CN110689977B - Video inspection equipment and method suitable for steam generator tube plate - Google Patents
Video inspection equipment and method suitable for steam generator tube plate Download PDFInfo
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- CN110689977B CN110689977B CN201910858820.7A CN201910858820A CN110689977B CN 110689977 B CN110689977 B CN 110689977B CN 201910858820 A CN201910858820 A CN 201910858820A CN 110689977 B CN110689977 B CN 110689977B
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- endoscope
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses video inspection equipment suitable for a steam generator tube plate, which comprises a wall climbing inspection robot, a control device, a cable connected between the control device and the wall climbing inspection robot, an endoscope for inspection and a cooperative driving device for winding and unwinding the cable and the endoscope; the wall climbing inspection robot comprises a shell, a moving mechanism for driving the wall climbing inspection robot to move, a probe driving device arranged in the shell, an elbow for the endoscope to penetrate through, and an elbow adjusting device for adjusting the elbow, wherein the probe driving device is used for retracting and releasing the endoscope; the cooperative driving device comprises a clamping roller for clamping and driving the cable and the endoscope, a driving unit for driving the clamping roller, and a mounting plate for fixing the cooperative driving device on a hand hole of the steam generator.
Description
Technical Field
The invention belongs to the technical field of video inspection of pressure vessels of nuclear power plants, and particularly relates to a video inspection device for tube plates of a steam generator during shutdown maintenance of a nuclear power plant and an inspection method adopting the video inspection device.
Background
According to the operation feedback of domestic and foreign pressurized water reactor nuclear power stations, the video inspection of the steam generator is routine work during shutdown and maintenance at each time, and the video inspection of the steam generator mainly aims to verify the high-pressure cleaning effect of the steam generator and whether foreign matters exist on the upper surface of a tube plate. To perform video inspection of the tube sheet area, an endoscopic circular probe or flat video inspection tape is typically used to enter the tube from the hand hole and enter the tube space under guidance of a guidance tool or a robotic carrier to perform video data acquisition.
The tube sheet video inspection area generally includes an outer ring lane (outer ring lane and adjacent at least 3 rows of tube bays), tube bays (3 rows 1) and a central tube lane. At present, a video inspection robot is generally adopted abroad to carry an outer ring corridor inspection head or a flexible video inspection belt to respectively carry out outer ring corridor inspection or inter-pipe inspection, so that the labor intensity and the irradiation dose of operators can be reduced to a greater extent; the guide tool is adopted to manually guide the endoscope probe to move along the outer ring corridor or the designated tube room in early domestic to acquire the sludge image of the area, later, domestic companies introduce automatic video inspection equipment from abroad, and domestic research institutes also specially develop the automatic video inspection equipment of the area, and due to low efficiency and instability in the application process, the guide tool is still adopted to cooperate with the endoscope probe to complete the video inspection of the tube plate; according to the domestic application of the foreign automatic video inspection equipment and the manual video inspection method, the defects comprise the following points:
one or both of them require replacement of the video inspection camera or the endoscope probe, and the replacement operation requires removal of the robot or the guidance tool from the steam generator, reducing the work efficiency.
Two, the flexible video inspection area that automatic video inspection equipment in foreign countries carried is the platykurtic, and the entrance that gets into between the pipe has great resistance usually, and video inspection area is damaged and expensive easily on the one hand, and the great resistance of on the other hand counteracts and is climbed wall inspection robot, and under the extreme condition, can lead to climbing wall inspection robot to drop from the inner wall, falls the tube sheet outer ring corridor, in case fall, need spend longer time and use specialized tool to resume.
And the flexible video inspection belt is driven by the foreign automatic video inspection equipment to enter and exit the pipe room, the inspection efficiency is greatly reduced relative to the manual video inspection, the flexible belt is driven by the following device of the cable at the tail part of the robot installed in the hand hole asynchronously, the flexible belt is easy to curl, and inconvenience is brought to the follow-up entering and exiting of the pipe room.
Fourth, domestic manual video inspection equipment intensity of labour is big, and the radiation dose is high, and manual direction instrument operation is more difficult, and under the individual condition, the probe angle of regulation is limited, and the video inspection blind area is big.
