CN2733358Y - Heat exchanger heated surface pipe robot detection device - Google Patents
Heat exchanger heated surface pipe robot detection device Download PDFInfo
- Publication number
- CN2733358Y CN2733358Y CN 200420053723 CN200420053723U CN2733358Y CN 2733358 Y CN2733358 Y CN 2733358Y CN 200420053723 CN200420053723 CN 200420053723 CN 200420053723 U CN200420053723 U CN 200420053723U CN 2733358 Y CN2733358 Y CN 2733358Y
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- running
- heat exchanger
- pipeline
- roller
- work machine
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- Expired - Lifetime
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Abstract
The utility model provides a heat exchanger heated surface pipe robot detection device, comprising a running mechanism, a foot platform which is fixed on the running mechanism, a computer which is arranged on the foot platform, a wireless communication mechanism, a working machine arm, a driver and a direct current power supply, in addition, a distant monitor. The utility model is characterized in that the running mechanism is composed of a running bicycle frame with four legs, rollers and a running apron wheel, the rollers are arranged on the legs of the running bicycle frame, and the rollers are driven by a motor, the robot can do lengthwise movement along the detected pipeline, the running apron wheel is fixed on the upper of the running bicycle frame by a rigid lifting frame. The running apron wheel is dropped when descending the flexible lifting frame, simultaneously, the running apron wheel contacts with the detected pipeline, the rollers are raised and suspended, the running apron wheel can take the robot to do transversal translation running along the pipeline by the driving of the motor. The utility model has the advantages of compact conformation, small volume, high detection efficiency, wide adaptability, the detecting operation of the pipeline for the heat exchanger heated surface can be completed, the fields of the industrial boiler detection, etc can be widely used.
Description
Technical field
The utility model relates to a kind of industrial robot pick-up unit, especially for the robot pick-up unit of Industrial Boiler heating surface piping.
Background technology
The boiler heating surface pipeline is under high temperature, high pressure, frayed, the rugged surroundings 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 travel 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 be when spacing between pipes very strict conformance cun use, and use 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 purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of robot device who fast and efficiently heating surface piping is detected under can the rugged surroundings in Industrial Boiler is provided.
For realizing goal of the invention, the utility model provides a kind of heat exchanger heating surface tube pipeline robot pick-up unit, it comprises travel mechanism, be fixed on the workbench on the travel mechanism and be installed in computing machine, wireless communication apparatus, Work machine arm, driver and direct supply on the workbench, also has a remote monitoring device.Wireless communication apparatus on the workbench receives the instruction of remote monitoring device, send into computing machine, start computer program, the computer program Control Driver starts travel mechanism and goes to assigned position, computer program is Control 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.Direct supply is given computing machine, driver, wireless communication apparatus, travel mechanism and the power supply of detection Work machine arm, be characterized in that said travel 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 travel 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 swabbing pig, 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 swabbing pig, 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 utility model compared with the prior art, the beneficial effect that has is: adopt rigidity articulation structure Work machine arm light and flexible, action accurately, the bearing 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 interchanger heating surface pipes of industries such as electric power, chemical industry, metallurgy, weaving.
Description of drawings
Fig. 1 is that the utility model general structure synoptic diagram, 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, computing machine 8, drive motor 9, telescopic lifting frame 10, direct supply 11, driver 12, Work machine arm 13, CCD probe 14, foil gauge are surveyed diameter probe 15, ultrasonic probe 16, brush sweeper 17.
Embodiment:
Below in conjunction with accompanying drawing the utility model is described in further details:
Travel 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 is by adjusting the length of telescopic axle 3, the distance between scalable 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 motor 9.
Workbench 6 is fixed on the traveling vehicle frame 5 of travel mechanism, is driven by travel 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 tube pipeline robot pick-up unit, it comprises travel mechanism, be fixed on the workbench on the travel mechanism and be installed in computing machine, wireless communication apparatus, Work machine arm, driver, direct supply and remote monitoring device on the workbench, it is characterized in that: said travel 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 tube pipeline robot pick-up unit according to claim 1, it is characterized in that: the roller of said travel 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 tube pipeline robot pick-up unit 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 tube pipeline robot pick-up unit 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 tube pipeline robot pick-up unit according to claim 4 is characterized in that: the end of said Work machine arm is installed swabbing pig and surface image scanner or pipe diameter detector or pipeline wall thickness detector.
6. heat exchanger heating surface tube pipeline robot pick-up unit 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 swabbing pig, 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 |
|---|---|---|---|
| CN 200420053723 CN2733358Y (en) | 2004-09-09 | 2004-09-09 | Heat exchanger heated surface pipe robot detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420053723 CN2733358Y (en) | 2004-09-09 | 2004-09-09 | Heat exchanger heated surface pipe robot detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2733358Y true CN2733358Y (en) | 2005-10-12 |
Family
ID=35069198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420053723 Expired - Lifetime CN2733358Y (en) | 2004-09-09 | 2004-09-09 | Heat exchanger heated surface pipe robot detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2733358Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100358682C (en) * | 2004-09-09 | 2008-01-02 | 山东鲁能智能技术有限公司 | Heating surface pipeline inspecting robot of heat exchanger |
| CN105510761A (en) * | 2015-12-31 | 2016-04-20 | 国网浙江省电力公司绍兴供电公司 | Telescopic hoistway detection device |
| CN105522558A (en) * | 2016-01-21 | 2016-04-27 | 中国矿业大学 | Width-adjustable mobile platform and robot with same |
| CN106051377A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | Pipeline robot |
-
2004
- 2004-09-09 CN CN 200420053723 patent/CN2733358Y/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100358682C (en) * | 2004-09-09 | 2008-01-02 | 山东鲁能智能技术有限公司 | Heating surface pipeline inspecting robot of heat exchanger |
| CN105510761A (en) * | 2015-12-31 | 2016-04-20 | 国网浙江省电力公司绍兴供电公司 | Telescopic hoistway detection device |
| CN105522558A (en) * | 2016-01-21 | 2016-04-27 | 中国矿业大学 | Width-adjustable mobile platform and robot with same |
| CN106051377A (en) * | 2016-05-30 | 2016-10-26 | 北京玄通海纳科技发展有限公司 | Pipeline robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080102 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |