot forFinned Tube Inspection of 2003 the 21st phases of Britain magazine " Robotica " discloses a kind of robot that bearing pipe of heat exchanger detects that is used for, and the walking mechanism of this robot is by forming along 12 trundles of conduit axis direction walking with the link chain mechanism of conduit axis vertical direction walking.12 trundles are fixed on the chain, and trundle rotates by built-in motor and drives, and structure is very complicated, and can only use when spacing between pipes very strict conformance, uses very inconvenient.The small space that robot adopts flexible arm to be deep in the middle of the pipeline detects heating surface piping, because of flexible arm does not have rigidity, regulates dumbly, can't guarantee that detection probe accurately locatees, and can not guarantee normally carrying out of testing, brings difficulty to pipe detection.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of robot that fast and efficiently heating surface piping is detected under can the adverse circumstances in Industrial Boiler is provided.
For realizing goal of the invention, the invention provides a kind of heat exchanger heating surface piping detection machine people, it comprises walking mechanism, be fixed on the workbench on the walking mechanism and be installed in computer, wireless communication apparatus, Work machine arm, driver and dc source on the workbench, also has a remote monitoring device.Wireless communication apparatus on the workbench receives the instruction of remote monitoring device, send into computer, start computer program, computer program control driver starts walking mechanism and goes to assigned position, computer program is controlled driver start detection Work machine arm again, the heat exchanger heating surface piping is detected, and after will detecting the information back Computer Processing, be sent to the remote monitoring device by wireless communication apparatus again.Dc source is given computer, driver, wireless communication apparatus, walking mechanism and the power supply of detection Work machine arm, be characterized in that said walking mechanism is made up of four leg traveling vehicle frames, roller and traveling crawler, roller is installed on the leg of traveling vehicle frame, by motor-driven, can make the lengthwise movement of robot along detected pipeline, traveling crawler is fixed on the top of traveling vehicle frame by the rigid telescopic crane.When the telescopic lifting frame descends, traveling crawler is put down, when traveling crawler contacts with tested pipeline roller is lifted unsettledly, under the drive of motor, traveling crawler just can the carrying machine people be walked along the pipeline transverse translation.
The roller of walking mechanism is fixed on by telescopic shaft on the leg of traveling vehicle frame, the telescopic shaft adjustable length, and by regulating the length of telescopic shaft, the distance between can the free adjustment roller is with the detection of the heating surface piping that adapts to different spacing, different tube diameters.Roller is walked along tested pipeline, and the surface that roller contacts with tested pipeline is a circular arc, and the surface scribbles rubber, and is steady to guarantee robot ambulation, avoids the wearing and tearing to pipeline simultaneously.
Said Work machine arm is the rigidity articulated type Work machine arm of being made by rigid material, and the Work machine arm is fixed on the workbench, is slidingly connected with workbench, and is by motor-driven, free to rotate.The end of Work machine arm is installed sweeper, also pipe laying surface image scanner or pipe diameter detector or pipeline wall thickness detector as required.
The Work machine arm is made by the expoxy glass cloth material of high strength, high insulation resistance, by motor-driven, its terminal sweeper, surface image scanner, pipe diameter detector and pipeline wall thickness detector of installing is respectively brush sweeper, CCD probe, foil gauge survey diameter probe and ultrasonic probe.
The present invention compared with the prior art, the beneficial effect that has is: adopt rigidity articulation structure Work machine arm light and flexible, action accurately, the positioning accuracy height, the operation orientation is wide, the detection efficiency height.Robot running gear is simple and compact for structure, and volume is little.Roller separates with traveling crawler to be fixed, and is convenient to loading and unloading and maintenance, can be applicable to the detection of the various heat exchanger heating surface pipes of industries such as electric power, chemical industry, metallurgy, weaving.
