CN220721226U - Crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection - Google Patents

Abstract

The utility model discloses a crawler-type magnetic adsorption wall climbing robot for detecting heat exchange tubes, which comprises a vehicle body, magnetic adsorption crawler-type motion mechanisms positioned at two sides of the vehicle body and a control assembly positioned in the vehicle body, wherein the front end of the vehicle body is provided with a tracking camera and a probe positioning and conveying mechanism, one end of the probe positioning and conveying mechanism is provided with a conveyor, the magnetic adsorption crawler-type motion mechanism comprises a driving motor assembly, a driving sprocket, a driven sprocket and a magnetic adsorption crawler, the magnetic adsorption crawler comprises magnetic adsorption units and square rubber blocks which are alternately arranged, and the top surface of each square rubber block is higher than the top surface of each magnetic adsorption unit; the bottom of the vehicle body is provided with a plurality of auxiliary magnetic attraction devices; shock absorbers are arranged on two sides of the driven sprocket; the magnetic track is provided with a track tensioning mechanism. The utility model can improve the detection efficiency and the accuracy of the detection result, and effectively solve the contradiction between the load capacity and the performance of the crawler-type magnetic adsorption wall climbing robot.

Description

Crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection

Technical Field

The utility model relates to the technical field of crawler-type magnetic adsorption robots, in particular to a crawler-type magnetic adsorption wall climbing robot for detecting a heat exchange tube.

Background

Heat exchange tubes are an important component of typical shell and tube heat exchange equipment, and their safety status has a critical influence on production and operation. The heat exchange tube can form damages such as corrosion, cracks and the like in a long-term high-temperature high-pressure operation environment, once leakage occurs, mixing can occur, normal production is affected, and serious fire accidents can be caused. Therefore, in order to ensure the safe service of the heat exchange equipment, according to national and industry standards, the heat exchange pipe needs to be subjected to periodic quality detection and safety evaluation by using a nondestructive detection means.

At present, the research on the quality detection of the heat exchange tube is mainly focused on a new nondestructive detection method, but the research on how to realize the automatic detection of the heat exchange tube is less.

The existing heat exchange tube detection is usually performed manually, an operator needs to hold a detection probe to perform root-by-root detection operation, and the defects are that: 1. the detection process is unstable, and the evaluation result is unreliable. The detection probe is manually operated to perform plug detection in the heat exchange tube, the detection speed of the sensor cannot be kept stable, so that the scanning speeds of different areas are different, meanwhile, the reliability of a detection method with strict requirements on the detection speed, such as ultrasound and magnetic leakage, is seriously affected, and the detection result is unreliable; 2. the labor intensity is high, and the detection efficiency is low. A typical heat exchanger is provided with hundreds of heat exchange tubes, so that the detection of 1 heat exchanger needs longer working time, the labor intensity is high, the detection efficiency is low, and meanwhile, the heat exchanger generally works in a relatively severe space, so that the working environment of a detector is severe, and the physical and mental health of the detector is influenced.

Therefore, an automatic detection device which can replace manual work and has high efficiency and high reliability is needed.

Disclosure of Invention

The utility model aims to provide a crawler-type magnetic adsorption wall climbing robot for detecting a heat exchange tube, which aims to solve the problems of low detection efficiency and inaccurate detection result of the heat exchange tube in the background technology.

The aim of the utility model is realized by the following technical scheme:

the crawler-type magnetic adsorption wall climbing robot for detecting the heat exchange tubes comprises a vehicle body, magnetic adsorption crawler-type motion mechanisms positioned on two sides of the vehicle body and a control assembly positioned in the vehicle body, wherein a tracking camera and a probe positioning and conveying mechanism are arranged at the front end of the vehicle body, the tracking camera is electrically connected with the control assembly, a conveyor is arranged at one end of the probe positioning and conveying mechanism, the conveyor is used for conveying a probe hose to the probe positioning and conveying mechanism, and the probe positioning and conveying mechanism is used for extending the probe hose into the heat exchange tubes;

the magnetic adsorption crawler-type movement mechanism comprises a driving motor assembly, a driving sprocket, a driven sprocket and a magnetic adsorption crawler, wherein the magnetic adsorption crawler comprises magnetic adsorption units and square rubber blocks which are alternately arranged, and the top surface of each square rubber block is higher than the top surface of each magnetic adsorption unit;

the bottom of the vehicle body is provided with a plurality of auxiliary magnetic attraction devices, the auxiliary magnetic attraction devices are not in surface contact with the heat exchange tube, and the magnetic attraction units are also arranged at the ends of the auxiliary magnetic attraction devices;

shock absorbers are arranged on two sides of the driven sprocket, and the center distance of the driving sprocket and the driven sprocket is adjusted through the shock absorbers;

the magnetic track tensioning mechanism is arranged above the magnetic track, and the magnetic track adjusts the tightness through the magnetic track tensioning mechanism.

