CN103979033A - Steam generator secondary side wall combing vehicle in nuclear power station - Google Patents

Steam generator secondary side wall combing vehicle in nuclear power station Download PDF

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Publication number
CN103979033A
CN103979033A CN201410214507.7A CN201410214507A CN103979033A CN 103979033 A CN103979033 A CN 103979033A CN 201410214507 A CN201410214507 A CN 201410214507A CN 103979033 A CN103979033 A CN 103979033A
Authority
CN
China
Prior art keywords
car
steam generator
nuclear power
power station
climbed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201410214507.7A
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Chinese (zh)
Inventor
董亚超
吴新宇
黄文有
余冰
刘青松
王国河
孙健铨
马庆俊
钱建华
沈黎
邓志燕
傅睿卿
侯硕
陈嘉杰
刘鹏飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Institute of Advanced Technology of CAS
China General Nuclear Power Corp
China Nuclear Power Technology Research Institute Co Ltd
Original Assignee
Shenzhen Institute of Advanced Technology of CAS
China General Nuclear Power Corp
China Nuclear Power Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Institute of Advanced Technology of CAS, China General Nuclear Power Corp, China Nuclear Power Technology Research Institute Co Ltd filed Critical Shenzhen Institute of Advanced Technology of CAS
Priority to CN201410214507.7A priority Critical patent/CN103979033A/en
Publication of CN103979033A publication Critical patent/CN103979033A/en
Pending legal-status Critical Current

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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00Energy generation of nuclear origin
    • Y02E30/30Nuclear fission reactors

Abstract

The invention discloses a steam generator secondary side wall combing vehicle in a nuclear power station, which is suitable for moving on the inner wall of a cylinder body on a secondary side of a steam generator in the nuclear power station. The steam generator secondary side wall combing vehicle in the nuclear power station comprises a vehicle body, a driving mechanism and cameras, wherein the vehicle body is flat, and a connector in plug-in connection with detection equipment is arranged on the front side wall of the vehicle body; the driving mechanism comprises permanent magnet driving wheels and a motor, the motor is hermetically arranged inside the vehicle body, the motor is connected with the permanent magnet driving wheels, and the permanent magnet driving wheels are positioned on the two sides of the bottom of the vehicle body, and extend out of the bottom of the vehicle body; the camera is provided with a light compensating lamp, the cameras are hermetically nested in the two side walls and the front side wall of the vehicle body; the permanent magnet driving wheels are matched with the motor, thereby achieving adsorption to the inner wall of the cylinder body and creeping along the inner wall, and solving the technical problems in a moving and hanging way of a two-free-degree combined motion, moreover, detection to the inner wall of the cylinder body can be accomplished by the carried detection equipment at a time.