Description of drawings
Fig. 1 is that general structure schematic diagram of the present invention, each reference numerals are expressed as: rubber layer 1, roller 2, telescopic axle 3, traveling crawler 4, traveling vehicle frame 5, workbench 6, wireless communication apparatus 7, computer 8, drive motors 9, telescopic lifting frame 10, dc source 11, driver 12, Work machine arm 13, CCD probe 14, foil gauge are surveyed diameter probe 15, ultrasonic probe 16, brush sweeper 17.
The specific embodiment:
Below in conjunction with accompanying drawing the present invention is described in further details:
Walking mechanism is made up of four leg traveling vehicle frames 5, roller 2 and traveling crawler 4, and roller 2 is installed on four legs of traveling vehicle frame 5, by motor-driven, can make robot along detected pipeline lengthwise movement.The arc surface of roller 2 scribbles rubber layer 1, roller 2 is fixed on the leg of traveling vehicle frame 5 by telescopic axle 3, and adjustable length by adjusting the length of telescopic axle 3, can be regulated the distance between roller 2 two-wheeleds.
Traveling crawler 4 is fixed on the top of traveling vehicle frame 5 by telescopic lifting frame 10.Traveling crawler 4 is terminal fixing with the scalable part of telescopic lifting frame 10.The flexible of telescopic lifting frame 10 driven by drive motors 9.
Workbench 6 is fixed on the traveling vehicle frame 5 of walking mechanism, is driven by walking mechanism and moves.Work machine arm 13 is fixed on the workbench 6, is slidingly connected with workbench 6, and is by motor-driven, free to rotate.The end of Work machine arm 13 is installed brush sweeper 17, CCD probe 14 or foil gauge and is surveyed diameter probe 15 or ultrasonic probe 16.
Claims (6)
1. heat exchanger heating surface piping detection machine people, it comprises walking mechanism, be fixed on the workbench on the walking mechanism and be installed in computer, wireless communication apparatus, Work machine arm, driver, dc source and remote monitoring device on the workbench, it is characterized in that: said walking mechanism is made up of four leg traveling vehicle frames, roller and traveling crawler, roller is contained on the leg of traveling vehicle frame, by motor-driven, can make robot along detected pipeline lengthwise movement; Traveling crawler is fixed on the top of four leg traveling vehicle frames by the rigid telescopic crane, by motor-driven.When the telescopic lifting frame descends, traveling crawler is put down with tested pipeline contact, simultaneously roller is lifted unsettledly, under driven by motor, traveling crawler drives robot and crosses tube translation and walks.
2. heat exchanger heating surface piping detection machine people according to claim 1, it is characterized in that: the roller of said walking mechanism is fixed on the leg of traveling vehicle frame by the telescopic axle, the telescopic shaft length is adjustable, by adjusting the length of telescopic axle, regulate the distance between the roller.
3. heat exchanger heating surface piping detection machine people according to claim 2, it is characterized in that: the surface that said roller contacts with tested pipeline is a circular arc, and the surface scribbles rubber layer.
4. heat exchanger heating surface piping detection machine people according to claim 3, it is characterized in that: said Work machine arm is the rigidity articulated type Work machine arm of being made by rigid material, the Work machine arm is fixed on the workbench, by motor-driven, be slidingly connected with platform, free to rotate.
5. heat exchanger heating surface piping detection machine people according to claim 4 is characterized in that: the end of said Work machine arm is installed sweeper and surface image scanner or pipe diameter detector or pipeline wall thickness detector.
