CN108098791A - Odd-shaped cross section cantilevered leg and overhanging testing agency - Google Patents
Odd-shaped cross section cantilevered leg and overhanging testing agency Download PDFInfo
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- CN108098791A CN108098791A CN201711463635.5A CN201711463635A CN108098791A CN 108098791 A CN108098791 A CN 108098791A CN 201711463635 A CN201711463635 A CN 201711463635A CN 108098791 A CN108098791 A CN 108098791A
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- cantilevered leg
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- 238000012360 testing method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 102
- 230000003014 reinforcing effect Effects 0.000 claims description 19
- 238000010276 construction Methods 0.000 claims description 5
- 238000007689 inspection Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 238000012546 transfer Methods 0.000 description 25
- 230000009194 climbing Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000003041 ligament Anatomy 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The present invention discloses a kind of odd-shaped cross section cantilevered leg, it includes elongated overhanging body, the cross section of the width of overhanging body is in polymorphic structure, and multiple drive holes are offered on overhanging body along its length, drive hole is used for and driving device is meshed so that driving device can drive overhanging body to stretch.The odd-shaped cross section cantilevered leg of the present invention ensures to reduce own wt again simultaneously in the rigidity of width, so that the distance that overhangs increases, is conducive to improve detection efficiency；It is slightly lower so that it can be along certain curvature radius bend, so that cantilevered leg afterbody enters through hand hole inside steam generator in the rigidity of thickness direction simultaneously；And driving device drives overhanging body to stretch by drive hole, driving process is not easy to skid, safety and reliability, and positioning accuracy is high, and frictional force is small, can extend the service life of cantilevered leg, increases device reliability.Invention additionally discloses a kind of overhanging testing agencies with the odd-shaped cross section cantilevered leg.
Description
Technical field
It is applicable to remotely be made in narrow space the present invention relates to technical field of automation equipment more particularly to one kind
The cantilevered leg of industry and overhanging testing agency.
Background technology
The heat-transfer pipe one side of steam generator is that personnel are unreachable, confined space of no light, and it is huge that inside is dispersed with quantity
Big heat-transfer pipe, and with certain radiativity and dampness.Due to the hot-working hydraulic characteristic of steam generator, heat-transfer pipe with
The easy dislodged sludge in tube sheet junction and iron-based impurities, the heat-transfer pipe that may cause number of mechanisms is damaged, in turn results in nuclear leakage,
And bring a large amount of economic losses.For prevent accident occur, it is necessary to heat-transfer pipe root and tube sheet junction are made whether rupture with
And whether there is the inspection of body refuse.
Due to only several millimeters of the spacing between heat-transfer pipe, the inspection to its root is completed, detection device not only will be in steam
The inner wall of generator moves freely, it is necessary to which to enter between heat-transfer pipe and through entire pipe row could cover gamut, and enter
Heat transfer ligament is performed by cantilevered leg.Due to being relatively large in diameter for steam generator, and the gap very little between heat-transfer pipe, therefore
Cantilevered leg must be fabricated to elongated member, while must assure that certain rigidity to reduce caused deflection deformation due to gravity,
But then since cantilevered leg needs to enter from the hand hole of steam generator, need again can with certain radius bend with
Just enter.
Existing cantilevered leg is sagging apparent after causing cantilevered length elongated since rigidity is inadequate, influences to detect quality and speed
Degree；And by frictional force cantilevered leg is driven to extend and retract, and frictional force is squeezed the shadow of power and contact surface surface state
Sound is larger, therefore flexible process has the risk skidded；In addition, flexible arm body is made of welding procedure, for a long time by crowded
Pressure can cause the weld seam service life of telescopic arm not grown, and influence the reliability of device.Furthermore the camera assembly set in cantilevered leg is usual
In conjunctionization designs and cannot be more than its cross section, therefore can not replace, upgrade；And camera assembly and the axis of cantilevered leg
Line forms a fixed inclination angle, causes cantilevered leg that can only unidirectionally use (video camera is downward), so as to the wall climbing vehicle to carrying
Walking path causes to limit, and to complete the inspection of heat transfer ligament gamut needs respectively to enter ability twice from two hand holes respectively
It completes, detection efficiency is low.
