CN110640753B - Video inspection robot suitable for ninth backup pad of steam generator - Google Patents
Video inspection robot suitable for ninth backup pad of steam generator Download PDFInfo
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- CN110640753B CN110640753B CN201910858347.2A CN201910858347A CN110640753B CN 110640753 B CN110640753 B CN 110640753B CN 201910858347 A CN201910858347 A CN 201910858347A CN 110640753 B CN110640753 B CN 110640753B
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- inspection robot
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- camera
- video inspection
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a video inspection robot suitable for a ninth supporting plate of a steam generator, which comprises a shell, a walking mechanism arranged on the shell, a flexible arm connected to the shell, a probe mechanism arranged at one end of the flexible arm far away from the shell, a winding and unwinding mechanism arranged in the shell and a control system, wherein the walking mechanism is arranged on the shell; the probe mechanism is including being connected to the probe body in the casing, the one end of probe body is connected on the roll-up and pay-off mechanism, the probe subassembly that is used for making a video recording is installed to the other end of probe body, offer the confession on the flexible arm the cavity hole that the probe body runs through. According to the video inspection robot suitable for the ninth supporting plate of the steam generator, the video inspection robot can carry the flexible arm and the probe mechanism to reach the space between pipes to be inspected through the traveling mechanism, the movement of the probe mechanism between the pipes is realized through the rolling and releasing mechanism under the adjusting action of the flexible arm, and then the video inspection of the quincunx hole blocking condition is realized.
Description
Technical Field
The invention relates to the detection field of a steam generator and the technical field of robots, in particular to a video inspection robot for inspecting the blockage condition of a quincuncial hole of a ninth support plate of the steam generator.
Background
The steam generator is a heat exchanger which uses the heat of a primary loop to heat a secondary loop of feed water to change the feed water into steam. The deposition sludge is inevitably generated at the tube plate, the supporting plate, the outer wall of the tube and the like during the operation process, and regular cleaning and video inspection are required during each shutdown maintenance.
The domestic CPR stack type steam generator is of a vertical structure and sequentially comprises a tube plate, a splitter plate, a first support plate, a second support plate and a ninth support plate from bottom to top. Because structural limitation, generally only carry out manual video inspection and high pressure cleaning between tube sheet and first backup pad, the second is owing to fail to implement high pressure cleaning to ninth backup pad is regional, increases along with operating duration, can deposit more and more mud sediment in this region, and then influences heat exchange efficiency and water level fluctuation, if above-mentioned problem appears, will influence the unit and generate electricity.
Internationally, chemical cleaning is generally used to remove the sludge in the area. Given the potential corrosion risk of chemical cleaning processes to heat transfer tubes, evaluation and validation is required prior to use. The chemical cleaning method can be decided only by confirming that the sludge existing on the upper part really causes the problems, and the confirmation means, namely the video inspection of the ninth supporting plate is judged by the blockage condition of the plum blossom holes of the ninth supporting plate; the area between the second support plate and the eighth support plate is narrow in space and cannot be inspected without an equipment inspection entrance, but the distribution condition of the sludge between the second support plate and the eighth support plate can be evaluated according to the sludge deposition distribution condition of the ninth support plate based on the sludge deposition distribution rule of the steam generator, and the necessity of using chemical cleaning is further judged according to the overall evaluation condition, so that the development of the ninth support plate video inspection robot is particularly critical.
In the structural aspect, the ninth supporting plate is arranged in the enclosing plate, equipment can only enter through an observation hole with the inner diameter of about 200mm, the equipment moves downwards to the position above the ninth supporting plate along the inner wall of the enclosing plate in the height direction, the video inspection probe is inserted into the space between the tubes for video inspection, and the visible distance between the tubes is 8.38 mm; the whole coaming is positioned in the steam generator, equipment and personnel need to enter from a manhole above, and climb down along the vertical ladder by about 3m to reach the observation hole platform; 16 steam pipelines are distributed around the observation hole platform, so that the space is narrow when personnel install the equipment, and the personnel are difficult to turn and shift. During inspection, in order to reduce the irradiated dose of equipment installation personnel as much as possible, all the tube bundles need to be flooded with water, namely, the video inspection of the ninth supporting plate is performed underwater. The difficulty of the development of the ninth supporting plate video inspection system is determined by the conditions of narrow space, high installation difficulty, inter-pipe positioning, underwater inspection, foreign matter prevention and the like, particularly, the robot capable of executing video inspection work in the environment is not developed at home.