Description

Nuclear power station steam generator secondary side is climbed wall car
Technical field
The present invention relates to a kind of used in nuclear power station equipment, relate in particular to and a kind ofly for what creep on the cylinder inboard wall at nuclear power station steam generator secondary side, climb wall car.
Background technology
Used in nuclear power station steam generator is the connection hinge in nuclear power plant one, between secondary circuit, is also one of equipment that nuclear power plant et out of order in service is maximum; Wherein, steam generator is taken in the heat that nuclear reactor the produces agent that is cooled to, gets back to reactor and continue coolingly after steam generator cooling, and this is a loop; To steam generator, supply water, steam generator produces the work of Steam Actuation steam turbine, and cooling condensed water is got back to steam generator and continued to produce steam, and this circulation loop is called secondary circuit, take steam generator as boundary's cooling system conditioner enters a side loop of steam generator, is exactly primary side of steam generator; The steam generator of take produces a side loop of steam as boundary, be exactly steam generator secondary side.
The serviceability of steam generator and safe reliability are vital for the safe and stable operation of whole nuclear station.Because steam generator is worked for a long time, the cylinder inboard wall of steam generator secondary side, heat-transfer pipe there will be impurity, drift or slight crack etc., owing to being positioned at cylinder inboard wall, staff cannot observe directly from cylindrical shell, therefore need to cylinder inboard wall, heat-transfer pipe, detect by check implement, due to narrow space in cylindrical shell, therefore need to have and can carry the miniature compact car body that check implement moves in cylindrical shell, could comprehensively to steam generator secondary side, detect like this.
US Patent No. 20040131462A1 discloses a kind of " the small mechanical arm of maintenance steam generator inner tube ", this mechanical arm is to control and insert with a cylinder, extract expansion mechanism, and used the swelling action of cover air cylinder driven expansion mechanism therein, carrying aspect the car body that check implement moves in cylindrical shell, this mechanical arm is by one group of screw-nut body, to realize check implement to be unsettled translation in cylindrical shell, and utilize one group of two-way oil cylinder to realize the rotation of check implement, by translation and the aggregate motion that rotates these two degree of freedom, realize the movement of check implement in cylindrical shell, complete the detection to cylinder inboard wall, China Patent No. CN200910072832.3 discloses the car body that similarly makes check implement translation too, the fixed mount of existing these car bodies is to be all fixed on the manhole of steam generator by expansion mechanism, and then adopt the retractor devices such as cylinder or hydraulic efficiency manipulator that check implement is to unsettled being deep in cylindrical shell, to realize translation, because retractor device and check implement need enter in cylindrical shell by manhole, therefore size can not be too large, thereby the detection range behind each location is less, in the time of need detecting whole cylindrical shell, need carry out location for several times and just can complete, detection efficiency is lower, separately, adopt hydraulic pressure, pneumatic mixing to control, application is trouble comparatively, and pneumatic supply and hydraulic power source are provided, once and hydraulic efficiency pressure system leak, hydraulic oil will pollute steam generator, cause serious accidental pollution, potential safety hazard is larger, moreover, the unsettled detection mode of movement of this two degree of freedom (rotation and translation) aggregate motion, because motion path is limited, its check implement carrying is existed and detect blind area, due to unsettled, also make the cylinder inboard wall that approaches that its check implement carrying cannot closer distance, for tiny slight crack, impurity etc., there is undetected possibility, cause final detection effect inaccurate.
Therefore, need badly a kind of simple and compact for structure and can carry the nuclear power station steam generator secondary side that check implement carries out freely creeping at cylinder inboard wall and climb wall car.
Summary of the invention
The object of the present invention is to provide a kind of simple and compact for structure and can carry the nuclear power station steam generator secondary side that check implement carries out freely creeping at cylinder inboard wall and climb wall car.
For achieving the above object, the invention provides a kind of nuclear power station steam generator secondary side and climb wall car, be applicable to carry check implement moves on the cylinder inboard wall of nuclear power station steam generator, described nuclear power station steam generator secondary side is climbed wall car and is comprised car body, driver train and pick up camera, described car body is flats, has with described check implement and be the interface that plug is connected on the front side wall of described car body; Described driver train comprises permanent magnetic drive wheel and motor, described motor is being arranged in car body of sealing, the output shaft of described motor is connected with described permanent magnetic drive wheel, and described permanent magnetic drive wheel is positioned at the two bottom sides of described car body, and also protrudes out the bottom of described car body; Described pick up camera has light compensating lamp, and described pick up camera is in the two side and front side wall that are embedded at described car body of sealing.