Further, the driving motor assembly is located in the vehicle body and is electrically connected with the control assembly, the driving sprocket is connected with the driving motor assembly, a gear train inner plate and a gear train outer plate are respectively arranged on the inner side and the outer side of the driving sprocket and the inner side and the outer side of the driven sprocket, a steel shaft is arranged in the middle of the driven sprocket, and the steel shaft respectively penetrates through the gear train inner plate and the gear train outer plate and is connected with the vehicle body through a bearing assembly.

Further, two ends of the wheel train inner plate and the wheel train outer plate are respectively connected with the driven sprocket and the driving sprocket, and the wheel train inner plate is fixedly connected with the vehicle body; the gear train inner plate and the gear train outer plate are provided with horizontal limit grooves at positions corresponding to the steel shafts, the width of each limit groove is matched with the size of each steel shaft, the shock absorbers are located on the outer sides of the corresponding limit grooves, one ends of the two shock absorbers are respectively fixed on the gear train inner plate and the gear train outer plate, and the other ends of the two shock absorbers are fixed on the steel shafts.

Further, track straining device includes support, montant, extension spring, horizontal pole and pinch roller, the support is U font structure, two the support is fixed respectively the train inner panel with on the train planking, the montant pass the one end of support and with the extension spring is connected, the extension spring keep away from the one end of montant with adjustable bolted connection is passed through to the bottom of support, the montant is kept away from the one end of support is equipped with the mount pad, the pinch roller is located two between the mount pad and with the track butt is inhaled to magnetism, the horizontal pole passes the pinch roller and with the mount pad is connected.

Further, the magnetic adsorption unit comprises a protective sleeve, N48 Rb-Fe-B permanent magnets and yokes which are sequentially arranged from top to bottom, and N poles and S stages of the two N48 Rb-Fe-B permanent magnets are mutually attracted.

Further, the probe positioning conveying mechanism comprises a steering motor, a swing arm assembly, a penetrating screw motor assembly and a conveying assembly, the probe positioning conveying mechanism is connected with the vehicle body in a rotating mode through the steering motor and the swing arm assembly, the conveying assembly is located at the bottom of the penetrating screw motor assembly and connected with a screw rod in the penetrating screw motor assembly, one side of the outer wall of the penetrating screw motor assembly is fixed with the swing arm assembly, the swing arm assembly is far away from one end of the vehicle body, a sliding rail is arranged at the position, located between the penetrating screw motor assembly and the swing arm assembly, a sliding block matched with the sliding rail is arranged at one end of the conveying assembly, and the conveying assembly is connected with the swing arm assembly in a sliding mode through the sliding rail.

Further, the conveying assembly comprises a mounting plate, at least two conveying heads and a positioning camera arranged in the middle of the conveying heads, the conveying heads are arranged at one ends of the mounting plate away from the swing arm assembly, the inner diameters of the conveying heads are matched with the diameters of the probe hoses, the mounting plate is connected with a screw rod in the penetrating screw rod motor assembly, the positioning camera is fixed on the mounting plate, and the positioning camera is electrically connected with the control assembly.

Further, the conveyer includes the grudging post, is located conveying mechanism and the wire reel of grudging post, the wire reel pass through bearing assembly with the grudging post rotates to be connected, conveying mechanism includes the installation frame and is located hold-in range conveying element, hold-down subassembly and the delivery conduit in the installation frame, hold-down subassembly is located hold-in range conveying element's top, hold-down subassembly includes two first package rubber wheels that the size specification is the same, two first package rubber wheels with be equipped with lead screw adjusting part between the installation frame, the hold-in range subassembly includes hold-in range motor, action wheel and two second package rubber wheels that the specification is the same, the second package rubber wheel with first package rubber wheel corresponds from top to bottom and arranges, the action wheel passes through the hold-in range with one of them second package rubber wheel is connected, the action wheel passes through the hold-in range motor drive, the delivery conduit is located between first package rubber wheel with the second package rubber wheel, the delivery conduit corresponds first package rubber wheel with the position of second package rubber wheel is equipped with the notch.