Disclosure of Invention
In view of the above, in order to overcome the defects of the prior art, the present invention aims to provide a video inspection robot suitable for a ninth support plate of a steam generator.
In order to achieve the purpose, the invention adopts the following technical scheme:
a video inspection robot suitable for a ninth supporting plate of a steam generator comprises a shell, a travelling mechanism arranged on the shell, a flexible arm connected to the shell, a probe mechanism arranged at one end of the flexible arm far away from the shell, a rolling and unrolling mechanism arranged in the shell and a control system; the probe mechanism comprises a probe body connected into the shell, one end of the probe body is connected onto the winding and unwinding mechanism, the other end of the probe body is provided with a probe assembly for shooting, the flexible arm is provided with a hollow hole for the probe body to penetrate through, and the hollow hole extends along the axial direction of the flexible arm; the winding and unwinding mechanism is used for winding and unwinding the probe body.
The running mechanism is used for providing power for the video inspection robot to move along the inner wall of the enclosing plate as a moving carrier; the control system is used for receiving instructions to realize the movement and steering of the video inspection robot, the adjustment of the flexible arm and the retraction of the probe mechanism.
Preferably, the walking mechanism comprises a mounting bracket, a rolling wheel, a first transmission component for driving the rolling wheel to rotate, and a first motor for driving the first transmission component to operate; the rolling wheel is arranged on the mounting bracket through a rotating shaft; the rolling wheel is a magnetic wheel and comprises a bottom cover, a top cover, a rim and permanent magnets arranged in a space formed by the bottom cover, the top cover and the rim.
The walking mechanism is the key that the video inspection robot walks along the inner wall without falling off, and is limited by narrow space and potential risks caused by falling off. Running gear is the four wheel drive structure, including magnetic wheel, first motor, first transmission assembly and installing support, the magnetic wheel includes permanent magnet, bottom, top cap, rim and doctor-bar, the magnetic wheel passes through the bolt and links to each other with first transmission assembly to drive the magnetic wheel rotation and then realize the walking of video inspection robot under the effect of first motor, first transmission assembly and first motor install in installing support, the magnetic wheel passes through the axis of rotation and connects in installing support behind the casing, magnetic wheel and first motor are preferred to be set up to 4.
Preferably, the probe assembly comprises a support frame, and a first camera and a second camera which are mounted on the support frame, wherein the shooting direction of the first camera is perpendicular to the extending direction of the probe body and faces downwards, and the shooting direction of the second camera is consistent with the extending direction of the probe body; offer on the support frame and be used for the convenience first camera carries out the breach of making a video recording. The probe assembly is used for acquiring video information of the blockage situation of the quincuncial hole, the flexible arm penetrates through the probe body, one end of the probe body is installed on a winding and unwinding mechanism which is arranged at the front end of the shell in a built-in mode, and the other end of the probe body is connected with the probe assembly and enters and exits the pipe space under the action of the winding and unwinding mechanism.
The probe body has certain flexibility to facilitate rolling and unrolling of the rear end on one hand, and has certain rigidity to facilitate transmission of driving force to enable the front end to move among the tubes on the other hand; first camera and second camera are installed in the support frame, are the core component who acquires video inspection information, and first camera overlooks the video information who is used for acquireing the plum blossom hole jam condition, and second camera foresight is used for assisting probe subassembly entering intertube and intertube to remove, the support frame is used for guaranteeing first camera apart from the distance of ninth backup pad upper surface in order to acquire good field of vision, guarantees spacing when the intertube removes simultaneously and prevents first camera slope. In some embodiments, the probe body is preferably a woven mesh of tungsten wire, preferably about 6mm in diameter.
More preferably, the flexible arm includes flexible body and installs flexible body is kept away from the regulation pole of casing one end, flexible body is connected gradually by a plurality of universal rings and is formed, seted up on the regulation pole with support frame matched with spacing groove. The flexible arm is mounted at the front end of the video inspection robot and used for adjusting the position of the probe assembly and the angle between the access pipes.
