CN112393055A - Video inspection crawling device for nuclear power station - Google Patents
Video inspection crawling device for nuclear power station Download PDFInfo
- Publication number
- CN112393055A CN112393055A CN202011188091.8A CN202011188091A CN112393055A CN 112393055 A CN112393055 A CN 112393055A CN 202011188091 A CN202011188091 A CN 202011188091A CN 112393055 A CN112393055 A CN 112393055A
- Authority
- CN
- China
- Prior art keywords
- camera
- driving
- nuclear power
- trolley body
- video inspection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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
- H04N23/51—Housings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention discloses a video inspection crawling device for a nuclear power station, which comprises a trolley body, a driving shaft and a driven shaft which are rotatably connected to the trolley body and penetrate through the left side and the right side of the trolley body, a driving assembly which is arranged in the trolley body and is in transmission connection with the driving shaft, and a front-view camera shooting mechanism and a rear-view camera shooting mechanism which are respectively arranged at the front end part and the rear end part of the trolley, so that video detection on a limited space and an area inconvenient to check by people is realized in a certain radiation dosage environment of the nuclear power station.
Description
Technical Field
The invention belongs to the field of nuclear power detection equipment, and particularly relates to a video inspection crawling device for a nuclear power station.
Background
The nondestructive testing of the nuclear power station has the characteristic of high dose rate in a part of the testing area due to the special operating environment, and puts high requirements on the equipment and the testing method of the nondestructive testing. From reducing the risk that the detection personnel directly contact with radioactive substances, the inspection equipment is required to have the technical characteristics of high automation degree, remote operation, high reliability and the like.
The video inspection technology is widely applied to nondestructive testing of each area in the nuclear power station due to intuition, easy integration, and convenience for automatic control and remote operation. From large equipment such as reactor pressure vessels, steam generators, manostats, to small pipes, pumps and valves. From a low-dose area to a high-dose area which is inaccessible to personnel and a sealed space, a video inspection technology becomes an important inspection method which is indispensable for guaranteeing the safety of a nuclear power station. With the rapid development of the camera shooting technology, high-definition video inspection, high-speed video inspection, automatic defect identification and measurement and the like, the wide application of the video inspection technology in the nondestructive testing of the nuclear power station is further promoted.
In the nondestructive testing environment of a nuclear power station, a high-dose area, a closed space and a personnel inaccessible area are difficult points of nondestructive testing.
Disclosure of Invention
The invention aims to provide a video inspection crawling device for a nuclear power station, which is small in size, universal and suitable for various environments.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a video inspection device of crawling that nuclear power station was used, its include the dolly body, rotate connect in on the dolly body and run through the driving shaft and the driven shaft of dolly body left and right sides, install in this internal and with the drive assembly that the driving shaft transmission is connected of dolly, install respectively in the mechanism and the mechanism are made a video recording to the foresight of tip and rear end before the dolly, its characterized in that: the forward-looking camera mechanism comprises a front camera assembly and a tripod head assembly, wherein the tripod head assembly is spliced with the trolley body and drives the camera assembly to rotate, the tripod head assembly comprises a quick-plugging connector and a tripod head shell, the quick-plugging connector is spliced with the trolley body at the rear end, the tripod head shell is fixedly connected with the front end of the quick-plugging connector, a U-shaped frame is formed at the front end of the tripod head shell, a front cavity is formed inside the U-shaped frame, a rear cavity is formed inside the rear end of the tripod head shell, the tripod head assembly further comprises a driven gear set, a first forward-looking driving motor and a driving gear, the driven gear set is rotatably connected into the front cavity, the first forward-looking driving motor is installed into the rear cavity, and the driving gear.
Optimized, preceding camera subassembly includes the foresight camera, the cover is located waterproof case, the closing cap outside the foresight camera in the inside of the preceding tip of waterproof case just is located the camera lens of foresight camera front end, be located camera lens rear side and with the adjacent laser punctuation ware of camera lens, ring are located on the preceding tip of foresight camera and be located the annular light source of laser punctuation ware rear side.
Preferably, the driven gear set comprises a first driven wheel, a second driven wheel and a third driven wheel which are sequentially connected with the front cavity in a rotating mode from back to front, the first driven wheel is meshed with the driving gear, and the third driven wheel is coaxially and fixedly connected with a rotating shaft of the front camera assembly.
Preferably, the holder assembly further comprises a second forward-looking driving motor which is installed in the trolley body and is in transmission connection with the quick-connection plug.
Preferably, the driving assembly comprises two main motors which are arranged in the trolley body and are respectively used for driving the driving shafts on the left side and the right side, a bearing seat arranged in the trolley body and a transmission part connected between the driving shaft and the driven shaft, and the adjacent end parts of the two driving shafts are respectively arranged on the bearing seat.