Therefore, it is necessary to provide one kind there is smaller deflection deformation, overhanging to be not easy to skid, use when long range overhangs
The cantilevered leg of long lifespan and overhanging testing agency, to solve above-mentioned the problems of the prior art.
The content of the invention
There is smaller deflection deformation when long range overhangs it is an object of the invention to provide one kind, overhanging is not easy to beat
Sliding, service life length cantilevered leg.
When long range overhangs there is smaller deflection deformation, overhanging to be not easy another object of the present invention is to provide a kind of
It skids, the overhanging testing agency that service life is long, detection efficiency is high.
To achieve the above object, the technical scheme is that：A kind of odd-shaped cross section cantilevered leg is provided, including in strip
The overhanging body of shape, the cross section of the width of the overhanging body are grown in polymorphic structure on the overhanging body along it
Degree direction offers multiple drive holes, and the drive hole is used for and driving device is meshed so that the driving device can drive institute
Overhanging body is stated to stretch.
It is preferred that the cross section of the width of the overhanging body is oval or I-shaped.
It is preferred that the overhanging body is in hollow or solid construction.
It is preferred that the first side wall and the second side are respectively provided in the thickness direction thereof in the overhanging body of hollow-core construction
Wall, the internal face of the first side wall are convexly equipped with the first reinforcing rib, and the internal face of the second sidewall is convexly equipped with and described first
The second parallel reinforcing rib of reinforcing rib, and first reinforcing rib, second reinforcing rib are along the length of the overhanging body
Degree direction extends and is located at the both sides of the drive hole.
It is preferred that the overhanging body is respectively provided with symmetrically arranged two support portion and is connected to two in the width direction
Connecting portion between the support portion, the thickness of the support portion are more than the thickness of the connecting portion.
It is preferred that the overhanging body can be along certain curvature in its thickness direction in the certain rigidity of its width holding
Radius bend.
It is preferred that perforating is further opened on the overhanging body, length side of the perforating along the overhanging body
To the end face for extending through its both ends, the perforating is used to wear cable and cable is transported to the afterbody of overhanging body,
Be conducive to protect cable, improve reliability.
It is preferred that the odd-shaped cross section cantilevered leg further includes the afterbody for being removably attachable to described overhanging body one end
Part offers the outlet being pierced by for the cable being connected with the perforating in the tail piece, using tail piece simultaneously
Protection is provided for cable, prevents from pulling and damage.
It is preferred that the other end compared with the outlet of the tail piece offers accommodating hole, the overhanging body can
It is releasably plugged in the accommodating hole.
It is preferred that the end of the overhanging body is further opened with multiple first location holes, determining for the tail piece is connected to
Position pin is removably attachable in first location hole.
It is preferred that the other end away from the tail piece of the overhanging body is further opened with multiple second location holes, by
By the detachably connected task module of the second location hole.
It is preferred that the overhanging body is integrally formed by high molecular weight plastic or metal material.
Accordingly, the present invention also provides a kind of overhanging testing agency, cut including detection components and abnormity as described above
Face cantilevered leg, and the both ends of the overhanging body are respectively formed carrying end and connecting pin, the detection components are detachably connected
In the carrying end, and the detection components include what is set along the central axis of the length direction of the overhanging body in angle
First detection unit, second detection unit.
It is preferred that the detection components further include the outer housing for being removably attachable to the carrying end, first inspection
It surveys unit, the second detection unit and is arranged on the outer housing at intervals, so that overhanging testing agency is in positive and negative two sides
Xiang Junneng is detected, and reduces the limitation to climbing robot path, improves detection efficiency.
It is preferred that the first detection unit, the second detection unit include the video camera and the benefit that separately set
Light lamp.