Hollow structure's flexible arm includes flexible body and regulation pole, and flexible body is formed by the universal ring lock joint of multiunit, and this internal spring that is provided with of flexibility is in order to increase flexible body intensity, flexible body periphery cladding has the bellows, universal ring circumference distributes has 4 perforations, and the nickel-titanium alloy silk concatenates universal ring through the perforation. One end of the nickel-titanium alloy wire is connected to the adjusting rod, the other end of the nickel-titanium alloy wire is connected to the reel, the reel is connected with the second motor, the reel is driven by the second motor to achieve the drawing or loosening of the nickel-titanium alloy wire, the up-down left-right adjustment of the adjusting rod can be achieved, and the adjusting rod is made of engineering plastics such as PET, PBT and the like. The lower part of the adjusting rod is provided with a limiting groove, the extending direction of the limiting groove is the same as the extending direction of the adjusting rod, and the limiting groove is matched with the wedge-shaped surface on the supporting frame.
Further preferably, the support frame includes that be close to the wedge-shaped face of adjusting the pole and keep away from the arcwall face of adjusting the pole, the spacing groove is close to the wedge-shaped face has the slip entry of slope setting. The arrangement of the wedge-shaped surface and the sliding inlet facilitates the support frame to slide into the limiting groove. The rear end of the support frame is provided with the wedge-shaped surface, the front end of the support frame is provided with the arc-shaped surface, the arc-shaped surface contacts the upper surface of the ninth support plate when the support frame falls obliquely, and the direction of the second camera is ensured to be forward under the limitation of the structure of the support frame.
Preferably, the winding and unwinding mechanism comprises a screw rod arranged in the shell, a wiring unit arranged on the screw rod, a reel bracket, a reel arranged on the reel bracket, a third transmission assembly used for driving the screw rod and the reel to rotate, and a fourth motor used for driving the third transmission assembly to operate; the probe body passes through the wiring unit and is wound on the winding drum, the winding drum rotates for a circle, and the wiring unit synchronously moves for the line diameter distance of one probe body. The winding and unwinding mechanism is used for winding and unwinding the probe body, and simultaneously drives the probe body to move the probe assembly between the pipes.
More preferably, the winding and unwinding mechanism further comprises a driving roller and a driven roller for cooperatively clamping the probe body, a second transmission assembly for driving the driving roller and the driven roller to rotate, and a third motor for driving the second transmission assembly to operate.
Specifically, in some embodiments, the winding and unwinding mechanism includes a driving roller, a second transmission assembly, a driven roller, a third motor, a fourth motor, a third transmission assembly, a winding drum bracket, a winding drum, a wiring unit, and a screw rod; the driving roller is matched with the driven roller to clamp the probe body; the probe body penetrates through the wiring device and is wound on the winding drum, the winding drum is arranged on the shell through a winding drum support, and the winding drum support is connected with the third transmission assembly; the third motor drives the driving roller through the second transmission assembly so as to drive the probe body to enter and exit the flexible arm; simultaneously, the fourth motor passes through the synchronous drive of third transmission assembly reel and lead screw carry the probe body through the wiring ware and move and then realize the even book of probe body and put at lead screw length direction, the reel is rotatory a week, the wiring ware synchronous movement is the line footpath distance of a probe body.
Preferably, the video inspection robot further comprises a camera module, the camera module comprises a third camera arranged on the side and the rear of the video inspection robot and a fourth camera arranged in front of the video inspection robot, and the fourth camera is an RGB-D camera. The number of the third cameras is preferably 3, and the third cameras are respectively distributed on the back and two side faces of the video inspection robot; the fourth camera is arranged in front of the video inspection robot and can acquire the depth and posture information of the video inspection robot.
Preferably, the video inspection robot further comprises a wire harness installed at the rear of the video inspection robot, wherein the wire harness comprises a cable for data transmission and a steel wire rope for pulling back the video inspection robot under a fault condition.
