CN108106997A - Overhanging detection device and its overhanging loading device - Google Patents
Overhanging detection device and its overhanging loading device Download PDFInfo
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- CN108106997A CN108106997A CN201711465840.5A CN201711465840A CN108106997A CN 108106997 A CN108106997 A CN 108106997A CN 201711465840 A CN201711465840 A CN 201711465840A CN 108106997 A CN108106997 A CN 108106997A
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- Prior art keywords
- overhanging
- cantilevered leg
- loading device
- driving mechanism
- installation pedestal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of overhanging loading device, including installation pedestal, turning joint, cantilevered leg, the first driving mechanism and the second driving mechanism；A main cavity is formed in installation pedestal；Turning joint is articulated in the front end of installation pedestal and is formed with a Telescopic path；Cantilevered leg is telescopically arranged in installation pedestal and Telescopic path, and its front end forms and carries end；First driving mechanism, the second driving mechanism are placed in main cavity, and the first driving mechanism is connected with cantilevered leg, for cantilevered leg to be driven to stretch；Second driving mechanism is connected with turning joint, for turning joint to be driven to pivot.Due to flexible degree of freedom and the angle rotary freedom of turning joint with cantilevered leg, therefore the angle of cantilevered leg axis can be accurately adjusted before cantilevered leg enters detection zone, cantilevered leg head is facilitated to be directed at narrow gap, angular adjustment is convenient, operation simplifies, intelligent height.Invention additionally discloses a kind of overhanging detection devices with the overhanging loading device.
Description
Technical field
It is applicable to remotely be examined in narrow space the present invention relates to technical field of automation equipment more particularly to one kind
The overhanging loading device of survey and overhanging detection device.
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 detection of body refuse.
Due to only several millimeters of the spacing between heat-transfer pipe, to enter between heat-transfer pipe the gamut that could be completed to its root
Detection, simultaneously because high susceptibility of the nuclear power generating equipment to safety, to any equipment into inside steam generator or special
Instrument has high reliability requirement, never allows the situation that can not exit steam generator occur.It is existing to be used to conduct heat
The detection device of pipe mainly has mechanical arm type, rail mounted according to the difference of Move Mode, climbs wall type, above-mentioned various types of inspections
Device is surveyed to have the disadvantages that：
First, limited be subject to orbit adjusting, detection module set-up mode or flexible arm lengths etc., single enters hand hole can only
The half quantity of all heat-transfer pipes is detected, and after detection module enters heat-transfer pipe woods from a direction, is only able to detect each
The scope of heat-transfer pipe periphery half, therefore cannot once realize the gamut detection of heat-transfer pipe periphery, it to realize to all
The gamut inspection of heat-transfer pipe must enter from both ends hand hole in steam generator it is each twice, take longer；
2nd, wall type detection device is climbed for existing, carrying telescopic arm by moving body is detected, the angle of telescopic arm
Degree, which is adjusted, to be needed to realize by the joint on moving body, and joint is stretched out to put to telescopic arm larger a distance and not
Point-blank, when this angle for just often leading to telescopic arm is adjusted its head deviated it is narrow between heat-transfer pipe between
For gap, it is necessary to adjust the position of moving body repeatedly, operation is relatively difficult and cumbersome；
3rd, for existing mechanical arm type or rail mounted detection device, mechanical arm or track are difficult between heating tube
Stretching, extension adjustment, should not operate, intelligent difference in small space.
Therefore, it is necessary to provide, a kind of detection efficiency that can realize heat-transfer pipe in gamut is high, angular adjustment is convenient, can
By the high overhanging loading device of property and overhanging detection device, to solve the above problems.
The content of the invention
It is an object of the invention to provide the overhangings that a kind of detection efficiency is high, angular adjustment is convenient, reliability is high to carry dress
It puts.
Another object of the present invention is to provide, a kind of detection efficiency is high, angular adjustment is convenient, reliability is high, can realize
The overhanging detection device that heat-transfer pipe detects in gamut.
To achieve the above object, the technical scheme is that：A kind of overhanging loading device is provided, including installing base
Seat, turning joint, cantilevered leg, the first driving mechanism and the second driving mechanism；A main cavity is formed in installation pedestal；Activity is closed
Section is articulated in the front end of the installation pedestal and is formed with a Telescopic path；Cantilevered leg is telescopically arranged in the installation pedestal
And in the Telescopic path, and its front end forms and carries end；First driving mechanism is placed in main chamber body and is hanged with described
Semi-girder is connected, and first driving mechanism is used to that the cantilevered leg to be driven to stretch；Second driving mechanism is placed in main chamber
It is connected in vivo and with the turning joint, second driving mechanism is used to that the turning joint to be driven to pivot.