It is preferred that the detection components further include light filling unit, the light filling unit is arranged on the first detection unit, institute
Between stating second detection unit, and the light filling unit includes at least one light compensating lamp.
It is worn it is preferred that being connected to the first detection unit, the second detection unit, the cable of the light filling unit
It is stretched out in the perforating on the overhanging body and through the connecting pin.
It is preferred that the outer housing is offered away from the first detection unit, one end of the second detection unit
Connecting hole, the carrying end are detachably inserted into the connecting hole.The detachable peace of detection components is realized by outer housing
Dress, therefore the replacement of component, upgrading can be detected as needed, such as be imaged using higher resolution or using twin camera
Technology promotes the image quality under non-illuminated conditions.
Compared with prior art, due to the present invention odd-shaped cross section cantilevered leg, the width of overhanging body it is transversal
Face is in polymorphic structure, therefore compared to the cantilevered leg of rectangular section, cantilevered leg of the present invention both ensure that the rigidity in width
Own wt is reduced again simultaneously, so that the distance that overhangs increases, is conducive to improve detection efficiency；Simultaneously in the firm of thickness direction
Spend slightly lower so that it can be along certain curvature radius bend, so that cantilevered leg afterbody enters through hand hole inside steam generator；Separately
Outside, offer multiple drive holes on overhanging body along its length, drive hole be used for and driving device ferry boat is divided to be meshed with
Make the driving device that overhanging body can be driven to stretch, therefore, compared to the mode of frictional drive, the stretching of cantilevered leg of the present invention
It is not easy to skid with retraction driving process, safety and reliability, positioning accuracy is high, and frictional force is small, and then can extend cantilevered leg
Service life increases device reliability.
Accordingly, the overhanging testing agency with the odd-shaped cross section cantilevered leg is also with identical technique effect；Further
Ground, since the detection components of overhanging testing agency include set along the central axis of the length direction of overhanging body in angle the
One detection unit, second detection unit, therefore make overhanging testing agency that can be detected in positive and negative both direction, it reduces to climbing wall machine
Device people path limits, it is only necessary to respectively enter the full model that once can be completed to heat-transfer pipe circumferential direction from two hand holes of steam generator
Detection is enclosed, and then improves detection efficiency；Meanwhile detection components can be detected as needed using dismountable mounting means
Replacement, the upgrading of component, promote the image quality under non-illuminated conditions.
Description of the drawings
Fig. 1 is the structure diagram of one embodiment of overhanging testing agency of the present invention.
Fig. 2 is the internal structure schematic diagram of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is sectional view of the odd-shaped cross section cantilevered leg along line A-A in Fig. 3.
Fig. 5 is the rearview of Fig. 1.
Fig. 6 is the schematic cross-section of odd-shaped cross section cantilevered leg in another embodiment of overhanging testing agency of the present invention.
Fig. 7 is the structure diagram of the another embodiment of overhanging testing agency of the present invention.
Fig. 8 is the top view of Fig. 7.
Fig. 9 is sectional view of the odd-shaped cross section cantilevered leg along line B-B in Fig. 8.
Figure 10 is a use state diagram of overhanging testing agency of the present invention.
Specific embodiment
The embodiment of the present invention described referring now to attached drawing, similar element numbers represent similar element in attached drawing.
As Figure 1-10 shows, overhanging testing agency 1 provided by the present invention, including odd-shaped cross section cantilevered leg 10 and removable
It is connected to the detection components 20 of the cantilevered leg 10 with unloading, wherein, odd-shaped cross section cantilevered leg 10 includes overhanging body 11 and tail piece
12,11 elongated structure of overhanging body and its both ends are respectively formed connecting pin 11a and carry end 11b, and tail piece 12 is detachable
Ground is connected to the connecting pin 11a, and detection components 20 are removably attachable to carry end 11b, and are connected with detection components 20
Cable be arranged in overhanging body 11 and stretched out through tail piece 12.