Further, a cover plate is arranged at the top of the vehicle body, and a handle is arranged at the top of the cover plate.

The beneficial effects of the utility model are as follows:

1) The detection efficiency and the accuracy of the detection result are improved. After the robot reaches the appointed area, the probe positioning and conveying mechanism is aligned to the heat exchange tube, and the probe hose is stretched into the heat exchange tube for subsequent detection. The whole detection process is automatically completed through the robot, so that the detection efficiency is greatly improved, the detection stability can be ensured, and the accuracy of a detection result is ensured.

2) Ensuring the stable walking of the robot. By utilizing the shock absorption property of the square rubber block, the rigid contact between the magnetic adsorption unit and the wall surface is converted into flexible contact, the magnetic adsorption unit is protected from breaking while the enough magnetic adsorption force is ensured, meanwhile, the friction force between the robot and the adsorption wall surface is increased, and the stable running of the robot is ensured

3) The contradiction between the load capacity and the performance of the crawler-type magnetic adsorption wall-climbing robot is effectively solved. The magnetic adsorption unit adopts a B-shaped magnetic circuit without adding magnetism isolating materials, the B-shaped magnetic circuit is convenient to assemble, high in stability and easy to package, the superiority of the N48 Ru-Fe-B permanent magnet high magnetic energy product can be fully exerted, meanwhile, the auxiliary magnetic adsorption device is arranged on the outer side of the bottom of the vehicle body, and the end parts of the auxiliary magnetic adsorption device also adopt the magnetic adsorption units which are closer to the wall surface of the heat exchange tube but are not contacted with the wall surface of the heat exchange tube, so that the transverse friction force when the robot turns is not increased while the additional adsorption force is provided, and the contradiction between the load capacity and the performance of the crawler-type magnetic adsorption wall climbing robot is effectively solved.

4) And the rear wheel drive is adopted, so that compared with the front drive device, most of the magnetic attraction caterpillar tracks bear smaller traction force during running during the rear wheel drive, thereby being beneficial to prolonging the service life of the magnetic attraction caterpillar tracks.

5) The driven sprocket is designed into a floating structure, a spring in the shock absorber pushes against the driven sprocket with a certain initial pressure, and when the shock absorber encounters an obstacle, the driven sprocket is automatically driven to approach the driving sprocket due to the increase of the pressure of the magnetic track, so that the center distance between the driving sprocket and the driven sprocket is reduced, and the track becomes loose to wrap the obstacle.

6) The tightness of the magnetic attraction crawler belt can be conveniently adjusted by arranging the crawler belt tensioning mechanism, so that the phenomenon that the magnetic attraction crawler belt falls off due to too loose magnetic attraction crawler belt is avoided.

Drawings

FIG. 1 is a schematic diagram of the operation of a crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to the present utility model;

FIG. 2 is a top view of a crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to the present utility model;

FIG. 3 is a front view of a crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to the present utility model;

FIG. 4 is an isometric view of a crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to the present utility model;

FIG. 5 is a schematic illustration of a magnetically-attracted tracked motion mechanism in accordance with the present utility model;

FIG. 6 is a schematic diagram of a magnetic adsorption unit according to the present utility model;

FIG. 7 is a cross-sectional view of a magnetic adsorption unit according to the present utility model;

FIG. 8 is a schematic view of a probe positioning and transporting mechanism according to the present utility model;

FIG. 9 is a schematic view of a conveyor according to the present utility model;

FIG. 10 is a schematic view of a conveyor mechanism according to the present utility model;