It is preferred that first driving mechanism includes being placed in main chamber body and the first motor being connected and driving
It takes turns, multiple double wedges is circumferentially equably convexly equipped with along it on the driving wheel, first motor drives the driving wheel to rotate, institute
State driving wheel drives the cantilevered leg to stretch by the double wedge.
It is preferred that equably offer multiple drive holes in the cantilevered leg, multiple drive holes are along the cantilevered leg
Length direction arrangement, the drive hole is meshed with the double wedge.
It is preferred that first driving mechanism further includes driving gear set, the transmission gear is mounted on the installation base
The outside wall surface of seat is simultaneously connected between first motor and the driving wheel.
It is preferred that the turning joint includes ball and socket joint, idler wheel and drive-connecting shaft, the idler wheel is articulated on the ball and socket joint
And the Telescopic path is formed between the ball and socket joint, the drive-connecting shaft is articulated in the installation pedestal and is respectively fixedly connected with
The ball and socket joint, second driving mechanism, second driving mechanism drive the drive-connecting shaft to rotate to drive the joint
Head pivots.
It is preferred that the axial direction of the drive-connecting shaft is identical with the axial direction of the idler wheel.
It is preferred that the ball and socket joint includes a bottom wall and is convexly equipped in the side wall of the two opposite sides of the bottom wall, the idler wheel
Be articulated in the side wall and with the bottom wall separately.
It is preferred that second driving mechanism includes being placed in the second motor and crank in main chamber body and being connected
Link assembly, the crank rod assembly are also fixedly connected on the drive-connecting shaft, and second motor drives the crank connecting link
Component acts that the drive-connecting shaft is driven to pivot.
It is connected to it is preferred that second driving mechanism further includes between second motor and the crank rod assembly
Screw rod, the screw rod is driven to rotate for second motor so that the crank rod assembly acts.
It is preferred that the crank rod assembly includes the first connecting rod and second connecting rod that are articulated, the first connecting rod connects
Second motor is connected to, the second connecting rod is fixed on the drive-connecting shaft.
It is preferred that the rear end of the installation pedestal is equipped with expansion interface, the expansion interface is used for and mobile vehicle phase
Connection.
It is preferred that the installation pedestal includes body, arranged on the side cover plate of the body one side and arranged on the body
The drive end bearing bracket of front end, the cantilevered leg are arranged between the side cover plate and the body, and the turning joint can be with respect to institute
State drive end bearing bracket pivot.
It is preferred that the drive end bearing bracket includes the first cover board and the second cover board, first cover board is connected to the body
Extension is tilted close to the one side of the side cover plate and to the front end of the body, second cover board is connected to the remote of the body
One side from the side cover plate.
It is preferred that the rear end of the cantilevered leg is connected with tail piece, the tail piece is used to draw cable.
It is preferred that the cantilevered leg can be along certain curvature in its thickness direction in the certain rigidity of its width holding
Radius bend.
It is preferred that the overhanging loading device further includes the second camera group for the outside wall surface for being installed on the installation pedestal
Part.
It is preferred that the second camera component includes being connected to the housing of the outside wall surface of the installation pedestal and arranged on described
The in vivo video camera of shell, light compensating lamp.
Accordingly, the present invention also provides a kind of overhanging detection device, including overhanging loading device and detection components, detection
Component is removably attachable to the carrying end of the cantilevered leg, and the detection components include at least two detection pieces, the inspection
Survey the both sides that part is located at the width of the cantilevered leg.
It is preferred that the detection components further include connector, the connector is removably attachable to the carrying end, and
At least two detection pieces are symmetrically arranged on the both sides of the connector.