With reference to shown in Fig. 4,6,8, in the present invention, the cross section of the width of overhanging body 11 is hanged in polymorphic structure
It is preferably oval or I-shaped to stretch the cross section of the width of body 11, it is related to mechanical design handbook by the mechanics of materials
Formula optimization calculate analysis after, cross section in polymorphic structure overhanging body 11 compared with rectangular section, in same homalographic
In the case of there is preferable rigidity so that the deflection deformation of overhanging body 11 is small, therefore be connected to carry the detection of end 11b
Component 20 is more stable, and the detection image of output is apparent, improves detection quality；And in the case where largest contours are equal sized,
The overhanging body 11 of the present invention has lighter sole mass, increases the overhanging distance of overhanging body 11.
In addition, overhanging body 11 has smaller thickness, thus it is slightly lower in the rigidity of its thickness direction, so that overhanging this
Body 11 can be bent in its thickness direction along certain radius of curvature, enter steam hair through hand hole in favor of the afterbody of overhanging body 11
Inside raw device.
Preferably, the overhanging body 11 is integrally formed by high molecular weight plastic or metal material, and but not limited to this, also
Other high strength light materials can be utilized to be molded.
It is shown below in conjunction with the accompanying drawings, the different embodiments of overhanging testing agency 1 of the present invention are illustrated respectively.
First with reference to shown in Fig. 1-4, in an embodiment of overhanging testing agency 1 of the present invention, the width side of overhanging body 11
To cross section it is oval, and the overhanging body 11 is in solid construction, for passing through the molding overhanging body 11 of identical material
For, solid construction it is more rigid, make overhanging body 11 small in the deflection deformation of its width, and then be connected to carry
The detection components 20 for holding 11b are more stable, and output image is apparent, improve detection quality.
With continued reference to Fig. 1-4, multiple drive holes 111 and at least one perforating 112 are offered on overhanging body 11.Its
In, the length direction of multiple drive holes 111 along overhanging body 11 arranges to form a row, and the shape and ruler of drive hole 111
Very little flexibly to set as needed, drive hole 111 is used to be meshed so that the drive with the double wedge (not shown) in driving device
Dynamic device can drive overhanging body 11 flexible.Certainly, multiple row drive hole 111 can be opened up on overhanging body 11 as needed, it is each to arrange
Drive hole 111 extends and is mutually parallel along the length direction of overhanging body 11.Perforating 112 is respectively along the length of overhanging body 11
Degree direction extends through the end face at its both ends, and the quantity of perforating 112 can be arranged as required to, and perforating 112 is used to wear
The cable 2 being connected with detection components 20, the cable 2 are stretched out through tail piece 12, so as to be conducive to protect cable 2, improve equipment
Reliability.
As shown in figure 4, being preferably provided with multiple perforatings 112 in the present embodiment, perforating 112 is opened in drive hole respectively
111 both sides, and multiple perforatings 112 are arranged on same straight line.
Referring now to shown in Fig. 1-2, the connecting pin 11a of overhanging body 11 offers multiple first location holes 113, carries end
11b offers multiple second location holes 114, by 113 detachably connected tail piece 12 of the first location hole, by the second positioning
114 detachably connected detection components 20 of hole.
Referring again to shown in Fig. 1-3, the front end of the tail piece 12 offers accommodating hole 121, and its rear end offers outlet
122, the outlet 122 connection accommodating hole 121, while it is further opened with connecting the through hole 123 of the accommodating hole 121 in tail piece 12.
Install tail piece 12 when, the connecting pin 11a of overhanging body 11 is plugged in accommodating hole 121, and make the first location hole 113 respectively with
Through hole 123 is corresponding, is connected to by positioning pin 30 in 123 and first location hole 113 of through hole, so as to which tail piece 12 be fixed on
Overhanging body 11；The cable 2 being arranged in overhanging body 11 is pierced by by the outlet 122 of tail piece 12, using tail piece 12 come
Protection is provided for cable 2, can prevent from pulling and damage.
Preferably, the rear end of tail piece 12 shrinks compared with its front end and becomes smaller, so that its volume smaller, weight are lighter；
Certainly, the shape of tail piece 12 is not limited.