Preferably, the shell sequentially comprises an upper shell, a middle shell and a lower shell, an upper cavity for placing the rolling and unrolling mechanism and part of the probe body is formed between the upper shell and the middle shell, a lower cavity for placing part of the traveling mechanism and the control system is formed between the middle shell and the lower shell, and the rotating shaft of the magnetic wheel penetrates through the lower shell and then is installed on the installation support. The upper shell, the middle shell and the lower shell are connected through bolts and are divided into an upper layer and a lower layer, so that underwater video inspection is facilitated, the upper shell and the middle shell form an upper-layer open space for placing a winding and unwinding mechanism, a part of probe bodies and the like; the middle shell and the lower shell form a lower-layer sealed space for placing a travelling mechanism and a control system; the middle shell and the lower shell are statically sealed through a sealing device, and are provided with air valves for inflating to form positive pressure so as to prevent water from permeating into a lower-layer sealing space when the sealing is damaged; the camera module is arranged on the shell, and static sealing is realized by adopting a sealing ring; a double-layer sealing ring is adopted between a rotating shaft of the magnetic wheel and the shell to realize dynamic sealing; the probe body is connected to the lower layer sealing space of the shell through a sealing device below the winding drum; through the arrangement, the lower-layer sealed space is realized, and the stability of underwater video inspection is ensured.
Compared with the prior art, the invention has the advantages that: the video inspection robot suitable for the ninth supporting plate of the steam generator is provided with the flexible arm at the front end, the probe mechanism is internally penetrated through the flexible arm and wound on the winding and unwinding mechanism arranged in the shell, and the video inspection robot can carry the flexible arm and the probe mechanism to reach a pipe to be inspected, enter and exit the pipe under the adjusting action of the flexible arm and carry out video inspection on the blockage condition of a quincunx hole through the walking mechanism and the winding and unwinding mechanism.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a perspective view of a video inspection robot in accordance with a preferred embodiment of the present invention;
FIG. 2 is a perspective view of the internal structure of a video inspection robot from a first perspective in accordance with a preferred embodiment of the present invention;
FIG. 3 is a perspective view of the internal structure of the video inspection robot from a second perspective in accordance with the preferred embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view of a walking mechanism in a video inspection robot in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of the reel-to-reel mechanism in the video inspection robot in accordance with the preferred embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a video inspection robot in accordance with a preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of the probe mechanism in the video inspection robot of the preferred embodiment of the present invention;
FIG. 8 is a schematic cross-sectional view of a flexible arm in a video inspection robot in accordance with a preferred embodiment of the present invention;
FIG. 9 is a perspective view of a first perspective of a gimbal ring in a flexible arm in accordance with a preferred embodiment of the present invention;
FIG. 10 is a perspective view of a gimbal ring in a flexible arm in accordance with a preferred embodiment of the present invention from a second perspective;
FIG. 11 is a front view of a gimbal ring in a flexible arm of a preferred embodiment of the present invention;
fig. 12 is a perspective view of a flexible arm of a preferred embodiment of the present invention.
In the drawings: 1-a travelling mechanism, 11-a magnetic wheel, 111-a permanent magnet, 112-a top cover, 113-a bottom cover, 114-a rim, 115-a scraper, 12-a first transmission component, 13-a mounting bracket, 14-a first motor, 15-a rotating shaft, 2-a probe mechanism, 21-a probe body, 22-a first camera, 23-a second camera, 24-a support frame, 25-a wedge surface, 26-an arc surface, 3-a flexible arm, 31-a universal ring, 311-a first lug, 312-a second lug, 313-a ring body, 314-a clamping point, 315-a clamping interface, 316-a first clamping groove, 317-a second clamping groove, 318-a perforation, 32-a nickel titanium alloy wire, 33-a spring, 34-a corrugated pipe, 35-adjusting rod, 36-limiting groove, 361-sliding inlet, 37-reel, 38-second motor, 4-rolling mechanism, 41-driving roller, 42-second transmission component, 43-driven roller, 44-third motor, 45-fourth motor, 46-third transmission component, 47-reel bracket, 48-reel, 49-wiring device, 410-screw rod, 5-camera module, 51-third camera, 52-fourth camera, 6-shell, 61-upper shell, 62-middle shell, 63-lower shell, 7-wiring harness and 8-control system.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The development difficulty of the quincuncial hole video inspection robot for the ninth supporting plate is firstly that the robot can only reach a position about 0.5m above the ninth supporting plate, how to insert a probe assembly into a pipe to be detected in the narrow space (area inaccessible by personnel) of the existing steam generator and smoothly realize the movement of the probe assembly between pipes; secondly, the video inspection robot works underwater, the crawling wall surface is a conical surface and has a 130-degree folding angle, and how to ensure the stability in the crawling and inspection processes and prevent falling off is achieved.