Preferably, described nuclear power station steam generator secondary side is climbed wall car and is also comprised rear end connector, and described rear end connector is on the rear wall that is connected in described car body of pivotable; Due to what the rear wall of described car body was also pivotable, be connected with rear end connector, actv. has strengthened the flexibility that nuclear power station steam generator secondary side of the present invention is climbed wall car, guarantee when mobile and the matching of inwall arc surface, and the cable that power supply and data transmission are provided can be connected on this rear end connector, energy actv. prevents the winding of cable like this.
Preferably, described nuclear power station steam generator secondary side is climbed wall car and is also comprised the universal track adjusting wheel of permanent magnetism, and the bottom of the bottom of described car body and described rear end connector is provided with the universal track adjusting wheel of described permanent magnetism; By the universal track adjusting wheel of permanent magnetism, except increasing nuclear power station steam generator secondary side of the present invention, climb the adsorption power of wall car and cylindrical shell, can also actv. to nuclear power station steam generator secondary side of the present invention climb when wall car changes moving direction, lead and provide make a detour auxiliary.
Preferably, the universal track adjusting wheel of described permanent magnetism comprises fixed mount and is spherical permanent magnetic wheels, and described permanent magnetic wheels is on the described fixed mount of being connected in of rotation, and described fixed mount is connected respectively in the bottom of described car body and the bottom of rear end connector.
Preferably, described rear end connector shape triangular in shape.
Preferably, the both sides of described car body are run through and are offered mounting hole, and described permanent magnetic wheels is arranged in described mounting hole.
Preferably, described nuclear power station steam generator secondary side is climbed wall car and is also comprised the cleaning plate that is elastic construction, and described cleaning plate is arranged on the front of described car body and stretches in described mounting hole, and is elastomeric with described permanent magnetic drive wheel and contacts; By cleaning plate, can remove timely dirt, bur and the body refuse etc. that stick on permanent magnetic drive wheel, guarantee that permanent magnetic drive wheel has reliable and stable adsorption power.
Preferably, described in each mounting hole correspondence arrange two described in cleaning plate, described in corresponding with described mounting hole two, cleaning plate is symmetrical being obliquely installed.
Preferably, described car body comprises supporting body and lid, described supporting body is hollow structure, and the motor of described driver train and pick up camera are all contained in the hollow structure of described supporting body, and described lid is on the described supporting body of being placed on of sealing and seals the hollow structure of described body.
Compared with prior art, because nuclear power station steam generator secondary side of the present invention is climbed the permanent magnetic drive wheel on the car body of wall car with permanent magnet type, and the cylindrical shell of nuclear power station steam generator is metal material, therefore car body is attracted on cylindrical shell by the magnetic permanent magnetic drive wheel of tool, permanent magnetic drive wheel is rotatable under the effect of motor, thereby permanent magnetic drive wheel can be rolled on cylindrical shell, and then realize nuclear power station steam generator secondary side of the present invention and climb movement that wall car can climb wall on cylindrical shell (, creep), due to the magnetic absorption effect of permanent magnetic drive wheel with cylindrical shell, therefore no matter climb wall car be to be handstand shape at cylinder inboard wall to nuclear power station steam generator secondary side of the present invention, skewed, horizontally all can move, can climb wall along cylinder inboard wall and move to position arbitrarily, can once complete the movement around cylinder inboard wall, thereby can carry check implement and once complete the detection to cylinder inboard wall, greatly improve the detection efficiency of check implement, simultaneously due to nuclear power station steam generator secondary side of the present invention, to climb wall car body long-pending little, therefore can in cylindrical shell, move more freely and change direction, further guaranteed once to complete the movement around cylinder inboard wall, nuclear power station steam generator secondary side of the present invention is climbed wall car by the absorption of permanent magnetic drive wheel and is moved on inwall, has realized along the wall of climbing of cylinder inboard wall and having moved, and makes its in-plant cylinder inboard wall that approaches of check implement energy carrying, and guarantees to check the accuracy of effect, separately, nuclear power station steam generator secondary side of the present invention is climbed wall car by real-time car body environment record is around got off of shooting function, is convenient to staff and understands in time the environment in cylindrical shell and make corresponding processing planning, separately, motor and pick up camera that nuclear power station steam generator secondary side of the present invention is climbed wall car are all being arranged in car body of sealing, these equipment energy actvies with electronic component are isolated from the outside, especially isolate with water, extend greatly nuclear power station steam generator secondary side of the present invention and climbed the service life of wall car, and available water is directly cleaned, simple and practical.
Accompanying drawing explanation
Fig. 1 is the structural representation that nuclear power station steam generator secondary side of the present invention is climbed wall car.
Fig. 2 is that nuclear power station steam generator secondary side of the present invention is climbed the structural representation that wall car is connected with check implement.
The specific embodiment