Disclosure of Invention
In view of the above, it is an object of the present invention to provide an automatic video inspection apparatus for steam generator tube sheets that overcomes the drawbacks of the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a video inspection apparatus suitable for a steam generator tube sheet, the video inspection apparatus comprising a wall climbing inspection robot, a control device, a cable connected between the control device and the wall climbing inspection robot, an endoscope for inspection and a co-operating drive for retracting the cable and the endoscope; the wall climbing inspection robot comprises a shell, a moving mechanism for driving the wall climbing inspection robot to move, a probe driving device arranged in the shell, an elbow for the endoscope to penetrate through, and an elbow adjusting device for adjusting the elbow, wherein the probe driving device is used for retracting and releasing the endoscope; the cooperative driving device comprises a clamping roller for clamping and driving the cable and the endoscope, a driving unit for driving the clamping roller, and a mounting plate for fixing the cooperative driving device on a hand hole of the steam generator.
The wall climbing inspection robot carries an endoscope and a cable to be adsorbed on the inner wall of the steam generator and completes required movement under the action of the control device through the cable, and the wall climbing inspection robot is installed on one hand hole of the steam generator in cooperation with the driving device and drives the endoscope probe or the cable penetrating through the driving device to realize follow-up control so as to complete required automatic video inspection work of the tube plate. An endoscopic probe for performing intertubular video examinations simultaneously with the video examinations of adjacent 3 rows of tubes at the time of the outer corridor examination, preferably using a virin XLG3 endoscope or other similar product, the probe being about 6mm in diameter. The cable multi-core integrated flexible wear-resistant built-in traction steel wire rope is used for being taken out by the inspection robot under abnormal conditions.
Preferably, probe drive arrangement is including being used for the drive the hold-in range that the endoscope removed, drive hold-in range pivoted synchronous pulley group and drive synchronous pulley group carries out pivoted actuating mechanism, the hold-in range is two, every the hold-in range correspondence is provided with a set of synchronous pulley group, two form the confession between the hold-in range the passageway that the endoscope removed.
More preferably, the driving mechanism comprises a first motor, a driving bevel gear at the output end of the first motor, a driven bevel gear matched with the driving bevel gear, and a driving gear coaxially arranged with the driven bevel gear, wherein the plane of the driving bevel gear is vertical to the plane of the driven bevel gear; the first motor is connected with the cable.
Further preferably, the synchronizing wheel group comprises an auxiliary synchronizing wheel, and a main synchronizing wheel and a secondary synchronizing wheel which are respectively arranged at two ends of the auxiliary synchronizing wheel, the main synchronizing wheel and the driving gear are matched with each other to rotate, and the probe driving device further comprises a synchronous belt pressing mechanism for pushing the auxiliary synchronizing wheel to move. Two hold-in range centre gripping endoscopes and accessible hold-in range hold-in mechanism adjust the distance between two hold-in ranges, and then adjust the frictional force of hold-in range and endoscope for the hold-in range drives the endoscope and removes.
Preferably, the moving mechanism comprises a magnetic wheel and a magnetic wheel driving mechanism which are arranged on the shell, two magnetic wheels are arranged on the shell, and the two magnetic wheels are located at different corner edge positions on one side of the shell, which is close to the inner wall.
Preferably, the elbow is installed through the pivot on the casing, elbow adjusting device is including setting up the anterior first steering wheel of casing and connection first steering wheel with link mechanism between the elbow, first steering wheel is used for adjusting the elbow along the pivot through link mechanism.
Preferably, wall climbing inspection robot is still including setting up the anterior forward looking camera of casing, setting are in the elastic support wheel of casing lower part and looking down the camera, be used for providing the attitude sensor of the real-time gesture of wall climbing inspection robot, it is used for observing to look down the camera the support condition of elastic support wheel and supplementary wall climbing inspection robot remove.