As shown in Figure 1, tail piece 12 includes matched left cover 12a and right cover 12b, tail piece 12 is connected to connecting pin
After 11a, left cover 12a, right cover 12b are held on the both sides of the thickness direction of overhanging body 11 respectively.
With reference to shown in Fig. 1-3,5, the detection components 20 include outer housing 21, first detection unit 22 and second is examined
Unit 23 is surveyed, first detection unit 22, second detection unit 23 are arranged on the front end of outer housing 21 at intervals, and the two edge overhangs
The central axis X of the length direction of body 11 is set in angle, makes first detection unit 22, second detection unit 23 along central shaft
Line X is symmetrically arranged on the width of overhanging body 11, therefore overhanging testing agency 1 can detect in positive and negative both direction,
The limitation to climbing robot path is reduced, improves detection efficiency.
Preferably it is that the angle a between first detection unit 22, second detection unit 23 and central axis X is 25 °
(referring to Fig. 2), but the angle is not limited to, it can be needed to adjust the size of angle a according to detection.
With reference to shown in Fig. 2,5, first detection unit 22 includes the first video camera 221 and the first light compensating lamp that separately set
222, the first video camera 221 is disposed in proximity to the one side of central axis X.Accordingly, second detection unit 23 includes separately setting
The second video camera 231 and the second light compensating lamp 232 put, the second video camera 231 are disposed in proximity to the one side of central axis X.It can be with
Understand ground.The quantity of first detection unit 22, the video camera of second detection unit 23 and light compensating lamp is not limited to one, can also set
Put more.
In addition, the detection components 20 further include light filling unit 24, light filling unit 24 is arranged on first detection unit 22, second
Between detection unit 23, and light filling unit 24 includes two light compensating lamps 241 separately set, certainly, the quantity of light compensating lamp 241
It is not limited to two.
Referring now to shown in Fig. 1-2, the rear end of outer housing 21 offers connecting hole 211, and on the side wall of outer housing 21 also
Offer the through hole (not shown) for connecting the connecting hole 211.It carries end 11b to be plugged in connecting hole 211, and makes the second positioning
Hole 114 is corresponding with the through hole, is connected to by positioning pin 30 in through hole and the second location hole 114 and realizes the detachable of the two
Connection.Since detection components 20 are removably attachable to carry end 11b, component 20 can be detected as needed more
It changes, upgrade, such as technology is imaged using higher resolution or using twin camera, promote the image quality under non-illuminated conditions.
In addition, being connected to first detection unit 22, second detection unit 23, the cable 2 of light filling unit 24 is arranged in overhanging body 11
On perforating 112 in and through connecting pin 11a stretch out.
Referring again to shown in Fig. 1, outer housing 21 includes matched left shell 21a and right shell body 21b, above-mentioned first detection
Unit 22, second detection unit 23, light filling unit 24 are arranged between left shell 21a, right shell body 21b, and outer housing 21 connects
After end 11b is carried, left shell 21a, right shell body 21b are held on the both sides of the thickness direction of overhanging body 11 respectively.
Referring now to shown in Fig. 6, in another embodiment of overhanging testing agency 1 of the present invention, the difference with above-described embodiment
It is only that the structure of overhanging body 11 is slightly different, rest part all same, same section repeats no more.
In the present embodiment, the cross section of the width of overhanging body 11 is oval, and the overhanging body 11 is in hollow
Therefore structure, no longer opens up perforating on overhanging body 11, cable 2 is directly arranged in the hollow structure of overhanging body 11.Tool
Body, which is respectively provided with the first side wall 115 and second sidewall 116 in the thickness direction thereof, the first side wall 115
Internal face is vertically convexly equipped with two first reinforcing rib 115a, two first reinforcing rib 115a and is symmetrically set in the both sides of drive hole 111 and edge
The length direction extension of overhanging body 11；The internal face of second sidewall 116 is convexly equipped with two parallel with the first reinforcing rib 115a
Second reinforcing rib 116a, two second reinforcing rib 116a extends along the length direction of overhanging body 11, passes through the first reinforcing rib
On the one hand the setting of 115a, the second reinforcing rib 116a strengthen rigidity of the overhanging body 11 in its width, ensure overhanging body
11 remain to meet rigid requirements while having lighter weight, and the storage space of cable 2 and drive hole 111 are separated by by another facilitate
From avoiding interfering with each other.