With reference now to accompanying drawing, describe embodiments of the invention, in accompanying drawing, similarly element numbers represents similar element.
As shown in Figures 1 and 2, nuclear power station steam generator secondary side of the present invention is climbed wall car 100, for carrying check implement 200, on the cylinder inboard wall of nuclear power station steam generator, move, described nuclear power station steam generator secondary side is climbed wall car 100 and is comprised car body 10, driver train and pick up camera 30, described car body 10 is flats, on the front side wall 11 of described car body 10, have with described check implement 200 and be the interface 110 that plug is connected, inserting terminal during use on check implement 200 inserts interface 100 interfaces check implement 200 is firmly fixed on car body 10, and also can realize the electric connection between the electronic component in check implement 200 and car body 10, described driver train comprises permanent magnetic drive wheel 20 and motor, described motor is being arranged in car body 10 of sealing, the output shaft of described motor is connected with described permanent magnetic drive wheel 20, described permanent magnetic drive wheel 20 is positioned at 12 both sides, bottom of described car body 10, and this permanent magnetic drive wheel 20 also protrudes out the bottom 12 of described car body 10, by described motor, drive the rotation of permanent magnetic drive wheel 20, car body 10 is attracted on cylindrical shell by the magnetic permanent magnetic drive wheel 20 of tool, 20 effects at motor of permanent magnetic drive wheel are rotated, thereby permanent magnetic drive wheel 20 can be rolled on cylindrical shell, and then realize nuclear power station steam generator secondary side of the present invention and climb movement that wall car can climb wall on cylindrical shell (, creep), described pick up camera 30 has light compensating lamp, described pick up camera 30 is in the two side 13,14 and front side wall 11 of the described car body 10 of being embedded at of sealing, pick up camera 30 is owing to being installed on the front side and both sides of car body 10, thereby the surrounding environment that records car body Ji Liang side in the place ahead in moving process that can be real-time by pick up camera 30, thereby reflect intuitively the residing environmental information of car body, be convenient to staff and understand in time the environment in cylindrical shell and make corresponding processing planning, motor and the pick up camera 30 of due to nuclear power station steam generator secondary side of the present invention, climbing wall car 100 are all being arranged in car body 10 of sealing, these equipment energy actvies with electronic component are isolated from the outside, especially isolate with water, extend greatly nuclear power station steam generator secondary side of the present invention and climbed the service life of wall car 100, and available water is directly cleaned, simple and practical.Below in conjunction with Fig. 1 and Fig. 2, nuclear power station steam generator secondary side of the present invention being climbed to wall car is described in further detail:
As shown in Figure 2, described car body 10 comprises supporting body 10a and lid 10b, described supporting body 10a is hollow structure, the motor of described driver train and pick up camera 30 are all contained in the hollow structure of described supporting body 10a, and described lid 10b is the hollow structure that the described supporting body 10a of being placed on of sealing went up and sealed described supporting body 10a; By coordinating of supporting body 10a and lid 10b, realization is motor and pick up camera 30 in the encapsulation and car body 10 of sealing, these equipment energy actvies with electronic component are isolated from the outside, extend nuclear power station steam generator secondary side of the present invention and climbed the service life of wall car 100, and available water is directly cleaned, simple and practical.
Shown in Fig. 1 and Fig. 2, described nuclear power station steam generator secondary side is climbed wall car 100 and is also comprised rear end connector 40, described rear end connector 40 is on the rear wall 15 of the described car body 10 of being connected in of pivotable, the rear wall 15 of described car body has the pivot part 150 protruding out backward, described rear end connector 40 offers the opening corresponding with pivot part 150 41, and pivot part 150 stretches in opening 41 and by rotating shaft, the two is to coupling together of pivotable; Due to what the rear wall 15 of described car body 10 was also pivotable, be connected with rear end connector 40, actv. has strengthened the flexibility that nuclear power station steam generator secondary side of the present invention is climbed wall car 100, guarantee when mobile and the matching of inwall arc surface, and the cable that power supply and data transmission are provided can be connected on this rear end connector 40, can prevent that cable is wound around car body 10 by actv. like this.
As shown in Figure 1, described nuclear power station steam generator secondary side is climbed wall car 100 and is also comprised the universal track adjusting wheel 50 of permanent magnetism, and the bottom of the bottom 12 of described car body 10 and described rear end connector 40 is provided with the universal track adjusting wheel 50 of described permanent magnetism; Particularly, the universal track adjusting wheel 50 of described permanent magnetism comprises fixed mount 51 and is spherical permanent magnetic wheels 52, described permanent magnetic wheels 52 is on the described fixed mount 51 of being connected in of rotation, thereby permanent magnetic wheels 52 can be rotated with respect to fixed mount 51, realize it and be connected with the universal of fixed mount 51, described fixed mount 51 is connected respectively in the bottom 12 of described car body 10 and the bottom of rear end connector 40; By the permanent magnetic wheels 52 of the universal track adjusting wheel 50 of permanent magnetism, except increasing nuclear power station steam generator secondary side of the present invention, climb the adsorption power of wall car 100 and cylindrical shell, can also actv. be climbed when wall car 100 changes moving direction and led and provide turning auxiliary by nuclear power station steam generator secondary side of the present invention.