Specifically, in some embodiments, the wall climbing inspection robot includes dual magnetic wheels, a magnetic wheel drive mechanism, resilient support wheels, a probe drive, an elbow adjustment device, a forward and downward looking camera, an attitude sensor, and a housing. The double magnetic wheels are arranged on one side of the shell close to the inner wall, are distributed in a cross mode on the opposite side, and move and turn through respective magnetic wheel driving mechanisms. The elastic support wheel is internally provided with a spring, and when the wall climbing inspection robot moves, the elastic support wheel is supported on the tube plate, so that the stability of the inspection robot moving along the inner wall is ensured. The probe driving device is arranged in the shell and used for driving the endoscope probe to enter and exit the tube. The elbow is used for providing a guide limiting channel of the endoscope, and the endoscope probe is adjusted through the elbow adjusting device so that the front end of the probe is aligned with the to-be-detected pipe. The front-view camera and the overlook camera are arranged at specific positions of the shell and are used for assisting the movement of the wall climbing inspection robot and providing corresponding inspection data. The attitude sensor is used for providing real-time attitude of the wall climbing inspection robot. The front-view camera and the overlook camera are both provided with LED light sources, the front-view camera is used for finishing outer corridor inspection and assisting in observing the driving condition of the probe head of the endoscope entering and exiting the elbow, and the overlook camera is mainly used for observing the supporting state of the supporting wheel and assisting in the movement of the wall climbing inspection robot.
Preferably, the clamping roller comprises a cable clamping roller for clamping the cable and a probe clamping roller for clamping the endoscope, and the driving unit comprises a second steering engine for driving the cable clamping roller and a third steering engine for driving the probe clamping roller.
Preferably, the cooperative driving device further comprises a connecting device for assembling the clamping roller, a follow-up plate for guiding the cable and the endoscope to move, and an external cable rack positioned on one side of the mounting plate far away from the follow-up plate. The mounting plate is a flange matched with a hand hole of the steam generator.
Specifically, in some embodiments, the cooperative driving device comprises a plurality of groups of clamping rollers, a second steering engine and a third steering engine for driving part of the clamping rollers, a connecting device, a follower plate, a monitoring camera, a flange and an external cable frame, the cooperative driving device is arranged in a hand hole of the steam generator through the flange, the connecting device is arranged among the plurality of groups of rollers and is convenient for passing through the endoscope and the cable, the second steering engine drives the cable through the cable clamping roller, the third steering engine drives the endoscope through the probe clamping roller, the plurality of groups of clamping rollers are arranged in the hand hole, the follower plate is arranged at the front end of the cooperative driving device to facilitate the steering of the endoscope and the wire harness, the follow-up condition is observed under the assistance of the monitoring camera, the external cable frame is arranged outside the flange and is used for guiding and combing the cable outside, the monitoring camera is provided with an LED light source and is connected to the flange through a bracket, and the axial position and steering can be adjusted to find a suitable monitoring view; preferably, two sets of mechanisms for feeding the endoscope and the cable are provided in the co-operating drive means.
The invention also provides an inspection method of the video inspection equipment suitable for the tube plate of the steam generator, which comprises the following steps:
s1: the endoscope is arranged in the wall climbing inspection robot, and the front end of a probe of the endoscope is arranged at an outlet of the elbow;
s2: putting the wall climbing inspection robot into the steam generator through the hand hole and adsorbing the wall climbing inspection robot on the inner wall;
s3: passing the endoscope and the cable through the cooperating driving device and mounting the cooperating driving device on a hand hole of the steam generator;
s4: operating the wall climbing inspection robot to enable the wall climbing inspection robot to be located at a proper inspection position, and controlling the elastic supporting wheels to be in close contact with the upper surface of the tube plate;
s5: controlling the wall climbing inspection robot to move to the hand hole on the opposite side along the inner wall, synchronously starting the cooperative driving device, and recording images through a front-looking camera on the wall climbing inspection robot and a probe of the endoscope to finish the video inspection of the outer ring corridor;
s6: the wall climbing inspection robot is operated to move to a first pipe room to be inspected, the elbow position is adjusted through the elbow adjusting device, whether the position requirement is met or not is determined through the probe of the endoscope, if the position requirement is met, the probe is sent into the pipe room to be inspected through the probe driving device of the wall climbing inspection robot, video inspection of the pipe room is completed through the probe of the endoscope, and then the probe of the endoscope is recovered to an outlet of the elbow through the probe driving device;
s7: the operation inspection robot moves to the next pipe room to be inspected, the position of the elbow is adjusted, whether the pipe room is aimed at is determined through the endoscope probe, if the position meets the requirement, the probe is sent into the pipe room through the probe driving device, the video inspection of the pipe room is completed through the probe, and the video inspection of the pipe room to be inspected is recovered to the outlet of the elbow, namely the step S6 is repeated, and the video inspection of all the pipe rooms to be inspected is completed;
s8: all the devices that have access to the interior of the steam generator are removed.