Compared with prior art, due to the overhanging loading device of the present invention, the front end of installation pedestal is articulated with movable pass
Section, and a Telescopic path is formed in turning joint, cantilevered leg is telescopically arranged in installation pedestal and Telescopic path and it
Front end, which is formed, carries end, which can carry detection components or cleaning assembly etc., be closed by the second driving mechanism driving activity
Section pivots to adjust the angle of cantilevered leg, by the first driving mechanism cantilevered leg is driven to stretch.Due to flexible with cantilevered leg
Degree of freedom and the angle rotary freedom of turning joint the two degree of freedom, therefore, when overhanging loading device enters steam generation
When in device, the angle of cantilevered leg axis can be accurately adjusted before cantilevered leg enters heat transfer ligament, facilitates cantilevered leg head pair
Accurate narrow gap, angular adjustment is convenient, operation simplifies, intelligent height；Meanwhile cantilevered leg has enough in the width direction
Rigidity so that it can reach enough length so that it can complete the overhanging of long range, be easy to implement larger range of inspection
Survey, clean etc..
Accordingly, the overhanging detection device with the overhanging loading device is also with identical effect.Further, by
Include the detection piece of at least two width both sides for being located at cantilevered leg in the detection components of overhanging detection device, so that should
Overhanging detection device can check in positive and negative both direction, when overhanging detection device be used for the heat-transfer pipe in steam generator into
During row detection, reduce to the limitation of the path of mobile vehicle, respectively passed from two hand holes into once can be completed afterwards in gamut
The detection of heat pipe woods shortens the review time than existing way, reduces operating procedure, and detection efficiency is high.
Description of the drawings
Fig. 1 is the structure diagram of overhanging detection device of the present invention.
Fig. 2 is that Fig. 1 removes the structure diagram after upper end cover, side cover plate.
Fig. 3 is the front view of Fig. 2.
Fig. 4 is the left view of overhanging detection device of the present invention.
Fig. 5 is a use state diagram of overhanging detection device 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.This
The there is provided overhanging detection device 1 of invention, can be equipped on mobile vehicle (such as climbing robot), with can not to some personnel
It reaches, the long range that the region of narrow space and no light is carried out in close clearance overhangs detection.
Referring initially to shown in Fig. 1, overhanging detection device 1 of the invention includes overhanging loading device 100 and removably connects
The detection components 200 of overhanging loading device 100 are connected to, wherein, overhanging loading device 100 can be connected with mobile vehicle (not shown)
It connects, by mobile vehicle overhanging loading device 100 is promoted to move and be detected with the different position to detection zone.
Understandably, the overhanging loading device 100 in the present invention is not limited to carry detection components 200, can also use
To carry other mechanisms (such as cleaning assembly) to realize other functions.
With reference to shown in Fig. 1-3, the overhanging loading device 100 in the present invention includes installation pedestal 110, turning joint
120th, cantilevered leg 130, the first driving mechanism 140 and the second driving mechanism 150.Wherein, it is formed with a main chamber in installation pedestal 110
Body 110a, the first driving mechanism 140, the second driving mechanism 150 are placed in main cavity 110a；Turning joint 120 is articulated in
The front end of installation pedestal 110 is simultaneously formed with a Telescopic path 120a, and turning joint 120 is with the second driving mechanism 150 with being connected
It connects, the second driving mechanism 150 is used to that turning joint 120 to be driven to pivot；Cantilevered leg 130 is telescopically arranged in installation pedestal 110
And in the Telescopic path 120a, and its front end forms and carries end, which overhangs simultaneously for installing detection components 200
Arm 130 is also connected with the first driving mechanism 140, drives cantilevered leg 130 flexible by the first driving mechanism 140.
As shown in Figure 1,3, the installation pedestal 110 includes body 111, upper end cover 112, bottom end cover 113, drive end bearing bracket 114
And side cover plate 115.Wherein, body 111 has the contact wall 1111 for being used for being bonded with the wall surface of detection zone, drive end bearing bracket 114
The front end of body 111 is connected to, upper end cover 112, bottom end cover 113 are respectively arranged at the both sides up and down of body 111 and fix respectively
In body 111 and drive end bearing bracket 114, side cover plate 115 is connected to the opposite side compared with contact wall 1111 of body 111, side cover plate
It is formed and is worn for cantilevered leg 130 and through the passage of the front and back end of body 111 between 115 and body 111；Cantilevered leg 130 is worn
In the Telescopic path 120a on passage and turning joint 120 between side cover plate 115 and body 111, and cantilevered leg 130
Both ends protrude out the rear and front end of body 111 respectively, cantilevered leg 130 is allow to stretch along the front-rear direction of body 111.It overhangs
Arm 130 is arranged on the opposite side of body 111 with contact wall 1111, is easily installed pedestal 110 and is moved along the wall surface of detection zone, especially
Situation about being moved suitable for installation pedestal 110 along vertical wall surface.