As shown in Figures 1 and 2, nuclear power station steam generator secondary side of the present invention is climbed rear end connector 40 shape triangular in shape of wall car 100, rear end connector 40 volumes of triangle are less, weight is lighter, and can utilize one angle as the coupling end of the cable of power supply and signal transmission by actv., increase and be exposed to outer cable and the distance between car body 10, effectively avoid cable to be wound around car body 10.
As shown in Figures 1 and 2, the both sides that nuclear power station steam generator secondary side of the present invention is climbed the described car body 10 of wall car 100 are run through and are offered mounting hole 16, described permanent magnetic drive wheel 20 is arranged in described mounting hole 16, by directly offer mounting hole 16 on car body 10, permanent magnetic drive wheel 20 is installed, both actv. had reduced volume, also the permanent magnetic drive that makes to rotate is taken turns 20 most of areas and is blocked by car body 10, avoids permanent magnetic drive wheel 20 its side when rotating to contact and cylindrical shell is caused the bad phenomenon generation of scratch with cylindrical shell.
As shown in Figures 1 and 2, nuclear power station steam generator secondary side of the present invention is climbed wall car 100 and is also comprised cleaning plate 17, and this cleaning plate 17 is arranged on the front 18 of car body 10 and stretches in mounting hole 16, and described cleaning plate 17 is elastomeric with permanent magnetic drive wheel 20 and contacts; By cleaning plate 17, can remove timely dirt, bur and the body refuse etc. that stick on permanent magnetic drive wheel 20, guarantee that permanent magnetic drive wheel 20 has reliable and stable adsorption power; More specifically, each mounting hole 16 correspondence arranges two cleaning plates 17, and described in corresponding with described mounting hole 16 two, cleaning plate 17 is symmetrical being obliquely installed, and makes on the one hand permanent magnetic drive wheel 20 have two cleaning plates 17 to clear up it simultaneously, guarantees that cleaning thoroughly; On the other hand, because two cleaning plates 17 are the setting that symmetry tilts, make no matter permanent magnetic drive wheel 20 is that forward or reversion all have a cleaning plate 17 tangent with it, strengthened the cleaning to permanent magnetic drive wheel 20, guarantee to clear up thoroughly.
Shown in Fig. 1 and Fig. 2, because nuclear power station steam generator secondary side of the present invention is climbed the permanent magnetic drive wheel 20 on the car body 10 of wall car 100 with permanent magnet type, and the cylindrical shell of nuclear power station steam generator is metal material, therefore car body 10 is attracted on cylindrical shell by the magnetic permanent magnetic drive wheel 20 of tool, permanent magnetic drive wheel 20 is rotatable under the effect of motor, thereby permanent magnetic drive wheel 20 can be rolled on cylindrical shell, and then realize nuclear power station steam generator secondary side of the present invention and climb wall car 100 can climb the movement of wall on cylindrical shell, due to the magnetic absorption effect of permanent magnetic drive wheel 20 with cylindrical shell, therefore nuclear power station steam generator secondary side of the present invention climbs no matter wall car 100 is to be handstand shape at cylinder inboard wall, skewed, horizontally all can move, can climb wall along cylinder inboard wall and move to position arbitrarily, can once complete the movement around cylinder inboard wall, thereby can carry check implement 200 and once complete the detection to cylinder inboard wall, greatly improve the detection efficiency of check implement, simultaneously due to nuclear power station steam generator secondary side of the present invention, to climb wall car 100 volumes little, therefore can in cylindrical shell, move more freely and change direction, further guaranteed once to complete the movement around cylinder inboard wall, nuclear power station steam generator secondary side of the present invention is climbed wall car 100 by 20 absorption of permanent magnetic drive wheel and is moved on inwall, realized along the wall of climbing of cylinder inboard wall and having moved, make the in-plant cylinder inboard wall that approaches of its check implement carrying 200 energy, guarantee to check the accuracy of effect, separately, nuclear power station steam generator secondary side of the present invention is climbed wall car 100 by real-time car body 10 environment record is around got off of pick up camera 30 energy, is convenient to staff and understands in time the environment in cylindrical shell and make corresponding processing planning, separately, motor and pick up camera 30 that nuclear power station steam generator secondary side of the present invention is climbed wall car 100 are all being arranged in car body 10 of sealing, these equipment energy actvies with electronic component are isolated from the outside, especially isolate with water, extend greatly nuclear power station steam generator secondary side of the present invention and climbed the service life of wall car 100, and available water is directly cleaned, simple and practical.
Separately, pick up camera 30 involved in the present invention and structure and the principle of work of check implement 200, be well known to those of ordinary skill in the art, at this, is no longer described in detail.
Above disclosed is only the preferred embodiments of the present invention, certainly can not limit with this interest field of the present invention, and the equivalent variations of therefore doing according to the present patent application the scope of the claims, still belongs to the scope that the present invention is contained.