Compared with the prior art, the invention has the advantages that: the video inspection equipment suitable for the tube plate of the steam generator has the advantages of high automation degree, high inspection efficiency and high stability, can meet the requirements of automatic video inspection before and after tube plate washing and simultaneous installation of two sets of video inspection equipment under the existing steam generator structure, is convenient to install, has low failure rate, is not easy to overturn in a crawling process, simultaneously has the functions of outer corridor inspection and inter-tube inspection, and does not need to replace a front end inspection tool during working.
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 schematic diagram of the operation of a video inspection apparatus suitable for use with a steam generator tube sheet in a preferred embodiment of the invention;
FIG. 2 is a diagram of a steam generator tube sheet automated video inspection area;
FIG. 3 is a perspective view of a wall climbing inspection robot from a first perspective in accordance with a preferred embodiment of the present invention;
FIG. 4 is a perspective view of a wall climbing inspection robot from a second perspective in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic side view of a wall climbing inspection robot in accordance with a preferred embodiment of the present invention;
fig. 6 is a perspective view of a first view of a probe driving apparatus in the wall climbing inspection robot in accordance with the preferred embodiment of the present invention;
fig. 7 is a perspective view of a second perspective view of a probe driving apparatus in the wall climbing inspection robot in accordance with the preferred embodiment of the present invention;
FIG. 8 is a first perspective view of a first motor and gear drive mechanism of the probe drive apparatus in accordance with the preferred embodiment of the present invention;
FIG. 9 is a perspective view of the cooperative drive arrangement of the present invention;
fig. 10 is a perspective view of the cooperative drive apparatus of the preferred embodiment of the present invention after concealing a portion of the components.
In the drawings: 1. a wall climbing inspection robot; 11. a magnetic wheel; 12. a magnetic wheel drive mechanism; 13. an elastic support wheel; 14. a probe driving device; 141. a synchronous wheel set; 1411. a main synchronizing wheel; 1412. a secondary synchronizing wheel; 1413. auxiliary synchronizing wheels; 142. a first motor; 143. a synchronous belt; 144. a gear transmission mechanism; 1441. a drive bevel gear; 1442. a driven bevel gear; 1443. a drive gear; 145. a synchronous belt pressing mechanism; 15. a forward looking camera; 16. an elbow adjusting device; 161. a first steering engine; 162. a link mechanism; 163. a rotating shaft; 164. bending the pipe; 17. looking down the camera; 18. an attitude sensor; 19. a housing; 110. a spring; 2. a cooperative drive device; 21. a flange; 22. an external cable rack; 23. a cable clamping roller; 24. the probe clamps the roller; 25. a second steering engine; 26. a third steering engine; 27. adjusting a rod; 28. a surveillance camera; 29. a follower plate; 210. a connecting device; 2101. mounting the plate quickly; 2102. quickly installing a rod; 3. a tube sheet; 31. an outer corridor inspection area; 32. an intertubular inspection region; 33. a central pipe gallery inspection area; 4. an endoscope; 5. a cable; 6. an inner wall; 7. hand hole; 8. a heat transfer tube; 9. and a control device.
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.
Example 1 video inspection robot adapted for steam generator tube sheet
As shown in fig. 1 to 10, the automatic video inspection apparatus for a steam generator tube sheet of the present embodiment includes a wall climbing inspection robot 1, an endoscope 4, a cable 5, a cooperative driving device 2, and a control device 9. The wall climbing inspection robot 1 carries the endoscope 4 and the cable 5 to be led into the steam generator through the hand hole 7, is adsorbed on the inner wall 6 of the steam generator and completes required movement through the cable 5 under the action of the control device 9, is installed on the hand hole 7 of the steam generator in cooperation with the driving device 2, drives the endoscope 4 or the cable 5 penetrating through the device in the device to realize follow-up control, and completes required automatic video inspection work of the tube plate 3.