Preferably, the driving assembly comprises a plurality of first wheels and a plurality of second wheels, the diameter of the first wheels is smaller than that of the second wheels, and when the same driven wheel or the same driving wheel is provided with the first wheels and the second wheels, the first wheels are located at positions closer to the trolley body.
Preferably, the rear-view camera mechanism comprises a rear-view camera arranged on the rear side wall of the trolley body.
The invention has the beneficial effects that: . 1. The video detection of a limited space and an area inconvenient to check by personnel is realized in a certain radiation dose environment of the nuclear power station; 2. the camera holder and the vehicle body can be independently separated by modularized and universal design, and the vehicle body can be used as a universal platform to carry various inspection devices to meet different inspection requirements; 3. the crawling device has good waterproofness, and high-definition video inspection under a humid and water environment is realized;
4. the method can be applied to various environments and scenes, such as closed space, pipelines, interior of wind power blades and the like, and video inspection can be performed.
Drawings
FIG. 1 is a perspective view of a video inspection crawling apparatus for a nuclear power plant according to the present invention;
FIG. 2 is a schematic view showing an internal connection structure of a video inspection crawling apparatus for a nuclear power plant according to the present invention;
fig. 3 is a schematic structural diagram of a front-view camera mechanism of the video inspection crawling device for the nuclear power plant of the present invention.
Detailed Description
The invention is described in detail below with reference to embodiments shown in the drawings to which:
as shown in fig. 1-3, the video inspection crawling device for the nuclear power station implements execution and collection of inspection functions, and comprises a trolley body 1, a driving shaft 2 and a driven shaft 3 which are rotatably connected to the trolley body 1 and penetrate through the left side and the right side of the trolley body 1, a driving component 4 which is installed in the trolley body 1 and is in transmission connection with the driving shaft 2, a front-view camera shooting mechanism 5 and a rear-view camera shooting mechanism 6 which are respectively installed at the front end part and the rear end part of the trolley, a control main board 7 installed in the trolley and a cable joint 8 arranged at the rear end part of the trolley body 1, wherein the control main board 7 is in a modular design, and each independent functional module can be independently maintained and. The cable joint 8 is divided into a fixed seat 81 and a rotary joint 82, the fixed seat 81 is installed on the trolley body 1 and is positioned below the rear-view camera shooting mechanism 6. The rotating joint 82 and the fixing seat 81 can rotate freely, the two cable anti-drag earrings 83 are arranged, after the cables are in butt joint with the rotating joint 82, the anti-drag buckles on the cables are clamped into the earrings 83, and the cable joint 8 is protected.
The forward-looking camera mechanism 5 comprises a front camera component 51, a tripod head component 52 which is spliced with the trolley body 1 and drives the camera component to rotate, wherein the tripod head component 52 comprises a quick-plug connector 53 with the rear end part spliced with the trolley body 1, a tripod head shell 54 fixedly connected with the front end part of the quick-plug connector 53 and a second forward-looking driving motor 55 which is arranged in the trolley body 1 and is in transmission connection with the quick-plug connector 53. The cradle head assembly 52 further includes a driven gear set 59 rotatably connected to the front cavity 57, a first front-view driving motor 50 installed in the rear cavity 58, and a driving gear 510 connected between the first front-view driving motor 50 and the driven gear set 59 for transmission. The front camera assembly 51 comprises a front camera 511, a waterproof housing 512 sleeved outside the front camera 511, a camera lens 513 covering the inside of the front end of the waterproof housing 512 and located at the front end of the front camera, a laser pointer 514 located at the rear side of the camera lens 513 and adjacent to the camera lens 513, and an annular light source 515 annularly arranged on the front end of the front camera 511 and located at the rear side of the laser pointer 514. The rear-view camera mechanism 6 comprises a rear-view camera 61 arranged on the rear side wall of the trolley body 1. The front-end camera is a high-definition camera supporting the P of the optical zoom and is mainly used for high-definition imaging of video inspection, and the rear-end camera is an environment camera with wide angle and ten thousand pixels and is mainly used for observing the environment condition at the rear end of the trolley. The second forward looking drive motor 55 is perpendicular to the rotational axis of the first forward looking drive motor 50.
The driven gear set 59 includes a first driven wheel 591, a second driven wheel 592 and a third driven wheel 593 rotatably connected with the front cavity from back to front, the first driven wheel 591 is engaged with the driving gear 510, and the third driven wheel 593 is coaxially and fixedly connected with the rotating shaft on the waterproof housing 512 of the front camera assembly 51.