Wherein, the first reinforcing rib 115a, the second reinforcing rib 116a can be integrally formed with overhanging body 11, can also individually into
Type simultaneously welds or is fixed on the first side wall 115 by other means, in second sidewall 116, this is ripe for those skilled in the art
The technology known.
With reference to shown in Fig. 7-9, in the another embodiment of overhanging testing agency 1 of the present invention, with above-mentioned first embodiment
Difference be only that：The cross section of the width of overhanging body 11 is in I-shaped, and rest part all same is not repeated to retouch
It states.
In the present embodiment, on the width of overhanging body 11, two symmetrical support portion 117a, 117b are respectively formed
And the connecting portion 118 between two support portion 117a, 117b is connected to, and the thickness of support portion 117a is more than the thickness of connecting portion 118
Degree, so that the cross section of overhanging body 11 is in I-shaped, and drive hole 111 is opened in connecting portion 118, and perforating 112 opens up
In on two support portion 117a.For overhanging body 11 in the present embodiment is compared to the overhanging body of rectangular section, both it ensure that
Own wt is reduced again simultaneously in the rigidity of width, increases overhanging distance, is conducive to improve detection efficiency.In addition,
It is slightly lower in thickness direction rigidity so that overhanging body 11 is flexible, so that 10 afterbody of cantilevered leg enters steam generator through hand hole
It is internal.
With reference to shown in Fig. 1-10, to overhanging testing agency 1 of the present invention in steam generator with to heat-transfer pipe
The occupation mode being detected illustrates.
After the cantilevered leg 10 of the present invention is installed in driving device, the column or taper tooth engagement in driving device are with hanging
Drive hole 111 on semi-girder 10 engages, and driving device drives cantilevered leg 10 along Figure 10 by the cooperation of double wedge, drive hole 111
Direction shown in arrow F is stretched out, and cantilevered leg 10 is made to enter by a hand hole of steam generator in it, the detection components of front end
20 into heat transfer ligaments, while the rear end redundance of cantilevered leg 10 is stored in outside steam generator, during this, cantilevered leg
10 width is consistent with the vertical direction of steam generator (state is as shown in Figure 10), due to being in the overhanging of different in nature cross section
Arm 10 is larger in the rigidity of width, and the sag of chain in gamut can be kept after its stretching in defined limit value, and
Progress video detection at arbitrary a line heat-transfer pipe can be rested on.
In detection process, first overhanging testing agency 1 is driven to be moved along the half internal face of steam generator, and pass through and be located at
The detection unit of the width one side of cantilevered leg 10 is detected, such as first with first detection unit 22 to being located at it obliquely downward
The heat-transfer pipe root of side carries out clear video detection, by can be achieved along moving for steam generator this half internal face in it
The detection of half quantity heat-transfer pipe, and the detection of half scope has been carried out to this each periphery of half quantity heat-transfer pipe.So
Afterwards, climbing robot drives overhanging testing agency 1 to return to hand hole location and turns around, and then promotes 1 edge of overhanging testing agency again
The other half internal face movement of steam generator, at this point, being carried out using second detection unit 23 to the heat-transfer pipe of the other half quantity
Detection is completed after this time detecting, realizes the detection to the peripheral half scope of all heat-transfer pipes.Then, then cantilevered leg is made
10 enter in it to complete to the remaining half scope in the periphery of all heat-transfer pipes by another hand hole of steam generator
Detection, detection mode is same as above.Since detection components 20 have symmetrically arranged first detection unit 22, first detection unit
22, therefore make 10 both forward and reverse directions of cantilevered leg that can complete the detection of obliquely downward heat-transfer pipe root, therefore from two of steam generator
Hand hole is respectively into the mobile detection that 360 ° of scopes to each heat-transfer pipe periphery of heat-transfer pipe woods once can be realized, compared to existing
Mode at least shortens the half review time, and detection result is high.