Further, the rear end of body 111 is equipped with expansion interface 116, and expansion interface 116 is used to be connected with mobile vehicle
It connects, to realize electrical, physical connection between the two, by mobile vehicle overhanging loading device 100 is promoted to move.
With reference to shown in Fig. 2-3, the front end of body 111 is further provided with articulated section 1112, which is arranged on remote
One side from contact wall 1111, an and abutting portion 1113 is convexly equipped on articulated section 1112, the abutting portion 1113 is to contact wall 1111
Direction tilts extension, and turning joint 120 is articulated in the articulated section 1112, and drive end bearing bracket 114 is connected to the abutting portion 1113 and has
The inclined inclined-plane in front of oriented body 111, so that turning joint 120 can freely pivot to adjust its angle.
With reference to shown in Fig. 2-3,5, the drive end bearing bracket 114 includes the first cover board 1141 and the second cover board that are set in angle
1142, the first cover board 1141, which is connected to abutting portion 1113 and is tilted from side cover plate 115 to the front end of body 111, to be extended, the second lid
Plate 1142, which is connected to the contact wall 1111 of body 111 and is tilted from the contact wall 1111 to the front end of body 111, to be extended, the first lid
Plate 1141, the second cover board 1142 are obliquely installed and protrude out the front of the angle to body 111 of the two, on the one hand will not hamper
Hinder the pivot of turning joint 120, angular adjustment is carried out convenient for it, on the other hand make that there is larger space in main cavity 100a, just
In the installation and action of the second driving mechanism 150.
Preferably, the drive end bearing bracket 114 is an integral molding structure, but not limited to this, its first cover board 1141, second is covered
Plate 1142 is fixedly connected again after being separately provided, and does not influence the realization of the technical program equally.
Referring now to shown in Fig. 2, multiple drive holes 131, multiple drive holes are equably offered in the cantilevered leg 130
131 arrange along the length direction of cantilevered leg 130, and the first driving mechanism 140 drives cantilevered leg 130 flexible by drive hole 131.
In addition, the rear end of cantilevered leg 130 is connected with tail piece 132, tail piece 132 provides the power cord of connecting detection component 200, signal
The outlet of line, and protection is provided for cable, prevent cable from pulling damage；In addition, the width of tail piece 132 is more than cantilevered leg 130
Width, enable tail piece 132 and installation pedestal 110 inconsistent, to depart from installation pedestal when cantilevered leg 130 being prevented to forward extend out
110。
In the present invention, cantilevered leg 130 is preferably made of high molecular material or metal material, and makes cantilevered leg 130 at it
The rigidity of thickness direction is relatively weak, therefore radius of curvature that can be certain is bent, to pass through Telescopic path 120a arrival
It is detected place；But cantilevered leg 130 has larger rigidity in its width, when installation pedestal 110 is moved into along vertical wall surface
After detection zone, it is ensured that sag of chain of the cantilevered leg 130 in gamut is in defined limit value.Certainly, the material of cantilevered leg 130
Material and rigid requirements can flexibly be set according to specifically used needs.
Further in conjunction with shown in Fig. 2-4, first driving mechanism 140 include the first motor 141, driving gear set 142 and
Driving wheel 143.Wherein, the first motor 141 and driving wheel 143 are placed in main chamber body 110a, and edge on driving wheel 143
It is circumferentially equably convexly equipped with multiple double wedges 1431, and the shaft of driving wheel 143 sets axially along the vertical direction of body 111, makes
Double wedge 1431 is meshed with the drive hole 131 in cantilevered leg 130, and the form and dimension of double wedge 1431 and drive hole 13 can basis
It needs to set；Driving gear set 142 is arranged on the outside (see Fig. 4) of the bottom end cover 113 of installation pedestal 110, and driving gear set 142
It is connected between the first motor 141 and driving wheel 143, after the first motor 141 receives the control signal of host computer, passes through driving cog
Wheel group 142 drives driving wheel 143 to rotate, and driving wheel 143 drives cantilevered leg 130 flexible by double wedge 1431 thereon, by convex
The cooperation of tooth 1431, drive hole 131 drives the cantilevered leg 130 to stretch out or retract, and can prevent cantilevered leg 130 from skidding, and then realizes
The high reliability of driving.