Referring to fig. 1-12, the video inspection robot for the ninth support plate of the steam generator in the embodiment includes a walking mechanism 1, a probe mechanism 2, a flexible arm 3, a winding and unwinding mechanism 4, a camera module 5, a housing 6, a wire harness 7 and a control system 8, and fig. 1-3 show a perspective view of the video inspection robot for quincuncial holes of the ninth support plate. The walking mechanism 1 is arranged below the shell 6, the flexible arm 3 is arranged in front of the shell through a screw, the probe mechanism 2 penetrates through the flexible arm 3 to be connected with the winding and unwinding mechanism 4 in the shell, the camera module 5 is arranged on the side face of the shell 6, the wiring harness 7 is arranged behind the shell 6, the control system 8 is arranged inside the shell 6, and the video inspection robot completes video inspection work of a quincunx hole under the action of the control system 8. The running mechanism is used for providing power for the video inspection robot to move along the inner wall of the enclosing plate as a moving carrier; the control system is used for receiving instructions to realize the movement and steering of the video inspection robot, the adjustment of the flexible arm and the retraction of the probe mechanism.
Specifically, as shown in fig. 2 to 4, the traveling mechanism 1 is a four-wheel drive structure, and includes a magnetic wheel 11, a first transmission assembly 12, a mounting bracket 13, and a first motor 14. The magnet wheel 11 comprises a permanent magnet 111, a top cover 112, a bottom cover 113, a rim 114 and a scraping blade 115, the magnet wheel 11 is mounted on the mounting bracket 13 through a rotating shaft 15, the magnet wheel 11 is connected with the first transmission assembly 12, and the first transmission assembly 12 and the first motor 14 are mounted on the mounting bracket 13. The first motor 14 realizes the rotation of the magnetic wheel 11 through the first transmission assembly 12, thereby realizing the movement of the video inspection robot. In the embodiment, 4 magnet wheels 11 are preferably selected, the permanent magnets 111 are installed in the bottom cover 113 and are limited by the top cover 112, the rim 114 is installed on the periphery of the top cover 112, the rim 114 is used for increasing the friction coefficient and adjusting the magnetic attraction force, the scraper 115 is installed on the shell 6 and is used for removing metal sludge adsorbed by the magnet wheels 11, and the scraper material 115 is preferably PEEK (polyether ether ketone). The control system comprises a power supply, a communication board card and a motor driving board card, and is used for providing power supply, data communication and driving a motor.
As shown in fig. 7, the probe mechanism includes a probe body 21, a first camera 22, a second camera 23, and a support frame 24. The probe body 21 should have a certain flexibility for facilitating rolling and unrolling of the rear end, and a certain rigidity for facilitating transmission of driving force to move the supporting frame 24 between the tubes, and in this embodiment, a woven mesh structure of tungsten wires is preferred, and a diameter of about 6mm is preferred. The reel-and-reel mechanism 4 is used for storing and taking in the probe body 21.
The first camera 22 and the second camera 23 are mounted on the support frame 24 and are core components for acquiring video inspection information, the shooting direction of the first camera 22 is perpendicular to the extending direction of the probe body 21 and downward, and the shooting direction of the second camera 23 is consistent with the extending direction of the probe body 21. That is, first camera 22 overlooks the video information who is used for acquireing the plum blossom hole jam condition, second camera 23 foresight is used for auxiliary probe subassembly to get into intertube and intertube to move, support frame 24 is used for guaranteeing first camera apart from the distance of ninth backup pad upper surface in order to obtain good field of vision, guarantee spacing when moving between the intertube simultaneously and prevent first camera 22 slope, support frame 24 rear end has wedge face 25, the front end has arcwall face 26, arcwall face 26 contacts ninth backup pad upper surface earlier when support frame 24 falls to one side, and guarantee that second camera 23 direction is forward under the restriction of self structure. The supporting frame 24 is provided with a notch for facilitating the first camera 22 to take a picture. The side of the limiting groove 36 close to the wedge surface 25 is provided with a sliding inlet 361 which is obliquely arranged. The arrangement of the wedge-shaped surface 25 and the sliding entrance 361 facilitates the support frame 24 to slide into the limit groove.