The driving component 4 comprises two main motors 41 which are arranged in the trolley body 1 and are respectively used for driving the driving shafts 2 on the left side and the right side, a bearing seat 42 arranged in the trolley body 1 and a transmission part connected between the driving shaft 2 and the driven shaft 3, wherein the transmission part can be a transmission gear belt or a transmission gear, the main motors 41 are in transmission connection through a driving bevel gear 91 fixedly connected with an output shaft of the main motors and a driven bevel gear 92 fixedly connected with the driving shaft 2, and the adjacent end parts of the two driving shafts 2 are respectively arranged on the bearing seat 42. The driving assembly 4 comprises a plurality of first wheels 43 and a plurality of second wheels 44, the diameter of the first wheels 43 is smaller than that of the second wheels 44, and when the first wheels 43 and the second wheels 44 are simultaneously mounted on the same driven wheel or the same driving wheel, the first wheels 43 are positioned closer to the trolley body 1. To different inspection environment, select for use the different wheel of diameter, at comparatively flat surface and little space, pull down second wheel 44, only select for use first wheel 43 in order to reduce the volume of device of crawling, wading, muddy surface, can select for use second wheel 44 to improve dolly trafficability characteristic and crawl the ability. The main motor 41 is a direct current motor, and is used for driving the first wheel 43 or the second wheel 44 to rotate, so that the forward and backward movement of the trolley body 1 is realized, and the turning function of the trolley body 1 is realized through the differential motion of the main motor 41.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (7)
1. The utility model provides a video inspection device of crawling that nuclear power station was used, its include the dolly body, rotate connect in on the dolly body and run through the driving shaft and the driven shaft of dolly body left and right sides, install in this internal and with the drive assembly that the driving shaft transmission is connected of dolly, install respectively in the mechanism and the mechanism are made a video recording to the foresight of tip and rear end before the dolly, its characterized in that: the forward-looking camera mechanism comprises a front camera assembly and a tripod head assembly, wherein the tripod head assembly is spliced with the trolley body and drives the camera assembly to rotate, the tripod head assembly comprises a quick-plugging connector and a tripod head shell, the quick-plugging connector is spliced with the trolley body at the rear end, the tripod head shell is fixedly connected with the front end of the quick-plugging connector, a U-shaped frame is formed at the front end of the tripod head shell, a front cavity is formed inside the U-shaped frame, a rear cavity is formed inside the rear end of the tripod head shell, the tripod head assembly further comprises a driven gear set, a first forward-looking driving motor and a driving gear, the driven gear set is rotatably connected into the front cavity, the first forward-looking driving motor is installed into the rear cavity, and the driving gear.
2. The video inspection crawling apparatus for nuclear power plant according to claim 1, wherein: preceding camera subassembly includes the foresight camera, the cover is located waterproof housing, the closing cap outside the foresight camera in the inside of tip just is located before the waterproof housing the camera lens of foresight camera front end, be located camera lens rear side and with the adjacent laser punctuation ware of camera lens, ring are located on the tip just is located before the foresight camera the annular light source of laser punctuation ware rear side.
3. The video inspection crawling apparatus for nuclear power plant according to claim 1, wherein: the driven gear set comprises a first driven wheel, a second driven wheel and a third driven wheel which are sequentially connected with the front cavity in a rotating mode from back to front, the first driven wheel is meshed with the driving gear, and the third driven wheel is coaxial with and fixedly connected with a rotating shaft of the front camera assembly.
4. The video inspection crawling apparatus for nuclear power plant according to claim 1, wherein: the holder assembly further comprises a second forward-looking driving motor which is arranged in the trolley body and is in transmission connection with the quick-connection plug.
5. The video inspection crawling apparatus for nuclear power plant according to claim 1, wherein: the driving assembly comprises two main motors which are arranged in the trolley body and are respectively used for driving the driving shafts on the left side and the right side, a bearing seat arranged in the trolley body and a transmission part connected between the driving shaft and the driven shaft, and the adjacent end parts of the two driving shafts are respectively arranged on the bearing seat.
6. The video inspection crawling apparatus for nuclear power plant according to claim 1, wherein: the driving assembly comprises a plurality of first wheels and a plurality of second wheels, the diameter of each first wheel is smaller than that of each second wheel, and when the same driven wheel or the same driving wheel is provided with the first wheels and the second wheels, the first wheels are positioned at positions closer to the trolley body.