With continued reference to shown in Fig. 2-4, the turning joint 120 includes ball and socket joint 121, idler wheel 122 and drive-connecting shaft 123, rolling
Wheel 122 is articulated on ball and socket joint 121 and the Telescopic path 120a is formed between ball and socket joint 121, and drive-connecting shaft 123 is articulated in this
The articulated section 1112 of 111 front end of body, and the axial direction of the axial direction of idler wheel 122, drive-connecting shaft 123 is axial with the shaft of driving wheel 143
Unanimously, drive-connecting shaft 123 is also respectively fixedly connected with ball and socket joint 121, the second driving mechanism 150, the driving pivot joint of the second driving mechanism 150
Axis 123 rotates that ball and socket joint 121 is driven to pivot, and realizes the angle adjustment to ball and socket joint 121.
Referring to Fig. 1-2, ball and socket joint 121 includes a bottom wall 1211 and is convexly equipped in the side wall of the two opposite sides of bottom wall 1211
1212, multiple idler wheels 122 are articulated at intervals on two side 1212, and the gap between idler wheel 122 and bottom wall 1211 forms institute
Telescopic path 120a is stated, one end of bottom wall 1211 is fixed on drive-connecting shaft 123.
As shown in figure 3, second driving mechanism 150 includes the second motor 151, the screw rod that are placed in main cavity 110a
152 and crank rod assembly 153, the second motor 151 be connected with one end of screw rod 152 and screw rod 152 driven to rotate, screw rod
152 other end is threadedly coupled with crank rod assembly 153, and the crank rod assembly 153 is also fixedly connected on drive-connecting shaft
123, therefore, when the second motor 151 driving screw rod 152 rotates, the one end for making crank rod assembly 153 is slided along screw rod 152
It is dynamic, while crank rod assembly 153 pivots that drive-connecting shaft 123 is driven to rotate, and then make ball and socket joint 121 along Fig. 3 shown in arrow
Direction rotates.
Specifically, the crank rod assembly 153 includes the first connecting rod 1531 that is articulated and second connecting rod 1532, and first
Connecting rod 1531 is threadedly connected to screw rod 152, and second connecting rod 1532 is fixed on drive-connecting shaft 123, when first connecting rod 1531 is along screw rod 152
During slip second connecting rod 1532 will be driven to pivot, second connecting rod 1532 drives drive-connecting shaft 123 to rotate.
Referring again to shown in Fig. 1, the overhanging loading device 100 further includes the outside wall surface that is installed on installation pedestal 110
Second camera component 160.Specifically, which includes housing 161 and the video camera in housing 161
162nd, light compensating lamp 163, the housing 161 are installed on upper end cover 112 or/and bottom end cover 113, and make video camera 162, light compensating lamp 163
Towards the front of installation pedestal 110.By the setting of second camera component 160, observable overhanging loading device 100 enters work
The environment of its head behind region, and special operations joint 120 carries out angle adjustment, so that cantilevered leg 130 is accurately into narrow
Narrow gap.
Further in conjunction with shown in Fig. 1-4, the detection components 200 in the present invention include connector 210 and are symmetrically arranged on connection
At least two detection pieces 220 of 210 both sides of part, and connector 210 is removably attachable to the carrying end of cantilevered leg 130.When even
After fitting 210 is installed on the carrying end, at least two detection pieces 220 is made to be located at the two of the width of cantilevered leg 130 respectively
Side, i.e. detection piece 220 is arranged symmetrically along the vertical direction of installation pedestal 110, therefore makes overhanging loading device 100 positive and negative two
A direction can check, reduce the path limitation to mobile vehicle, reduce operating procedure so as to improve inspection efficiency.
In addition, the present invention detection piece 220 be preferably high-definition camera and light compensating lamp, certainly, detection piece 220 not as
Limit, can also be other detection devices.And by the detachable setting of connector 210, component 200 can be detected as needed
Upgrading, such as using higher resolution or using twin camera be imaged technology, promoted image quality.
With reference to shown in Fig. 1-5, to overhanging detection device 1 of the present invention in steam generator 2 with to heat-transfer pipe into
The embodiment of row detection illustrates.
The overhanging detection device 1 of the present invention can be mounted in the climbing robot (not shown) of volume compact, specifically, led to
The expansion interface 116 for crossing the setting of 110 rear end of installation pedestal is connected with climbing robot.