A flexible arm 3 is mounted at the front end of the video inspection robot for adjusting the position of the probe assembly and the angle between the access tubes. The structure diagram of the flexible arm 3 is shown in fig. 8, the flexible arm 3 is a hollow structure, and a hollow hole for the probe body to penetrate through is formed in the hollow structure, and the hollow hole extends along the axial direction of the flexible arm. The flexible arm 3 comprises a universal ring 31, a nickel-titanium alloy wire 32, a spring 33, a corrugated pipe 34, an adjusting rod 35, a limiting groove 36, a reel 37 and a second motor 38, the flexible arm body is formed by buckling a plurality of groups of universal rings 31, the spring 33 is arranged in the flexible arm body to increase the strength of the flexible arm body, the corrugated pipe 34 is wrapped on the periphery of the flexible arm body, 4 through holes are distributed on the periphery of the universal ring 31, the nickel-titanium alloy wire 32 is connected with the universal ring 31 in series through the through holes, one end of the nickel-titanium alloy wire is connected to the adjusting rod 35, the other end, and the reel 37 is driven by the second motor 38 to realize the retraction or the release of the nickel-titanium alloy wire 32, therefore, the adjustment of the adjusting rod 35 can be realized, the adjusting rod 35 is made of engineering plastics such as PBT (polybutylene terephthalate), PET (polyethylene terephthalate) and the like, a limiting groove 36 is formed below the adjusting rod 35, and the forming direction of the limiting groove 36 is the same as the extending direction of the adjusting rod 35. The limiting groove 36 is matched with the wedge-shaped surface 25 and used for limiting the position of the supporting frame 24, the first camera 22 and the second camera 23 are driven synchronously by adjusting the adjusting rod 35, the subsequent entering between pipes is facilitated, and the number of the second motors is preferably 4.
As shown in fig. 9 to 11, the universal rings 31 of the present embodiment can be fastened in sequence, the universal ring 31 includes a ring body 313, two first lugs 311 located above the ring body 313, and two second lugs 312 located below the ring body 313, a connecting line between the two first lugs 311 and a connecting line between the two second lugs 312 are perpendicular to each other, the first lugs 311 have clamping points 314 protruding outward, the second lugs 312 have clamping interfaces 315 matching the clamping points 314, and adjacent universal rings 31 are connected together through the clamping points 314 and the clamping interfaces 315. In this embodiment, the flexible arm 3 includes four nitinol wires 32 as adjusting wires, four through holes 318 are symmetrically formed on each gimbal ring 31, the four through holes 318 are uniformly distributed on the ring body 313, and one through hole 318 is symmetrically formed between each first lug 311 and each second lug 312.
In this embodiment, the universal ring 31 further has a first clamping groove 316 and a second clamping groove 317 corresponding to the first lug 311 and the second lug 312, the first clamping groove 316 is disposed on the outer side of the first lug 311, the second clamping groove 317 is disposed on the inner side of the second lug 312, and the first clamping groove 316 and the second clamping groove 317 are both open-type opening designs, and the opening size is slightly larger than the size of the first lug 311 and the second lug 312, so that when the winding mechanism winds and releases the nitinol wire 32, an angular offset can be formed between the universal rings 31, and further, the angular rotation of the flexible arm 3 is realized.
The structure diagram of the winding and unwinding mechanism 4 is shown in fig. 2 and 5, and is used for sequentially winding and unwinding the probe body 21 in the probe mechanism 2 on the winding drum 48, and includes a driving roller 41, a second transmission assembly 42, a driven roller 43, a third motor 44, a fourth motor 45, a third transmission assembly 46, a winding drum support 47, a winding drum 48, a wiring unit 49, and a screw 410. The driving roller 41 and the driven roller 43 are matched to clamp the probe body 21; the probe body 21 passes through the wiring device 49 and is wound on the winding drum 48, the winding drum 48 is arranged on the shell 6 through the winding drum bracket 47, and the winding drum bracket 47 is connected with the third transmission assembly 46; the third motor 44 drives the driving roller 41 through the second transmission assembly 42 so as to drive the probe body 21 to enter and exit the flexible arm 3; meanwhile, the fourth motor 45 synchronously drives the winding drum 48 and the screw rod 410 through the third transmission assembly 46, and the wiring device 49 carries the probe body 21 to move in the length direction of the screw rod 410 so as to realize uniform winding and unwinding of the probe body 21 on the winding drum 48; the winding drum 48 rotates one circle, and the wiring device 49 synchronously moves one wire diameter distance of the probe body 21, so that the probe body 21 can be uniformly wound on the winding drum 48. Namely, the winding and unwinding mechanism is used for realizing the winding and unwinding of the probe body 21, and simultaneously, the probe body 21 is driven to realize the movement of the probe assembly between the pipes.