After completing to detect, by driving device cantilevered leg 10 is driven to be bounced back backward to be transported to outside steam generator, by
Coordinated in cantilevered leg 10 by the double wedge on drive hole 111 thereon and driving device, can prevent from skidding, realize the height of driving
Reliability.
To sum up, due to the odd-shaped cross section cantilevered leg 10 of the present invention, the cross section of the width of overhanging body 11 is in different
Shape structure, therefore compared to the cantilevered leg 10 of rectangular section, cantilevered leg 10 of the invention both ensure that the rigidity in width
Own wt is reduced again simultaneously, so that the distance that overhangs increases, is conducive to improve detection efficiency；Simultaneously in the firm of thickness direction
Spend slightly lower so that it can be along certain curvature radius bend, so that 10 afterbody of cantilevered leg enters through hand hole inside steam generator；
In addition, offering multiple drive holes 111 on overhanging body 11 along its length, drive hole 111 is used for and driving device point is crossed
Wheel is meshed so that the driving device can drive overhanging body 11 flexible, therefore, compared to the mode of frictional drive, the present invention
The driving process that extends and retracts of cantilevered leg 10 is not easy to skid, safety and reliability, and positioning accuracy is high, and frictional force is small, can prolong
The service life of long cantilevered leg 10 increases device reliability.
Accordingly, the overhanging testing agency 1 with the odd-shaped cross section cantilevered leg 10 is also with identical technique effect；Into one
Step ground, it is in angle to be included due to the detection components 20 of overhanging testing agency 1 along the central axis of the length direction of overhanging body 11
First detection unit 22, the second detection unit 23 of setting, therefore make overhanging testing agency 1 that can be examined in positive and negative both direction
It surveys, reduces the limitation to climbing robot path, it is only necessary to respectively enter from two hand holes of steam generator and once can be completed
The gamut of heat-transfer pipe circumferential direction is detected, and then improves detection efficiency；Meanwhile detection components 20 are using dismountable installation side
Formula can be detected replacement, the upgrading of component 20, promote the image quality under non-illuminated conditions as needed.
The arrangement of the steam generator involved in the present invention arrived and its interior heat-transfer pipe is ordinary skill people
Known to member, no longer it is described in detail herein.
It is above disclosed to be merely a preferred embodiment of the present invention, the right of the present invention cannot be limited with this certainly
Scope, therefore the equivalent variations made according to scope of the present invention patent, are still within the scope of the present invention.
Claims (18)
1. a kind of odd-shaped cross section cantilevered leg, it is characterised in that：Including elongated overhanging body, the width of the overhanging body
The cross section in direction is in polymorphic structure, and offers multiple drive holes, the driving on the overhanging body along its length
Hole is used for and driving device is meshed so that the driving device can drive the overhanging body to stretch.
2. odd-shaped cross section cantilevered leg as described in claim 1, it is characterised in that：The width of the overhanging body it is transversal
Face is oval or I-shaped.
3. odd-shaped cross section cantilevered leg as described in claim 1, it is characterised in that：The overhanging body is in hollow or solid knot
Structure.
4. odd-shaped cross section cantilevered leg as claimed in claim 3, it is characterised in that：In the overhanging body of hollow-core construction at it
The first side wall and second sidewall are respectively provided on thickness direction, the internal face of the first side wall is convexly equipped with the first reinforcing rib, institute
The internal face for stating second sidewall is convexly equipped with second reinforcing rib parallel with first reinforcing rib, and first reinforcing rib,
Second reinforcing rib extends along the length direction of the overhanging body and is located at the both sides of the drive hole.
5. odd-shaped cross section cantilevered leg as described in claim 1, it is characterised in that：The overhanging body divides in the width direction
Not Ju You symmetrically arranged two support portion and the connecting portion that is connected between two support portions, the thickness of the support portion is more than
The thickness of the connecting portion.
6. odd-shaped cross section cantilevered leg as described in claim 1, it is characterised in that：The overhanging body is kept in its width
It centainly rigidly can be along certain curvature radius bend in its thickness direction.
7. odd-shaped cross section cantilevered leg as described in claim 1, it is characterised in that：It is further opened with wearing on the overhanging body
Hole, the length direction of the perforating along the overhanging body extend through the end face at its both ends, and the perforating is used to wear
If cable.
8. odd-shaped cross section cantilevered leg as claimed in claim 7, it is characterised in that：It further includes and is removably attachable to the overhanging
The tail piece of body one end, offer in the tail piece be connected with the perforating so that the cable was pierced by goes out
Mouthful.
9. odd-shaped cross section cantilevered leg as claimed in claim 8, it is characterised in that：The tail piece compared with the outlet
The other end offers accommodating hole, and the overhanging body is detachably inserted into the accommodating hole.
10. odd-shaped cross section cantilevered leg as claimed in claim 9, it is characterised in that：The end of the overhanging body is further opened with
Multiple first location holes, the positioning pin for being connected to the tail piece are removably attachable in first location hole.
11. odd-shaped cross section cantilevered leg as claimed in claim 8, it is characterised in that：The separate afterbody of the overhanging body
The other end of part is further opened with multiple second location holes, by the detachably connected task module of the second location hole.
12. odd-shaped cross section cantilevered leg as described in claim 1, it is characterised in that：The overhanging body passes through high molecular weight plastic
Or metal material is integrally formed.
13. a kind of overhanging testing agency, it is characterised in that：Including detection components and as claim 1-12 any one of them is different
Tee section cantilevered leg, and the both ends of the overhanging body are respectively formed and carry end and connecting pin, the detection components are removably
The carrying end is connected to, and the detection components include setting in angle along the central axis of the length direction of the overhanging body
First detection unit, the second detection unit put.
14. overhanging testing agency as claimed in claim 13, it is characterised in that：The detection components, which further include, removably to be connected
The outer housing at the carrying end is connected to, the first detection unit, the second detection unit are arranged on the shell at intervals
Body.
15. overhanging testing agency as claimed in claim 13, it is characterised in that：The first detection unit, second inspection
Surveying unit includes the video camera and light compensating lamp that separately set.
16. overhanging testing agency as claimed in claim 13, it is characterised in that：The detection components further include light filling unit,
The light filling unit is arranged between the first detection unit, the second detection unit, and the light filling unit is included at least
One light compensating lamp.
17. overhanging testing agency as claimed in claim 16, it is characterised in that：It is connected to the first detection unit, described
It is stretched in the perforating that second detection unit, the cable of the light filling unit are arranged on the overhanging body and through the connecting pin
Go out.
18. overhanging testing agency as claimed in claim 14, it is characterised in that：The outer housing is detected away from described first
Unit, one end of the second detection unit offer connecting hole, and the carrying end is detachably inserted into the connecting hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711463635.5A CN108098791B (en) | 2017-12-28 | 2017-12-28 | Special-shaped section cantilever arm and cantilever detection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711463635.5A CN108098791B (en) | 2017-12-28 | 2017-12-28 | Special-shaped section cantilever arm and cantilever detection mechanism |
Publications (2)
| Publication Number | Publication Date |
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| CN108098791A true CN108098791A (en) | 2018-06-01 |
| CN108098791B CN108098791B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
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|---|---|---|---|---|
| CN111048222A (en) * | 2018-10-15 | 2020-04-21 | 韩电Kps株式会社 | Endoscope conveying device, endoscope unit and remote inspection device |
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| Publication number | Publication date |
|---|---|
| CN108098791B (en) | 2024-03-26 |
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