in the drawing the view of the figure, 1-car body, 101-tracking camera, 102-auxiliary magnetic attraction device, 103-cover plate, 104-handle, 2-magnetic attraction crawler motion mechanism, 201-driving motor component, 202-driving sprocket, 203-driven sprocket, 204-magnetic attraction crawler, 2041-magnetic attraction unit, 2042-square rubber block, 2043-protective sleeve, 2044-N48 rubidium-iron-boron permanent magnet, 2045-yoke, 205-shock absorber, 206-wheel train inner plate, 207-wheel train outer plate, 208-steel shaft, 209-limit groove, 3-control component, 4-probe positioning and conveying mechanism, 401-swing arm component, 4011-slide rail, 402-steering motor, 403-penetrating screw motor component, 404-conveying component, 4041-mounting plate, 4042-conveying head, 4043-slide block, 4044-positioning camera, 5-conveyor, 501-stand, 502-disc, 6-crawler tensioning mechanism, 601-bracket, 602-glue stick, 605-tension spring, 604-adjustable bolt, 605-mounting seat, 606-wheel, 604-pressing motor component, 401-rotating arm component, 4011-slide rail, 704-rotating wheel, 704-rotating guide tube component, 708-rotating guide tube component, 708-rotating tube component, 706-rotating tube component, 708-rotating component, 706-rotating component, and 8-rotating tube component.

Detailed Description

The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments, and it is apparent that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present utility model, based on the embodiments of the present utility model.

Referring to fig. 1 to 10, the present utility model provides a technical solution:

as shown in fig. 1-10, the crawler-type magnetic adsorption wall climbing robot for detecting the heat exchange tube comprises a vehicle body 1, magnetic adsorption crawler-type motion mechanisms 2 positioned at two sides of the vehicle body 1 and a control component 3 positioned in the vehicle body 1, wherein a tracking camera 101 and a probe positioning and conveying mechanism 4 are arranged at the front end of the vehicle body 1, the tracking camera 101 is electrically connected with the control component 3, a conveyor 5 is arranged at one end of the probe positioning and conveying mechanism 4, the conveyor 5 is used for conveying a probe hose 9 to the probe positioning and conveying mechanism 4, and the probe positioning and conveying mechanism 4 is used for extending the probe hose 9 into the heat exchange tube 8;

the magnetic adsorption crawler-type movement mechanism 2 comprises a driving motor assembly 201, a driving sprocket 202, a driven sprocket 203 and a magnetic adsorption crawler 204, wherein the magnetic adsorption crawler 204 comprises magnetic adsorption units 2041 and square rubber blocks 2042 which are alternately arranged, and the top surface of each square rubber block 2042 is higher than the top surface of each magnetic adsorption unit 2041;

the bottom of the vehicle body 1 is provided with a plurality of auxiliary magnetic attraction devices 102, the auxiliary magnetic attraction devices 102 are not in contact with the end face of the heat exchange tube 8, and the end parts of the auxiliary magnetic attraction devices 102 are also provided with the magnetic attraction units 2041;

shock absorbers 205 are arranged on two sides of the driven sprocket 203, and the driving sprocket 202 and the driven sprocket 203 are subjected to center distance adjustment through the shock absorbers 205;

the track tensioning mechanism 6 is arranged above the magnetic attraction track 204, and the magnetic attraction track 204 adjusts the tightness through the track tensioning mechanism 6.

Through the above technical scheme, the lens of the tracking camera 101 is used for detecting the wall surface of the heat exchange tube 8 in front, and transmitting the image data back to the control assembly 3 as the basis of automatic planning of the robot motion path. Then the robot moves through the magnetic adsorption crawler type movement mechanism 2, a plurality of magnetic adsorption units 2041 on the magnetic adsorption crawler 204 are firmly clamped with the wall of the heat exchange tube 8, meanwhile, the square rubber block 2042 is utilized to improve shock absorption, so that rigid contact between the magnetic adsorption units 2041 and the wall surface is converted into flexible contact, the service life of the magnetic adsorption units 2041 is prolonged, meanwhile, the friction force between the robot and the adsorption wall surface can be increased, and the robot can walk more stably. Meanwhile, although the auxiliary magnetic devices 102 at the bottom of the vehicle body 1 are not in direct contact with the wall of the heat exchange tube 8, the magnetic adsorption units 2041 at the end can provide magnetism so as to provide additional adsorption force, and meanwhile, the adsorption force does not increase the transverse friction force when the robot turns. After the robot reaches the appointed area, the probe positioning and conveying mechanism 4 is aligned to the heat exchange tube 8, and then the probe hose 9 is stretched into the heat exchange tube 8 for subsequent detection. The whole detection process is automatically completed through the robot, so that the detection efficiency is greatly improved, the detection stability can be ensured, and the accuracy of a detection result is ensured.