As shown in fig. 1, the camera module 5 includes a third camera 51 and a fourth camera 52, and the number of the third cameras 51 is preferably 3, and the third cameras are respectively distributed on the back and two sides of the video inspection robot; the fourth camera 52 is an RGB-D camera, and is disposed in front of the video inspection robot and capable of acquiring depth and posture information of the video inspection robot.
As shown in fig. 1, the housing 6 includes an upper shell 61, a middle shell 62, and a lower shell 63, which are connected by bolts and divided into an upper layer and a lower layer, so as to facilitate underwater video inspection, the upper shell 61 and the middle shell 62 form an upper layer open space for placing a rolling and unrolling mechanism and a part of the probe body, etc.; the middle shell 62 and the lower shell 63 form a lower-layer sealed space for placing a travelling mechanism and a control system; static sealing is realized between the middle shell 62 and the lower shell 63 through a sealing device, and an air valve is arranged for inflating to form positive pressure so as to prevent water from permeating into a lower layer sealing space when sealing is damaged; the camera module 5 is arranged on the shell 6, and static sealing is realized by adopting a sealing ring; a double-layer sealing ring is adopted between a rotating shaft 15 of the magnetic wheel 11 and the shell 6 to realize dynamic sealing; the probe body 21 is connected to the lower sealed space of the housing 6 by a sealing device below the reel 48; therefore, the lower-layer sealed space is realized, and the stability of underwater video inspection is ensured.
The wire harness 7 includes a cable for data transmission and a wire rope for pulling back the video inspection robot, and preferably a 24-core cable having 1 wire rope built in a core. The wiring harness 7 is used for data communication on the one hand and as a pull-back system in emergency conditions to pull the video inspection robot out of the observation hole on the other hand.
As shown in fig. 2-6, the transmission assembly in this embodiment is composed of gears and belts, and other suitable arrangements in the prior art may be used.
The working process of the video inspection robot suitable for the ninth support plate of the steam generator in the embodiment is briefly described as follows:
the first motor 14 drives the magnetic wheel 11 to rotate through the first transmission assembly 12, and controls the motion of the video inspection robot. Meanwhile, the reel 37 is driven by the second motor 38 to realize the retraction or the release of the nickel-titanium alloy wire 32, so that the up-down and left-right adjustment of the adjusting rod 35 can be realized, and the adjustment of the position of the probe mechanism and the angle between the inlet pipes can be realized. The cooperation of initiative gyro wheel 41 and driven roller 43, the probe body 21 is being held, drive probe body 21 business turn over intertube, and fourth motor 45 passes through third transmission assembly 46 drive reel 48 and lead screw 410 and rotates, and then twine probe body 21 in reel 48, and realize that wiring ware 49 carries probe body 21 and moves along lead screw 410 length direction, reel 48 is rotatory a week, the line footpath distance of a probe body 21 of wiring ware 49 synchronous movement, make the winding that probe body 21 can be even on reel 48 or even emit, realize video inspection through the removal of probe body 21 between the intertube.
The video inspection robot suitable for the ninth supporting plate of the steam generator is provided with the flexible arm at the front end, the flexible arm penetrates through the probe mechanism and is wound on the built-in winding and unwinding mechanism of the video inspection robot, the video inspection robot can move along the inner wall of the enclosing plate through the traveling mechanism and carries the flexible arm and the probe mechanism to reach a to-be-inspected pipe room, under the action of a control system and the assistance of the visual field of the probe mechanism, the probe assembly is enabled to face the to-be-inspected pipe room through adjusting the position of the flexible arm, the movement of the probe assembly between the pipes is realized under the driving of the winding and unwinding mechanism, the video inspection under the condition of quincunx hole blockage is completed, the equipment stability is high, the inspection effect meets the actual requirement, and the video inspection robot has a.