As shown in fig. 3 to 8, the wall climbing inspection robot 1 includes two magnetic wheels 11, two magnetic wheel driving mechanisms 12, elastic supporting wheels 13, a probe driving device 14, a front view camera 15, an elbow adjusting device 16, a top view camera 17, an attitude sensor 18, a housing 19 and a spring 110, wherein the magnetic wheels 11 are installed at the bottom of the housing 19, are distributed in a cross manner on opposite sides, and move and turn through the respective magnetic wheel driving mechanisms 12, the magnetic wheels 11 and the magnetic wheel driving mechanisms 12 are directly connected through a coupling, and the spring 110 is installed in the elastic supporting wheels 13.
When climbing wall inspection robot motion, elastic support wheel 13 props up on tube sheet 3, guarantees to climb the stability when wall inspection robot 1 moves along inner wall 6, and elastic support wheel 13 is the universal wheel. The probe driving device 14 is arranged at the opposite side of the elastic supporting wheel 13 in the shell 19 and is used for driving the endoscope 4 to enter and exit the space between the heat transfer tubes 8, the elbow 164 is used for providing a guide limiting channel of the endoscope 4 and adjusting the endoscope 4 through the elbow adjusting device 16 so that the front end of the probe is just positioned between the tubes to be inspected, the front-looking camera 15 is arranged at the front side in the shell 19, namely the position at the side of the elbow adjusting device 16, and the front-looking camera 15 is used for completing the inspection of an outer ring corridor and assisting in observing the driving condition of the endoscope probe entering and exiting the elbow; the downward-looking camera 17 and the attitude sensor 18 are installed in the housing 19 at positions on the elastic support wheel 13 side, the downward-looking camera 17 is mainly used to observe the support state of the support wheels and assist the movement of the wall-climbing inspection robot 1, and the attitude sensor 18 is used to provide the real-time attitude of the wall-climbing inspection robot 1.
As shown in fig. 3 to 7, the probe driving device 14 includes a driving mechanism, two synchronous belts 143, two sets of synchronous wheel sets 141, a gear transmission mechanism 144, and a synchronous belt pressing mechanism 145, the two synchronous belts 143 are installed and fixed by the two sets of synchronous wheel sets 141, the two synchronous belts 143 clamp the endoscope 4, and the distance between the two synchronous belts 143 can be adjusted by the synchronous belt pressing mechanism 145, so as to adjust the friction force between the synchronous belts 143 and the endoscope 4, and the driving mechanism drives the synchronous wheel sets 141 to move the endoscope 4.
In this embodiment, as shown in fig. 8, the driving mechanism includes a first motor 142, a drive bevel gear 1441 at an output end of the first motor 142, a driven bevel gear 1442 engaged with the drive bevel gear 1441, and a driving gear 1443 coaxially disposed with the driven bevel gear 1442, and the first motor 142 is connected to a cable 5. The plane on which the drive bevel gear 1441 is located is perpendicular to the plane on which the driven bevel gear 1442 is located.
As shown in fig. 6-7, the synchronizing wheel set 141 includes an auxiliary synchronizing wheel 1413, and a main synchronizing wheel 1411 and a sub-synchronizing wheel 1412 respectively disposed at two ends of the auxiliary synchronizing wheel 1413, wherein the main synchronizing wheel 1411 and the driving gear 1443 are rotated in cooperation with each other.
As shown in fig. 3 to 5, the elbow adjusting device 16 includes a first steering engine 161, a link mechanism 162, a rotating shaft 163 and an elbow 164, the elbow 164 is ball-jointed to the front end of the housing 19 through the rotating shaft 163, the first steering engine 161 is fixed to the front end of the housing 19 and provided with a metal protective shell, and the first steering engine 161 adjusts the elbow 164 to swing left and right along the vertical ball-jointed shaft through the rotating link mechanism 162.