Further, the driving motor assembly 201 is located in the vehicle body 1 and is electrically connected with the control assembly 3, the driving sprocket 202 is connected with the driving motor assembly 201, inner and outer sides of the driving sprocket 202 and inner and outer sides of the driven sprocket 203 are respectively provided with a gear train inner plate 206 and a gear train outer plate 207, a steel shaft 208 is arranged in the middle of the driven sprocket 203, and the steel shaft 208 respectively penetrates through the gear train inner plate 206 and the gear train outer plate 207 and is connected with the vehicle body 1 through a bearing assembly.

Through the above technical scheme, the driving motor assembly 201 includes a driving motor body and a planetary reducer, and the driving sprocket 202 is driven by the driving motor body and the planetary reducer together, and since the driving sprocket 202 is located at the rear part of the vehicle body 1, a rear wheel driving mode is adopted. The driving sprocket 202 and the driven sprocket 203 are driven by the magnetic track 204, and the driven sprocket 203 is free to rotate by the steel shaft 208. Meanwhile, most of the magnetic track 204 bears smaller traction force during running when the rear wheels are driven, so that the service life of the magnetic track 204 is prolonged.

Further, both ends of the train wheel inner plate 206 and the train wheel outer plate 207 are respectively connected with the driven sprocket 203 and the driving sprocket 202, and the train wheel inner plate 206 is fixedly connected with the vehicle body 1; the gear train inner plate 206 and the gear train outer plate 207 are provided with horizontal limit grooves 209 at positions corresponding to the steel shafts 208, the width of each limit groove 209 is matched with the size of each steel shaft 208, the shock absorbers 205 are located on the outer sides of the corresponding limit grooves 209, one ends of the two shock absorbers 205 are respectively fixed on the gear train inner plate 206 and the gear train outer plate 207, and the other ends of the two shock absorbers 205 are fixed on the steel shafts 208.

Through the above technical scheme, the springs in the shock absorber 205 are tightly pressed against the driven sprocket 203 with a certain initial pressure, when a robot walks to meet an obstacle, the pressure of the magnetic track 204 is increased to enable the driven sprocket 203 to compress the springs in the shock absorber 205 and enable the driven sprocket 203 to approach the driving sprocket 202 along the limiting groove 209, so that the center distance between the driving sprocket 202 and the driven sprocket 203 is reduced, the magnetic track 204 is enabled to be loose to wrap the obstacle, and the robot is enabled to cross the obstacle more easily.

Further, the track tensioning mechanism 6 includes a support 601, a vertical rod 602, a tension spring 603, a cross rod 606 and a pinch roller 607, the support 601 is of a U-shaped structure, the two supports 601 are respectively fixed on the wheel train inner plate 206 and the wheel train outer plate 207, the vertical rod 602 passes through one end of the support 601 and is connected with the tension spring 603, one end of the tension spring 603 away from the vertical rod 602 is connected with the bottom of the support 601 through an adjustable bolt 604, one end of the vertical rod 602 away from the support 601 is provided with a mounting seat 605, the pinch roller 607 is located between the two mounting seats 605 and is abutted with the magnetic track 204, and the cross rod 606 passes through the pinch roller 607 and is connected with the mounting seat 605.

Through the technical scheme, the vertical rod 602 can move along the top of the bracket 601, and the elasticity of the tension spring 603 is adjusted through the adjustable bolt 604, so that the tension spring 603 pulls the vertical rod 602 to move so as to drive the mounting seat 605 at the top of the vertical rod 602 and the pressing wheel 607 between the mounting seats 605 to tightly prop against the magnetic track 204. Because the pressing wheel 607 is sleeved on the cross rod 606, the pressing wheel 607 can be used for freely grabbing, and the pressing wheel 607 is used for pressing from the outer side of the loose edge of the magnetic track 204, so that the magnetic track 204 is prevented from falling off due to the fact that the loose edge magnetic track 204 is too loose.

Further, the magnetic adsorption unit 2041 includes a protecting sleeve 2043, an N48 rb-fe-b permanent magnet 2044 and a yoke 2045, which are sequentially disposed from top to bottom, and the N poles and S poles of the two N48 rb-fe-b permanent magnets 2044 are mutually attracted.

Through the above technical solution, the magnetic adsorption unit 2041 adopts a b-shaped magnetic circuit without adding magnetism isolating material, and is specifically composed of a yoke 2045, two N48 rubidium-iron-boron permanent magnets 2044 and a protective sleeve 2043, which are fixedly connected by bolts.