Claims (9)

1. nuclear power station steam generator secondary side is climbed a wall car, is applicable to carry check implement and creeps on the cylinder inboard wall of nuclear power station steam generator secondary side, it is characterized in that, described nuclear power station steam generator secondary side is climbed wall car and comprised:
Car body, described car body is flats, has with described check implement and be the interface that plug is connected on the front side wall of described car body;
Driver train, described driver train comprises permanent magnetic drive wheel and motor, and described motor is being arranged in car body of sealing, and the output shaft of described motor is connected with described permanent magnetic drive wheel, described permanent magnetic drive wheel is positioned at the two bottom sides of described car body, and also protrudes out the bottom of described car body; And
Pick up camera, described pick up camera has light compensating lamp, and described pick up camera is in the two side and front side wall that are embedded at described car body of sealing.
2. nuclear power station steam generator secondary side as claimed in claim 1 is climbed wall car, it is characterized in that: also comprise rear end connector, described rear end connector is on the rear wall that is connected in described car body of pivotable.
3. nuclear power station steam generator secondary side as claimed in claim 2 is climbed wall car, it is characterized in that: also comprise the universal track adjusting wheel of permanent magnetism, the bottom of the bottom of described car body and described rear end connector is provided with the universal track adjusting wheel of described permanent magnetism.
4. nuclear power station steam generator secondary side as claimed in claim 3 is climbed wall car, it is characterized in that: the universal track adjusting wheel of described permanent magnetism comprises fixed mount and is spherical permanent magnetic wheels, described permanent magnetic wheels is on the described fixed mount of being connected in of rotation, and described fixed mount is connected respectively in the bottom of described car body and the bottom of rear end connector.
5. nuclear power station steam generator secondary side as claimed in claim 2 is climbed wall car, it is characterized in that: described rear end connector shape triangular in shape.
6. nuclear power station steam generator secondary side as claimed in claim 1 is climbed wall car, it is characterized in that: the both sides of described car body are run through and offered mounting hole, and described permanent magnetic wheels is arranged in described mounting hole.
7. nuclear power station steam generator secondary side as claimed in claim 6 is climbed wall car, it is characterized in that: also comprise the cleaning plate that is elastic construction, described cleaning plate is arranged on the front of described car body and stretches in described mounting hole, and is elastomeric with described permanent magnetic drive wheel and contacts.
8. nuclear power station steam generator secondary side as claimed in claim 7 is climbed wall car, it is characterized in that: described in each mounting hole correspondence arrange two described in cleaning plate, described in corresponding with described mounting hole two, cleaning plate is symmetrical being obliquely installed.
9. nuclear power station steam generator secondary side as claimed in claim 1 is climbed wall car, it is characterized in that: described car body comprises supporting body and lid, described supporting body is hollow structure, the motor of described driver train and pick up camera are all contained in the hollow structure of described supporting body, and described lid is on the described supporting body of being placed on of sealing and seals the hollow structure of described body.
CN201410214507.7A 2014-05-20 2014-05-20 Steam generator secondary side wall combing vehicle in nuclear power station Pending CN103979033A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410214507.7A CN103979033A (en) 2014-05-20 2014-05-20 Steam generator secondary side wall combing vehicle in nuclear power station