As shown in fig. 9-10, the cooperative driving device 2 includes a flange 21, an external cable frame 22, a cable clamping roller 23, a probe clamping roller 24, a second steering engine 25, a third steering engine 26, an adjusting rod 27, a monitoring camera 28, a follower plate 29, and a connecting device 210, the cooperative driving device 2 is installed in the hand hole 7 through the flange 21, a plurality of sets of probe clamping rollers 24 and cable clamping rollers 23 are provided for driving the endoscope 4 and the cable 5 respectively, the connecting device 210 is also provided, the connecting device 210 includes a quick mounting plate 2101 and a quick mounting rod 2102 for facilitating the installation and removal of the endoscope 4 and the cable 5, the second steering engine 25 drives the cable 5 through the cable clamping roller 23, the third steering engine 26 drives the endoscope 4 through the probe clamping roller 24, the plurality of sets of clamping rollers are installed in the hand hole 7, and the follower plate 29 is provided at the front end for facilitating the steering of the endoscope 4 and the cable 5 to the outer, the friction with the corner of the inner wall 6 is avoided, the follow-up condition is observed under the assistance of the monitoring camera 28, the monitoring camera 28 is provided with an LED light source and is arranged on the adjusting rod 27, the wire harness extends to the outside of the hand hole 7 through the inside of the adjusting rod 27, and the adjusting rod 27 penetrates through the flange 21 and can adjust the axial position and the steering of the penetrating flange 21 to find the optimal monitoring visual field for fixing; an external cable mount 22 is mounted on the outside of the flange 21 for external guiding and grooming of the endoscope 4 and cable 5.
As shown in fig. 2, the automatic video inspection of the steam generator tube plate 3 is divided into pre-cleaning inspection and post-cleaning inspection, the inspection areas are divided into an outer ring gallery inspection area 31, an inter-tube inspection area 32 and a central tube gallery inspection area 33, and the central tube gallery inspection area 33 is not in the working range of the wall climbing inspection robot 1; the front-view camera 15 and the overlook camera 17 are both provided with LED light sources; in the examination of the outer corridor area 31, the endoscope 4 is used for examining the adjacent 3-row interchannel area, and the forward-looking camera 15 is used for examining the outer corridor area; in the case of the intertubular examination region 32, the endoscopic probe is used for alignment and intratubular examination, and the forward-looking camera 15 is used to monitor the progress of the endoscopic probe into and out of the intertubular region.
In order to improve the inspection efficiency and the apparatus stability, it is preferable to install one wall-climbing inspection robot 1 on each of the left and right sides of the hand hole 7, and to provide two sets of mechanisms for conveying the endoscope and the cable on the cooperative driving device 2. Endoscope 4 preferably uses a virin XLG3 endoscope or other similar product, with a probe diameter of about 6 mm; the preferred type of cable 5 is multicore integrated, flexible and wear resistant, and built-in pulling wire rope, is used for inspection robot extraction in abnormal conditions.
Compared with the prior art, the video inspection equipment suitable for the tube plate of the steam generator in the embodiment has the following advantages:
the method comprises the steps of firstly, function integration design, wherein the outer ring gallery inspection and the inter-tube inspection functions required by automatic video inspection of a nuclear power station steam generator tube plate are integrated in an automatic inspection device, an inspection camera does not need to be replaced during the inspection of the outer ring gallery and the inter-tube inspection, the probe of an endoscope is used for inspecting the adjacent 3 rows of inter-tube areas during the inspection of the outer ring gallery, and a front-view camera is used for inspecting the outer ring gallery area; during the examination between the tubes, the endoscope probe is used for aligning the examination between the tubes and the examination between the tubes, and the front-looking camera is used for monitoring the condition that the endoscope probe enters and exits the tubes.
And secondly, the stability of the automatic checking device is higher. According to the invention, the endoscope round probe which is verified on site for multiple rounds is adopted to replace a flexible video inspection belt to finish the acquisition of inspection data between pipes, the resistance of the round probe in and out of the pipes is small, the reaction force born by the wall climbing inspection robot is smaller, and the falling risk is smaller; simultaneously, the elastic supporting wheel is additionally arranged at the bottom of the wall climbing inspection robot, so that the wall climbing inspection robot can be better prevented from turning over in the moving process.