Further, the probe positioning and conveying mechanism 4 comprises a steering motor 402, a swing arm assembly 401, a penetrating screw motor assembly 403 and a conveying assembly 404, the probe positioning and conveying mechanism 4 is rotationally connected with the vehicle body 1 through the steering motor 402 and the swing arm assembly 401, the conveying assembly 404 is located at the bottom of the penetrating screw motor assembly 403 and is connected with a screw in the penetrating screw motor assembly 403, one side of the outer wall of the penetrating screw motor assembly 403 is fixed with the swing arm assembly 401, one end, away from the vehicle body 1, of the swing arm assembly 401 is provided with a sliding rail 4011, the sliding rail 4011 is located between the penetrating screw motor assembly 403 and the swing arm assembly 401, one end of the conveying assembly 404 is provided with a sliding block 4043 matched with the sliding rail 4011, and the conveying assembly 404 is slidably connected with the swing arm assembly 401 through the sliding rail 4011.

Through the technical scheme, the probe conveying and positioning mechanism can drive the swing arm assembly 401 to rotate at the front end of the vehicle body 1 through the steering motor 402, so that a fan-shaped rotating area is formed. The conveying component 404 at the front end of the swing arm component 401 can move up and down along with the screw rod through the penetrating screw rod motor component 403, and meanwhile, the conveying component 404 guarantees the moving direction through the sliding rail 4011 and the sliding block 4043 and plays a certain supporting role.

Further, the conveying assembly 404 includes a mounting plate 4041, at least two conveying heads 4042, and a positioning camera 4044 disposed in the conveying heads 4042, the conveying heads 4042 are disposed at one end of the mounting plate 4041 away from the swing arm assembly 401, the inner diameter of the conveying heads 4042 is adapted to the diameter of the probe hose 9, the mounting plate 4041 is connected with a screw in the penetrating screw motor assembly 403, the positioning camera 4044 is fixed on the mounting plate 4041, and the positioning camera 4044 is electrically connected with the control assembly 3.

Through the above technical scheme, when the mounting plate 4041 moves through the penetrating screw motor assembly 403, the sliding block 4043 and the sliding rail 4011, the conveying head 4042 at the front end of the mounting plate 4041 is driven to extend into the heat exchange tube 8, and the probe hose 9 in the conveying head 4042 can be extended into the heat exchange tube 8 to complete detection of the heat exchange tube 8. Meanwhile, the size of the conveying heads 4042 is smaller than the diameter of the heat exchange tube 8, and the distance between the conveying heads 4042 is the same as the distance between the adjacent heat exchange tubes 8, so that the conveying heads 4042 can be simultaneously stretched into the heat exchange tubes 8, and the detection efficiency is improved. Meanwhile, the positioning camera 4044 shoots an image of the heat exchange tube 8 and transmits the image back to the control group, so as to adjust the steering motor 402 and the penetrating screw motor assembly 403, and finally, the positioning of the opening of the heat exchange tube 8 is realized.

Further, the conveyor 5 includes a vertical frame 501, a conveying mechanism 7 located in the vertical frame 501, and a wire spool 502, the wire spool 502 is rotatably connected with the vertical frame 501 through a bearing assembly, the conveying mechanism 7 includes a mounting frame 701, a synchronous belt conveying assembly 404 located in the mounting frame 701, a pressing assembly and a conveying conduit 707, the pressing assembly is located above the synchronous belt conveying assembly 404, the pressing assembly includes two first glue-wrapping wheels 702 with identical size specifications, a screw adjusting assembly 703 is disposed between the two first glue-wrapping wheels 702 and the mounting frame 701, the synchronous belt assembly includes a synchronous belt motor 704, a driving wheel 705 and two second glue-wrapping wheels 706 with identical specifications, the second glue-wrapping wheels 706 are correspondingly disposed up and down with the first glue-wrapping wheels 702, the driving wheel 705 is connected with one of the second glue-wrapping wheels 706 through a synchronous belt, the driving wheel 705 is driven by the synchronous belt motor 704, the conveying conduit is located between the first glue-wrapping wheels 702 and the second glue-wrapping wheels 706, and the conveying conduit 706 is correspondingly disposed at the second position of the slot 706.