6. heat exchanger heating surface piping detection machine people according to claim 5, it is characterized in that: said Work machine arm is made by the expoxy glass cloth material of high strength, high insulation resistance, and its terminal sweeper, surface image scanner, pipe diameter detector and pipeline wall thickness detector of installing is respectively brush sweeper, CCD probe, foil gauge survey diameter probe and ultrasonic probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410035727XA CN100358682C (en) | 2004-09-09 | 2004-09-09 | Heating surface pipeline inspecting robot of heat exchanger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200410035727XA CN100358682C (en) | 2004-09-09 | 2004-09-09 | Heating surface pipeline inspecting robot of heat exchanger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1745985A true CN1745985A (en) | 2006-03-15 |
| CN100358682C CN100358682C (en) | 2008-01-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200410035727XA Expired - Fee Related CN100358682C (en) | 2004-09-09 | 2004-09-09 | Heating surface pipeline inspecting robot of heat exchanger |
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| Country | Link |
|---|---|
| CN (1) | CN100358682C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890708A (en) * | 2010-06-08 | 2010-11-24 | 北京信息科技大学 | Wheeled-movement pipeline robot |
| CN106291743A (en) * | 2015-06-26 | 2017-01-04 | 严小华 | A kind of detection device |
| CN106609894A (en) * | 2017-03-10 | 2017-05-03 | 中南大学 | A power plant boiler pipeline detection robot |
| CN108602194A (en) * | 2016-02-08 | 2018-09-28 | 川崎重工业株式会社 | work robot |
| CN109465815A (en) * | 2018-12-29 | 2019-03-15 | 浙江量子医疗器械有限公司 | A kind of curved mechanical arm of three-dimensional control of hinge band connection |
| CN111664317A (en) * | 2020-05-13 | 2020-09-15 | 易忠萍 | Intelligent robot for in-pipeline detection |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102060057B (en) * | 2010-12-27 | 2012-09-26 | 中国民航大学 | Robot system for inspecting airplane fuel tank and control method thereof |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174452A (en) * | 1994-12-27 | 1996-07-09 | Komatsu Ltd | Upper part slewing-type self-traveling vehicle with handling manipulator and controlling method for it |
| CN1170148C (en) * | 2002-10-10 | 2004-10-06 | 上海交通大学 | Shifter of detection robot for bearing pipe of heat exchanger |
| CN1175244C (en) * | 2002-10-24 | 2004-11-10 | 上海交通大学 | Measurer for diameter of finned heat exchanging pipe in narrow space |
| CN2733358Y (en) * | 2004-09-09 | 2005-10-12 | 山东鲁能智能技术有限公司 | Heat exchanger heated surface pipe robot detection device |
-
2004
- 2004-09-09 CN CNB200410035727XA patent/CN100358682C/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890708A (en) * | 2010-06-08 | 2010-11-24 | 北京信息科技大学 | Wheeled-movement pipeline robot |
| CN101890708B (en) * | 2010-06-08 | 2012-06-20 | 北京信息科技大学 | Wheeled-movement pipeline robot |
| CN106291743A (en) * | 2015-06-26 | 2017-01-04 | 严小华 | A kind of detection device |
| CN108602194A (en) * | 2016-02-08 | 2018-09-28 | 川崎重工业株式会社 | work robot |
| CN108602194B (en) * | 2016-02-08 | 2021-09-10 | 川崎重工业株式会社 | Working robot |
| CN106609894A (en) * | 2017-03-10 | 2017-05-03 | 中南大学 | A power plant boiler pipeline detection robot |
| CN106609894B (en) * | 2017-03-10 | 2018-07-31 | 中南大学 | A kind of boiler of power plant pipeline detection machine device people |
| CN109465815A (en) * | 2018-12-29 | 2019-03-15 | 浙江量子医疗器械有限公司 | A kind of curved mechanical arm of three-dimensional control of hinge band connection |
| CN109465815B (en) * | 2018-12-29 | 2023-09-01 | 黄振宇 | Three-dimensional bending control mechanical arm with hinge connected |
| CN111664317A (en) * | 2020-05-13 | 2020-09-15 | 易忠萍 | Intelligent robot for in-pipeline detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100358682C (en) | 2008-01-02 |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002 Luneng Science Park, east end of Second Ring Road, Ji'nan, Shandong Patentee before: SHANDONG LUNENG INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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