When being detected, climbing robot and overhanging detection device 1 is made to enter it by a hand hole of steam generator 2
It is interior, and pass through climbing robot and be adsorbed on the vertical metal internal face of steam generator 2, the installation base of overhanging detection device 1
The contact wall 1111 of seat 110 fits in the internal face (see Fig. 5) of steam generator 2, make the width of cantilevered leg 130 with it is vertical
Direction is consistent, and since cantilevered leg 130 is larger in the rigidity of width, the sag of chain in gamut can be kept after its stretching
In defined limit value.Then climbing robot is controlled to promote overhanging detection device 1 along steam generator 2 according to certain path
Internal face movement, such as direction shown in arrow F is moved along Fig. 5, realizes that cantilevered leg 130 respectively arranges gap compared with heat-transfer pipe
It is circumferentially positioned.
Then, by finely tuning turning joint 120 so that the axis of cantilevered leg 130 is directed at heat-transfer pipe row gap and prolongs with gap
It is parallel to stretch direction.Specifically as shown in Fig. 3,5, by the second motor 151 screw rod 152 is driven to rotate, make crank rod assembly 153
First connecting rod 1531 is slided along screw rod 152, and first connecting rod 1531 pulls second connecting rod 1532 to pivot, and thus drives drive-connecting shaft 123
It rotates so that 121 synchronous rotary of ball and socket joint, realizes that ball and socket joint 121, can be in larger model compared with the angular adjustment of side cover plate 115
The stretching angle of adjustment cantilevered leg 130 is enclosed, simultaneously because carrying end of the turning joint 120 apart from cantilevered leg 130 is close, therefore can
It is easy to adjust, accurate to carry out fine adjustment.
Then, by the first driving mechanism 140 cantilevered leg 130 is driven to stretch out, i.e. the first motor 141 receives host computer
Control signal simultaneously passes through driving gear set 142 driving wheel 143 is driven to rotate, and driving wheel 143 passes through the double wedge 1431 that sets thereon
Driving cantilevered leg 130 forward extends out, and makes the detection components 200 of 130 front end of cantilevered leg between the heat-transfer pipe in steam generator 2
Gap, and progress video detection at arbitrary a line heat-transfer pipe can be rested on, while the rear end redundance storage of cantilevered leg 130
Outside steam generator 2.Since cantilevered leg 130 has the angle rotary freedom of flexible degree of freedom and turning joint 120,
The angle of the axis of cantilevered leg 130 can be accurately adjusted before cantilevered leg 130 enters heat transfer ligament, facilitates cantilevered leg 130
Portion is directed at narrow gap.
In detection process, by be located at cantilevered leg 130 width one side high-definition camera to being located at its obliquely downward
Heat-transfer pipe root carry out clear video detection, when being detected to each heat-transfer pipe, can clearly detect its periphery two/
One scope.It moves and completes in steam generator 2 in the range of half in the direction shown in arrow F along Fig. 5 of overhanging detection device 1
Heat-transfer pipe detection after, control climbing robot returns to hand hole location and is driven by it overhanging detection device 1 and turns around, then
By climbing robot overhanging detection device 1 is promoted to be moved along the other half internal face of steam generator 2, i.e., the arrow F along Fig. 5
Shown negative direction movement, is detected with the scope of the peripheral half of the heat-transfer pipe to the other half quantity, at this point, utilizing
High-definition camera positioned at the width opposite side of cantilevered leg 130 is detected, and is completed in the direction to all heat-transfer pipes
After detection, that is, complete the detection of the peripheral half range of all heat-transfer pipes.Accordingly, overhanging detection device 1 is made to be sent out by steam
After another hand hole of raw device 2 enters in it, the detection of all remaining half scopes in heat-transfer pipes periphery, detection side can be completed
Formula is same as above.Therefore, because detection components 200 have symmetrically arranged high-definition camera, and the length of semi-girder 130 can at least pass through
The diameter of steam generator 2 is worn, therefore makes 130 both forward and reverse directions of cantilevered leg that can complete the detection of obliquely downward heat-transfer pipe root, therefore
Respectively enter the mobile inspection that heat-transfer pipe woods in the range of 360 ° of inner wall surface thereof once can be realized from two hand holes of steam generator 2
It surveys, realizes no dead angle, the heat-transfer pipe video check of gamut, and the review time is shortened compared to existing way, reduce operation step
Suddenly, detection efficiency higher.