7. The video inspection crawling apparatus for nuclear power plant according to claim 1, wherein: the rear-view camera shooting mechanism comprises a rear-view camera arranged on the rear side wall of the trolley body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011188091.8A CN112393055A (en) | 2020-10-30 | 2020-10-30 | Video inspection crawling device for nuclear power station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011188091.8A CN112393055A (en) | 2020-10-30 | 2020-10-30 | Video inspection crawling device for nuclear power station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112393055A true CN112393055A (en) | 2021-02-23 |
Family
ID=74597745
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011188091.8A Pending CN112393055A (en) | 2020-10-30 | 2020-10-30 | Video inspection crawling device for nuclear power station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112393055A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113488216A (en) * | 2021-07-22 | 2021-10-08 | 中广核检测技术有限公司 | Walking mechanism of video scanning device for bolt holes of reactor pressure vessel |
| CN114738598A (en) * | 2022-04-15 | 2022-07-12 | 哈工大机器人（合肥）国际创新研究院 | Pipeline detection robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150240984A1 (en) * | 2014-02-21 | 2015-08-27 | Siemens Energy, Inc. | Pipe crawler apparatus and method for internal pipe inspection |
| CN205226751U (en) * | 2015-11-12 | 2016-05-11 | 深圳市博铭维智能科技有限公司 | Pipeline inspection microrobot |
| CN206409819U (en) * | 2017-01-18 | 2017-08-15 | 上海润品工贸有限公司 | A kind of pipe video detects robot |
| CN109373106A (en) * | 2018-10-18 | 2019-02-22 | 谢春思 | Device is spied out by adjustable pipeline omnidirectional |
| CN210566976U (en) * | 2019-07-19 | 2020-05-19 | 武汉中仪物联技术股份有限公司 | Small-size pipeline inspection robot |
| CN211694003U (en) * | 2019-12-18 | 2020-10-16 | 杭州申昊科技股份有限公司 | Detection control system of pipeline robot |
-
2020
- 2020-10-30 CN CN202011188091.8A patent/CN112393055A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150240984A1 (en) * | 2014-02-21 | 2015-08-27 | Siemens Energy, Inc. | Pipe crawler apparatus and method for internal pipe inspection |
| CN205226751U (en) * | 2015-11-12 | 2016-05-11 | 深圳市博铭维智能科技有限公司 | Pipeline inspection microrobot |
| CN206409819U (en) * | 2017-01-18 | 2017-08-15 | 上海润品工贸有限公司 | A kind of pipe video detects robot |
| CN109373106A (en) * | 2018-10-18 | 2019-02-22 | 谢春思 | Device is spied out by adjustable pipeline omnidirectional |
| CN210566976U (en) * | 2019-07-19 | 2020-05-19 | 武汉中仪物联技术股份有限公司 | Small-size pipeline inspection robot |
| CN211694003U (en) * | 2019-12-18 | 2020-10-16 | 杭州申昊科技股份有限公司 | Detection control system of pipeline robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113488216A (en) * | 2021-07-22 | 2021-10-08 | 中广核检测技术有限公司 | Walking mechanism of video scanning device for bolt holes of reactor pressure vessel |
| CN113488216B (en) * | 2021-07-22 | 2024-02-13 | 中广核检测技术有限公司 | Running mechanism of video scanning device for bolt holes of reactor pressure vessel |
| CN114738598A (en) * | 2022-04-15 | 2022-07-12 | 哈工大机器人（合肥）国际创新研究院 | Pipeline detection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112393055A (en) | Video inspection crawling device for nuclear power station | |
| JPH0392491A (en) | Vehicle having inclination type caterpillar | |
| CN103303449A (en) | Underwater working robot | |
| CN105650405B (en) | Cruise shooting mechanism of omnidirectional and wheeled detecting robot of pipe | |
| KR101999901B1 (en) | Module type pipe robot | |
| CN212218488U (en) | Hazardous chemical substance disaster on-site reconnaissance sampling robot | |
| CN111348209A (en) | Investigation equipment and miniature two-shaft double-light photoelectric pod thereof | |
| CN105292406A (en) | Micro cable control underwater observation robot | |
| CN115792258A (en) | Pipeline welding seam detection robot and detection control method thereof | |
| CN207740625U (en) | Detecting robot of pipe | |
| CN109649686B (en) | Star detection autonomous obstacle avoidance mobile robot | |
| CN114701306A (en) | Amphibious spherical investigation robot with variable foot wheels | |
| CN212890977U (en) | Investigation equipment and miniature two-shaft double-light photoelectric pod thereof | |
| SU1819231A3 (en) | Vehicle with an inclined track drive | |
| CN218450306U (en) | Underwater irradiation-resistant spherical pan-tilt camera | |
| CN219198535U (en) | Pipeline multi-view detection trolley | |
| CN217318071U (en) | Robot tail end wrist structure | |
| CN215618103U (en) | Solar energy that can freely remove climbs pipe inspection robot | |
| CN113488216B (en) | Running mechanism of video scanning device for bolt holes of reactor pressure vessel | |
| CN117325965B (en) | Four-degree-of-freedom wheeled robot special for wind driven generator blades | |
| CN210566976U (en) | Small-size pipeline inspection robot | |
| CN110510114B (en) | Intelligent ducted unmanned aerial vehicle | |
| CN113146675A (en) | Lunar surface sampling mechanical arm joint | |
| CN112031880A (en) | Automatic detection, leakage and emergency treatment device for steam turbine pipeline | |
| CN217130723U (en) | Efficient intelligent detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210223 |