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Application Number Priority Date Filing Date Title
CN201410214507.7A CN103979033A (en) 2014-05-20 2014-05-20 Steam generator secondary side wall combing vehicle in nuclear power station

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CN103979033A true CN103979033A (en) 2014-08-13

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040131462A1 (en) * 2002-07-22 2004-07-08 Hawkins Phillip J. Miniature manipulator for servicing the interior of nuclear steam generator tubes
CN1792697A (en) * 2005-12-28 2006-06-28 胡广怀 Under water magnetic adsorption danger eliminating robot for submarine
CN201849550U (en) * 2010-09-29 2011-06-01 九江精密测试技术研究所 Composite adsorption wall-crawling mechanism for underwater ship body
CN102421571A (en) * 2009-02-27 2012-04-18 R·布鲁克斯联合公司 Inspection system and inspection process utilizing magnetic inspection vehicle
CN202400191U (en) * 2011-11-28 2012-08-29 大连鑫铠锐工业技术有限公司 Permanent-magnet attraction wheel type iron-wall crawling robot
CN203844869U (en) * 2014-05-20 2014-09-24 中科华核电技术研究院有限公司 Wall-climbing vehicle arranged on secondary side of nuclear power station steam generator

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040131462A1 (en) * 2002-07-22 2004-07-08 Hawkins Phillip J. Miniature manipulator for servicing the interior of nuclear steam generator tubes
CN1792697A (en) * 2005-12-28 2006-06-28 胡广怀 Under water magnetic adsorption danger eliminating robot for submarine
CN102421571A (en) * 2009-02-27 2012-04-18 R·布鲁克斯联合公司 Inspection system and inspection process utilizing magnetic inspection vehicle
CN201849550U (en) * 2010-09-29 2011-06-01 九江精密测试技术研究所 Composite adsorption wall-crawling mechanism for underwater ship body
CN202400191U (en) * 2011-11-28 2012-08-29 大连鑫铠锐工业技术有限公司 Permanent-magnet attraction wheel type iron-wall crawling robot
CN203844869U (en) * 2014-05-20 2014-09-24 中科华核电技术研究院有限公司 Wall-climbing vehicle arranged on secondary side of nuclear power station steam generator

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Application publication date: 20140813