The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the invention, and not to limit the scope of the invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (7)
1. The video inspection robot is suitable for a ninth supporting plate of a steam generator and is characterized by comprising a shell, a walking mechanism, a flexible arm, a probe mechanism, a winding and unwinding mechanism and a control system, wherein the walking mechanism is arranged on the shell; the probe mechanism comprises a probe body connected into the shell, one end of the probe body is connected onto the winding and unwinding mechanism, the other end of the probe body is provided with a probe assembly for shooting, the flexible arm is provided with a hollow hole for the probe body to penetrate through, and the hollow hole extends along the axial direction of the flexible arm; the winding and unwinding mechanism is used for winding and unwinding the probe body;
the probe assembly comprises a support frame, a first camera and a second camera, the first camera and the second camera are mounted on the support frame, the shooting direction of the first camera is perpendicular to the extending direction of the probe body and faces downwards, and the shooting direction of the second camera is consistent with the extending direction of the probe body; the supporting frame is provided with a notch for facilitating the first camera to take a picture;
the flexible arm comprises a flexible body and an adjusting rod arranged at one end of the flexible body far away from the shell, the flexible body is formed by sequentially connecting a plurality of universal rings, and the adjusting rod is provided with a limiting groove matched with the supporting frame;
the support frame is including being close to adjust the wedge-shaped face of pole and keeping away from adjust the arcwall face of pole, the spacing groove is close to the wedge-shaped face has the slip entry that the slope set up.
2. The video inspection robot suitable for the ninth support plate of the steam generator in accordance with claim 1, wherein the walking mechanism comprises a mounting bracket, a rolling wheel, a first transmission component for driving the rolling wheel to rotate, and a first motor for driving the first transmission component to rotate; the rolling wheel is arranged on the mounting bracket through a rotating shaft; the rolling wheel is a magnetic wheel and comprises a bottom cover, a top cover, a rim and permanent magnets arranged in a space formed among the bottom cover, the top cover and the rim.
3. The video inspection robot suitable for the ninth support plate of the steam generator as claimed in claim 1, wherein the reel-up mechanism comprises a screw rod disposed in the housing, a wiring unit mounted on the screw rod, a reel bracket, a reel mounted on the reel bracket, a third transmission assembly for driving the screw rod and the reel to rotate, and a fourth motor for driving the third transmission assembly to operate; the probe body passes through the wiring device and is wound on the winding drum.
4. The video inspection robot suitable for the ninth support plate of the steam generator as claimed in claim 3, wherein the reel-up mechanism further comprises a driving roller and a driven roller for cooperatively clamping the probe body, a second transmission assembly for driving the driving roller and the driven roller to rotate, and a third motor for driving the second transmission assembly to operate.
5. The vision inspection robot adapted for use with the ninth support plate of steam generator of claim 1, further comprising a camera module, said camera module comprising a third camera disposed at the side and rear of said vision inspection robot and a fourth camera disposed at the front of said vision inspection robot, said fourth camera being an RGB-D camera.
6. The video inspection robot adapted for use with the ninth support plate of steam generator of claim 1, further comprising a wire harness mounted at the rear of said video inspection robot, said wire harness comprising a cable for data transmission and a wire rope for pulling said video inspection robot back.
7. The video inspection robot suitable for the ninth supporting plate of the steam generator according to any one of claims 1 to 6, wherein the housing comprises an upper shell, a middle shell and a lower shell in sequence, an upper cavity for placing the reel-and-reel mechanism and the probe mechanism is formed between the upper shell and the middle shell, and a lower cavity for placing part of the walking mechanism and the control system is formed between the middle shell and the lower shell.
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| CN206605509U (en) * | 2017-03-14 | 2017-11-03 | 深圳广田机器人有限公司 | Intelligence finishing robot platform |
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| US10196158B2 (en) * | 2016-04-29 | 2019-02-05 | The Boeing Company | Portable programmable machine |
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| CN2586565Y (en) * | 2002-11-12 | 2003-11-19 | 上海大学 | Retractable flexible arm equipment |
| CN104883991A (en) * | 2012-09-19 | 2015-09-02 | 南洋理工大学 | Flexible master - slave robotic endoscopy system |
| WO2016058079A1 (en) * | 2014-10-17 | 2016-04-21 | Synaptive Medical (Barbados) Inc. | Navigation carts for a medical procedure |
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