After completing to detect, by the first driving mechanism 140 cantilevered leg 130 is driven to bounce back backward, and utilize wall-climbing device
People, cantilevered leg jack, following driving device etc. are transported to outside steam generator 2, since cantilevered leg 130 passes through drive thereon
Dynamic hole 131 coordinates with the double wedge 1431 on driving wheel 143, can prevent from skidding, and realizes the high reliability of driving, reduces cantilevered leg
130 irretrievable risks.
Understandably, overhanging detection device 1 of the present invention is not limited to use in steam generator 2, can also be according to need
Other occasions are used for, this to be technology well known to those of ordinary skill in the art.
To sum up, due to the overhanging loading device 100 of the present invention, the front end of installation pedestal 110 is articulated with turning joint
120, and a Telescopic path 120a is formed in turning joint 120, cantilevered leg 130 be telescopically arranged in installation pedestal 110 and
In Telescopic path 120a and its front end, which is formed, carries end, which can carry detection components 200 or cleaning assembly etc., by the
The driving turning joint 120 of two driving mechanisms 150 pivots to adjust the angle of cantilevered leg 130, is driven by the first driving mechanism 140
Cantilevered leg 130 is flexible.Due to the flexible degree of freedom with cantilevered leg 130 and the angle rotary freedom of turning joint 120 this two
A degree of freedom, therefore, can be in cantilevered leg 130 between heat-transfer pipe when overhanging loading device 100 enters in steam generator 2
The angle of the axis of cantilevered leg 130 is accurately adjusted before gap, 130 head of cantilevered leg is facilitated to be directed at narrow gap, angular adjustment
Convenient, operation simplifies, intelligent height；Meanwhile cantilevered leg 130 has enough rigidity so that it can reach in the width direction
Enough length so that it can complete the overhanging of long range, is easy to implement larger range of detection, cleaning etc..
Accordingly, the overhanging detection device 1 with the overhanging loading device 100 is also with identical effect.Further
Ground, since the detection components 200 of overhanging detection device 1 include the inspection of at least two width both sides for being located at cantilevered leg 130
Part 220 is surveyed, so that the overhanging detection device 1 can be checked in positive and negative both direction, when overhanging detection device 1 is used for steam
When heat-transfer pipe in generator 2 is detected, reduce the path limitation to mobile vehicle, after two hand holes respectively enter once
The detection of heat-transfer pipe woods in gamut can be completed, shorten the review time than existing way, reduce operating procedure, detection efficiency
It is high.
The arrangement of heat-transfer pipe is the conventional arrangement of this field in the steam generator 2 involved in the present invention arrived, herein
No longer it is described in detail.
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 (19)
1. a kind of overhanging loading device, which is characterized in that including：
Installation pedestal is inside formed with a main cavity；
Turning joint is articulated in the front end of the installation pedestal and is formed with a Telescopic path；
Cantilevered leg is telescopically arranged in the installation pedestal and the Telescopic path, and its front end forms and carries end；
First driving mechanism is placed in main chamber body and is connected with the cantilevered leg, and first driving mechanism is used
It stretches in driving the cantilevered leg；
Second driving mechanism is placed in main chamber body and is connected with the turning joint, second driving mechanism
For the turning joint to be driven to pivot.
2. overhanging loading device as described in claim 1, which is characterized in that first driving mechanism includes being placed in described
In main cavity and the first motor and driving wheel that are connected, multiple double wedges are equably circumferentially convexly equipped with along it on the driving wheel,
First motor drives the driving wheel to rotate, and the driving wheel drives the cantilevered leg to stretch by the double wedge.
3. overhanging loading device as claimed in claim 2, which is characterized in that multiple drives are equably offered in the cantilevered leg
Dynamic hole, multiple drive holes are arranged along the length direction of the cantilevered leg, and the drive hole is meshed with the double wedge.
4. overhanging loading device as claimed in claim 2, which is characterized in that first driving mechanism further includes transmission gear
Group, the transmission gear be mounted on the outside wall surface of the installation pedestal and be connected to first motor and the driving wheel it
Between.
5. overhanging loading device as described in claim 1, which is characterized in that the turning joint include ball and socket joint, idler wheel and
Drive-connecting shaft, the idler wheel are articulated in the ball and socket joint and above and between the ball and socket joint form the Telescopic path, the pivot joint
Axis is articulated in the installation pedestal and is respectively fixedly connected with the ball and socket joint, second driving mechanism, second driving machine
Structure drives the drive-connecting shaft to rotate that the ball and socket joint is driven to pivot.
