The invention discloses a crawling foot for a heat exchanger tube bundle detection robot and a working method of the crawling foot, and belongs to the field of heat exchanger tube bundle detection robots. The tensioning structure consists of a main shaft, a push block, a tensioning connecting rod and a tensioning petal body; in the working process, the driving structure is started, the main shaft is driven to enter a pipe bundle pipeline, meanwhile, the pushing block is pushed to move, and the tensioning petal bodies are driven to be tensioned through the tensioning connecting rods; then the driving structure is reversely started to drive the pushing block to reversely move, the tensioning connecting rod drives the tensioning petal body to contract, and meanwhile the main shaft is driven to retreat from the pipe bundle pipeline; the crawling foot is inserted into a pipeline in a foot expansion mode, and fixation of the robot in the detection process is completed through expansion; the crawling foot has a certain load capacity, and the stability of the robot during detection can be guaranteed; the crawling foot is simple in structure and convenient for subsequent maintenance, and has good popularization and application values.
本发明公开了一种换热器管束检测机器人用爬行足及其工作方法,属于换热器管束检测机器人领域,本爬行足采用在底座上设置相连的驱动结构和涨紧结构;涨紧结构由主轴、推块、涨紧连杆和涨紧瓣体组成;在工作过程中,启动驱动结构,带动主轴进入管束管道,同时推动推块运动,通过涨紧连杆带动涨紧瓣体涨紧;再反向启动驱动结构,带动推块反向运动,通过涨紧连杆带动涨紧瓣体收缩,同时带动主轴退出管束管道;本爬行足采用涨足方式插入管道内,通过涨紧完成机器人在检测过程中的固定;本爬行足具有一定的负载能力,能够保证机器人在检测时的稳定性;本爬行足结构简单,便于后续维修,具有良好的推广应用价值。
Crawling foot for heat exchanger tube bundle detection robot and working method of crawling foot
一种换热器管束检测机器人用爬行足及其工作方法
16.08.2024
Patent
Elektronische Ressource
Chinesisch
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