By the above technical scheme, the conveyer 5 is placed on the ground, and the probe hose 9 is conveyed to the probe conveying and positioning mechanism in front. The driving wheel 705 is driven to rotate by the synchronous belt motor 704, and then the second packing wheel 706 connected with the driving wheel 705 through the synchronous belt is driven to rotate, and as the second packing wheel 706 is abutted with the probe hose 9 in the conveying conduit 707 through the notch 708, the probe hose 9 is driven to move along with the rotation of the second packing wheel 706 under the action of friction force. Simultaneously, under the action of the pressing down of the first rubber coating wheel 702 at the top, the probe hose 9 is clamped by the first rubber coating wheel 702 and the second rubber coating wheel 706, so that slipping is prevented. Meanwhile, the distance of the first rubber coating wheel 702 can be adjusted through the lead screw adjusting assembly 703, so that the second rubber coating wheel 706 is guaranteed not to slip, the conveying speed of the probe hose 9 is constant, the detection speed of the front probe hose 9 after the front probe hose 9 stretches into the heat exchange tube 8 is guaranteed to be stable, and the accuracy of the detection result is guaranteed. Meanwhile, the tail probe hose 9 can be paid out and wound up through the wire spool 502, so that the storage is facilitated.

Further, a cover plate 103 is arranged at the top of the vehicle body 1, and a handle 104 is arranged at the top of the cover plate 103.

Through above-mentioned technical scheme, can put the robot on the heat exchange tube 8 wall through grasping the handle 104 on the apron 103, be convenient for operate, the inside maintenance of automobile body 1 is convenient simultaneously through apron 103.

The foregoing is merely a preferred embodiment of the utility model, and it is to be understood that the utility model is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the utility model are intended to be within the scope of the appended claims.

Claims (9)

1. The utility model provides a crawler-type magnetism adsorbs wall climbing robot for heat exchange tube detects, includes automobile body (1), is located magnetism adsorption crawler-type motion (2) of automobile body (1) both sides and be located control assembly (3) in automobile body (1), its characterized in that: the front end of the vehicle body (1) is provided with a tracking camera (101) and a probe positioning and conveying mechanism (4), the tracking camera (101) is electrically connected with the control assembly (3), one end of the probe positioning and conveying mechanism (4) is provided with a conveyer (5), the conveyer (5) is used for conveying a probe hose (9) to the probe positioning and conveying mechanism (4), and the probe positioning and conveying mechanism (4) is used for extending the probe hose (9) into the heat exchange tube (8);

the magnetic adsorption crawler-type movement mechanism (2) comprises a driving motor assembly (201), a driving sprocket (202), a driven sprocket (203) and a magnetic adsorption crawler (204), wherein the magnetic adsorption crawler (204) comprises magnetic adsorption units (2041) and square rubber blocks (2042) which are alternately arranged, and the top surface of each square rubber block (2042) is higher than the top surface of each magnetic adsorption unit (2041);

the bottom of the vehicle body (1) is provided with a plurality of auxiliary magnetic attraction devices (102), the auxiliary magnetic attraction devices (102) are not contacted with the end face of the heat exchange tube (8), and the end parts of the auxiliary magnetic attraction devices (102) are also provided with the magnetic attraction units (2041);

shock absorbers (205) are arranged on two sides of the driven sprocket (203), and the center distance of the driving sprocket (202) and the driven sprocket (203) is adjusted through the shock absorbers (205);

the magnetic track tensioning device is characterized in that a track tensioning mechanism (6) is arranged above the magnetic track (204), and the magnetic track (204) adjusts tightness through the track tensioning mechanism (6).

2. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 1, wherein: the driving motor assembly (201) is located in the vehicle body (1) and is electrically connected with the control assembly (3), the driving sprocket (202) is connected with the driving motor assembly (201), a gear train inner plate (206) and a gear train outer plate (207) are respectively arranged on the inner side and the outer side of the driving sprocket (202) and the outer side of the driven sprocket (203), a steel shaft (208) is arranged in the middle of the driven sprocket (203), and the steel shaft (208) respectively penetrates through the gear train inner plate (206) and the gear train outer plate (207) and is connected with the vehicle body (1) through a bearing assembly.

3. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 2, wherein: the two ends of the wheel train inner plate (206) and the wheel train outer plate (207) are respectively connected with the driven sprocket (203) and the driving sprocket (202), and the wheel train inner plate (206) is fixedly connected with the vehicle body (1); the gear train inner plate (206) and the gear train outer plate (207) are provided with horizontal limiting grooves (209) at positions corresponding to the steel shafts (208), the width of each limiting groove (209) is matched with the size of each steel shaft (208), the shock absorber (205) is located on the outer side of each limiting groove (209), one end of each shock absorber (205) is respectively fixed on the gear train inner plate (206) and the gear train outer plate (207), and the other end of each shock absorber (205) is fixed on each steel shaft (208).

4. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 2, wherein: track straining device (6) include support (601), montant (602), extension spring (603), horizontal pole (606) and pinch roller (607), support (601) are U font structure, two support (601) are fixed respectively train inner panel (206) with on train planking (207), montant (602) pass one end of support (601) and with extension spring (603) are connected, extension spring (603) keep away from one end of montant (602) with the bottom of support (601) is passed through adjustable bolt (604) and is connected, montant (602) are kept away from one end of support (601) is equipped with mount pad (605), pinch roller (607) are located two between mount pad (605) and with track (204) butt is inhaled to magnetism, horizontal pole (606) pass pinch roller (607) and with mount pad (605) are connected.

5. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 1, wherein: the magnetic adsorption unit (2041) comprises a protective sleeve (2043), an N48 Rb-Fe-B permanent magnet (2044) and a yoke (2045) which are sequentially arranged from top to bottom, and N poles and S poles of the N48 Rb-Fe-B permanent magnet (2044) are mutually attracted.

6. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 1, wherein: the probe positioning conveying mechanism (4) comprises a steering motor (402), a swing arm assembly (401), a penetrating screw motor assembly (403) and a conveying assembly (404), the probe positioning conveying mechanism (4) is rotationally connected with the vehicle body (1) through the steering motor (402) and the swing arm assembly (401), the conveying assembly (404) is located at the bottom of the penetrating screw motor assembly (403) and is connected with a screw rod in the penetrating screw motor assembly (403), one side of the outer wall of the penetrating screw motor assembly (403) is fixed with the swing arm assembly (401), one end, far away from the vehicle body (1), of the swing arm assembly (401) is provided with a sliding rail (4011), the sliding rail (4011) is located between the penetrating screw motor assembly (403) and the swing arm assembly (401), one end of the conveying assembly (404) is provided with a sliding block (4043) matched with the sliding rail (4011), and the conveying assembly (404) is connected with the swing arm assembly (401) in a sliding mode.

7. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 6, wherein: the conveying assembly (404) comprises a mounting plate (4041), at least two conveying heads (4042) and a positioning camera (4044) arranged in the conveying heads (4042), the conveying heads (4042) are arranged at one end, far away from the swing arm assembly (401), of the mounting plate (4041), the inner diameter of the conveying heads (4042) is matched with the diameter of the probe hose (9), the mounting plate (4041) is connected with a screw rod in the penetrating screw rod motor assembly (403), the positioning camera (4044) is fixed on the mounting plate (4041), and the positioning camera (4044) is electrically connected with the control assembly (3).

8. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 1, wherein: the conveyor (5) comprises a vertical frame (501), a conveying mechanism (7) and a wire spool (502), wherein the conveying mechanism (7) and the wire spool (502) are arranged in the vertical frame (501), the wire spool (502) is rotationally connected with the vertical frame (501) through a bearing assembly, the conveying mechanism (7) comprises a mounting frame (701) and a synchronous belt conveying assembly (404), a pressing assembly and a conveying guide pipe (707) which are arranged in the mounting frame (701), the pressing assembly is arranged above the synchronous belt conveying assembly (404), the pressing assembly comprises two first rubber coating wheels (702) with the same size specification, a screw rod adjusting assembly (703) is arranged between the two first rubber coating wheels (702) and the mounting frame (701), the synchronous belt assembly comprises a synchronous belt motor (704), a driving wheel (705) and two second rubber coating wheels (706) with the same specification, the driving wheel (705) is correspondingly arranged up and down with the first rubber coating wheels (702), the driving wheel (705) is connected with one second rubber coating wheel (706) through a synchronous belt, the driving wheel (706) is arranged between the driving wheel (706) and the conveying guide pipe (706), the delivery conduit (707) is provided with a notch (708) corresponding to the position of the first and second glue wheels (702, 706).

9. The crawler-type magnetic adsorption wall climbing robot for heat exchange tube detection according to claim 1, wherein: the top of automobile body (1) is equipped with apron (103), the top of apron (103) is equipped with handle (104).