6. overhanging loading device as claimed in claim 5, which is characterized in that the axial direction of the drive-connecting shaft and the axis of the idler wheel
To identical.
7. overhanging loading device as claimed in claim 5, which is characterized in that the ball and socket joint includes a bottom wall and is convexly equipped in institute
State the side wall of the two opposite sides of bottom wall, the idler wheel be articulated in the side wall and with the bottom wall separately.
8. overhanging loading device as claimed in claim 5, which is characterized in that second driving mechanism includes being placed in described
In main cavity and the second motor and crank rod assembly that are connected, the crank rod assembly are also fixedly connected on the pivot joint
Axis, second motor drive the crank rod assembly action that the drive-connecting shaft is driven to pivot.
9. overhanging loading device as claimed in claim 8, which is characterized in that second driving mechanism, which further includes, is connected to institute
The screw rod between the second motor and the crank rod assembly is stated, second motor drives the screw rod rotation so that the song
Handle link assembly acts.
10. overhanging loading device as claimed in claim 8, which is characterized in that the crank rod assembly includes what is be articulated
First connecting rod and second connecting rod, the first connecting rod are connected to second motor, and the second connecting rod is fixed on the pivot joint
Axis.
11. overhanging loading device as described in claim 1, which is characterized in that the rear end of the installation pedestal is equipped with extension
Interface, the expansion interface are used to be connected with mobile vehicle.
12. overhanging loading device as described in claim 1, which is characterized in that the installation pedestal includes body, arranged on described
The side cover plate of body one side and the drive end bearing bracket arranged on the body front end, the cantilevered leg be arranged in the side cover plate with it is described
Between body, and the turning joint can relatively described drive end bearing bracket pivot.
13. overhanging loading device as claimed in claim 12, which is characterized in that the drive end bearing bracket includes the first cover board and second
Cover board, the front end inclination close to the one side of the side cover plate and to the body that first cover board is connected to the body are prolonged
It stretches, second cover board is connected to the one side away from the side cover plate of the body.
14. overhanging loading device as described in claim 1, which is characterized in that the rear end of the cantilevered leg is connected with tail piece,
The tail piece is used to draw cable.
15. overhanging loading device as described in claim 1, which is characterized in that the cantilevered leg keeps one in its width
Determine rigidity and can be bent in its thickness direction along certain radius of curvature.
16. overhanging loading device as described in claim 1, which is characterized in that further include and be installed on the outer of the installation pedestal
The second camera component of wall surface.
17. overhanging loading device as claimed in claim 16, which is characterized in that the second camera component includes being connected to institute
State the housing of the outside wall surface of installation pedestal and arranged on the in vivo video camera of the shell, light compensating lamp.
18. a kind of overhanging detection device, which is characterized in that including：
Such as claim 1-17 any one of them overhanging loading devices；
Detection components are removably attachable to the carrying end of the cantilevered leg, and the detection components include at least two inspections
Part is surveyed, the detection piece is located at the both sides of the width of the cantilevered leg.
19. overhanging detection device as claimed in claim 18, which is characterized in that the detection components further include connector, institute
It states connector and is removably attachable to the carrying end, and at least two detection pieces are symmetrically arranged on the two of the connector
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711465840.5A CN108106997A (en) | 2017-12-28 | 2017-12-28 | Overhanging detection device and its overhanging loading device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711465840.5A CN108106997A (en) | 2017-12-28 | 2017-12-28 | Overhanging detection device and its overhanging loading device |
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| CN108106997A true CN108106997A (en) | 2018-06-01 |
Family
ID=62214379
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711465840.5A Pending CN108106997A (en) | 2017-12-28 | 2017-12-28 | Overhanging detection device and its overhanging loading device |
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| Country | Link |
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| CN (1) | CN108106997A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111331550A (en) * | 2019-12-31 | 2020-06-26 | 中核武汉核电运行技术股份有限公司 | Heat transfer pipe overhauls equipment mounting tool |
| CN112935538A (en) * | 2021-01-25 | 2021-06-11 | 广西建工集团第一安装有限公司 | Efficient welding method for spliced thick plate |
| CN113985714A (en) * | 2021-10-21 | 2022-01-28 | 珠海市拓佳科技有限公司 | Developing box |
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