Thirdly, a cooperative driving device is arranged, the follow-up can be carried out according to the moving distance of the probe or the front end of the cable, and the twisting of the cable is prevented from increasing the moving resistance of the wall climbing inspection robot; simultaneously, the circular probe and the thinner and softer cable are adopted, so that the cooperative driving device arranged in the hand hole can simultaneously drive the endoscope and the cable of two sets of wall climbing inspection robots, the video inspection on the two sides of the hand hole is simultaneously carried out, and the inspection efficiency is greatly improved.
Example 2 method of inspection using the inspection apparatus of example 1
The embodiment provides a method for checking by using the checking device in the embodiment 1, which comprises the following steps:
s1: the endoscope 4 is placed inside the wall climbing robot 1 and the probe of the endoscope 4 is passed through the elbow with the front end of the probe placed at the exit of the elbow 164.
S2: the wall climbing inspection robot 1 is introduced into the steam generator through a hand hole 7 and is attached to the inner wall 6, and in order to improve the inspection efficiency, it is preferable to install a set of wall climbing inspection robot 1 on each side of the hand hole 7, as shown in fig. 1.
S3: the endoscope 4 and the cable 5 are passed through the connection device 210 to be restrained to the cooperative driving device 2 and mounted on the flange 7.
S4: the wall climbing inspection robot 1 is operated to be in an appropriate inspection position and posture, and the elastic support wheels 13 are ensured to be in close contact with the upper surface of the tube sheet 3.
S5: the wall climbing inspection robot 1 is moved along the inner wall 6 to the opposite hand hole of the steam generator and the co-operating drive 2 is synchronously activated to complete the video inspection of the outer corridor by recording images by the forward looking camera 15 and the endoscope 4.
S6: the wall climbing inspection robot 1 is operated to move to the first pipe room to be inspected, the position of the elbow 164 is adjusted, whether the pipe room is right or not is determined through the endoscope 4, if the position meets the requirement, the endoscope 4 is sent into the pipe room through the probe driving device 14, the video inspection of the pipe room is completed through the endoscope 4, and the video inspection is recovered to the outlet of the elbow 164.
S7: and operating the wall climbing inspection robot 1 to move to the next pipe room to be inspected, adjusting the position of the elbow 164 and determining whether the pipe room is just opposite to the endoscope 4, if the position meets the requirement, sending the endoscope 4 into the pipe room through the probe driving device 14, finishing the video inspection of the pipe room through the endoscope 4 and recovering the video inspection of the pipe room to be inspected to the outlet of the elbow 164, namely repeating the step S6 to finish the video inspection of all the pipe rooms to be inspected.
S8: all equipment that has access to the interior of the steam generator is removed.
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 (10)
1. A video inspection apparatus suitable for a steam generator tube sheet, the video inspection apparatus comprising a wall climbing inspection robot, a control device, a cable connected between the control device and the wall climbing inspection robot, an endoscope for inspection and a co-operating drive for retracting the cable and the endoscope; the wall climbing inspection robot comprises a shell, a moving mechanism for driving the wall climbing inspection robot to move, a probe driving device arranged in the shell, an elbow for the endoscope to penetrate through, and an elbow adjusting device for adjusting the elbow, wherein the probe driving device is used for retracting and releasing the endoscope; the cooperative driving device comprises a clamping roller for clamping and driving the cable and the endoscope, a driving unit for driving the clamping roller, and a mounting plate for fixing the cooperative driving device on a hand hole of the steam generator.
2. The video inspection device for the tube plate of the steam generator according to claim 1, wherein the probe driving device comprises two synchronous belts for driving the endoscope to move, two synchronous wheels for driving the synchronous belts to rotate, and a driving mechanism for driving the synchronous wheels to rotate, each synchronous belt is correspondingly provided with one synchronous wheel set, and a channel for the endoscope to move is formed between the two synchronous belts.
3. The video inspection device suitable for the tube plate of the steam generator according to claim 2, wherein the driving mechanism comprises a first motor, a driving bevel gear at the output end of the first motor, a driven bevel gear matched with the driving bevel gear, and a driving gear coaxially arranged with the driven bevel gear, and the plane of the driving bevel gear is vertical to the plane of the driven bevel gear; the first motor is connected with the cable.
4. The video inspection device for the tube plate of the steam generator as claimed in claim 3, wherein the synchronizing wheel set comprises a secondary synchronizing wheel and a primary synchronizing wheel and a secondary synchronizing wheel respectively located at two ends of the secondary synchronizing wheel, the primary synchronizing wheel and the driving gear are mutually matched to rotate, and the probe driving device further comprises a synchronous belt pressing mechanism for pushing the secondary synchronizing wheel to move.
5. The apparatus of claim 1, wherein the moving mechanism comprises a magnetic wheel disposed on the housing and a magnetic wheel driving mechanism, the housing having two magnetic wheels disposed thereon at different corner edge positions on a side of the housing adjacent to the inner wall.
6. The video inspection device suitable for the tube plate of the steam generator of claim 1, wherein the elbow is mounted on the housing through a rotating shaft, the elbow adjustment device comprises a first steering engine arranged at the front part of the housing and a link mechanism connected between the first steering engine and the elbow, and the first steering engine is used for adjusting the elbow along the rotating shaft through the link mechanism.
7. The video inspection apparatus for a tube sheet of a steam generator according to claim 1, wherein the wall climbing inspection robot further comprises a front view camera disposed at the front of the housing, an elastic support wheel disposed at the lower part of the housing, an overhead view camera for observing the support state of the elastic support wheel, and a posture sensor for providing a real-time posture of the wall climbing inspection robot.
8. The video inspection device suitable for the tube plate of the steam generator according to claim 1, wherein the clamping rollers comprise a cable clamping roller for clamping the cable and a probe clamping roller for clamping the endoscope, and the driving unit comprises a second steering engine for driving the cable clamping roller and a third steering engine for driving the probe clamping roller.
9. A video inspection apparatus for a steam generator tube sheet as claimed in claim 1 wherein the cooperating drive means further comprises a connection means for assembling a clamping roller, a follower plate for guiding the cable and endoscope movement and an externally mounted cable mount on the mounting plate remote from the follower plate.
10. The method of claim 1, comprising the steps of:
s1: the endoscope is arranged in the wall climbing inspection robot, and the probe of the endoscope passes through the elbow so that the front end of the probe is arranged at the outlet of the elbow;
s2: putting the wall climbing inspection robot into the steam generator through the hand hole and adsorbing the wall climbing inspection robot on the inner wall;
s3: passing the endoscope and the cable through the cooperating driving device and mounting the cooperating driving device on a hand hole of the steam generator;
s4: operating the wall climbing inspection robot to enable the wall climbing inspection robot to be located at a proper inspection position, and controlling an elastic supporting wheel to be in close contact with the upper surface of the tube plate, wherein the elastic supporting wheel is arranged at the lower part of the shell;
s5: controlling the wall climbing inspection robot to move to the hand hole on the opposite side along the inner wall, synchronously starting the cooperative driving device, and recording images through a front-looking camera on the wall climbing inspection robot and a probe of the endoscope to finish the video inspection of the outer ring corridor;
s6: the wall climbing inspection robot is operated to move to a first pipe room to be inspected, the elbow position is adjusted through the elbow adjusting device, whether the position requirement is met or not is determined through the probe of the endoscope, if the position requirement is met, the probe is sent into the pipe room to be inspected through the probe driving device of the wall climbing inspection robot, video inspection of the pipe room is completed through the probe of the endoscope, and then the probe of the endoscope is recovered to an outlet of the elbow through the probe driving device;
s7: the operation inspection robot moves to the next pipe to be inspected, and the step S6 is repeated to complete the video inspection among all the pipes to be inspected;
s8: all the devices that have access to the interior of the steam generator are removed.
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| CN201910858820.7A CN110689977B (en) | 2019-09-11 | 2019-09-11 | Video inspection equipment and method suitable for steam generator tube plate |
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| CN201910858820.7A CN110689977B (en) | 2019-09-11 | 2019-09-11 | Video inspection equipment and method suitable for steam generator tube plate |
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