CN113066593A - Magnetic adsorption wall surface crawling device for containment inspection of nuclear power plant - Google Patents
Magnetic adsorption wall surface crawling device for containment inspection of nuclear power plant Download PDFInfo
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- CN113066593A CN113066593A CN202110306145.4A CN202110306145A CN113066593A CN 113066593 A CN113066593 A CN 113066593A CN 202110306145 A CN202110306145 A CN 202110306145A CN 113066593 A CN113066593 A CN 113066593A
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- 230000009193 crawling Effects 0.000 title claims abstract description 20
- 238000001179 sorption measurement Methods 0.000 title abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 8
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 6
- 229910000831 Steel Inorganic materials 0.000 description 9
- 239000010959 steel Substances 0.000 description 9
- 230000001965 increasing effect Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
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- 241000282326 Felis catus Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/013—Inspection vehicles
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/007—Inspection of the outer surfaces of vessels
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/01—Inspection of the inner surfaces of vessels
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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 provides a magnetic adsorption wall surface crawling device for nuclear power plant containment vessel inspection, and relates to the technical field of power plant safety. The magnetic-adsorption wall-climbing camera inspection device is simple in structure, a manual frame does not need to be installed through an inspection mode that the magnetic-adsorption wall surface crawls to carry the camera, the use cost is low, manual high-altitude operation is not needed, the safety is high, the defect that the traditional camera is small in visual field range, namely poor in accessibility is effectively overcome, the overall inspection efficiency is greatly improved, and the requirement for quick video inspection of the containment vessel of the nuclear power plant is met.
Description
Technical Field
The invention relates to the technical field of power plant safety,
more particularly, the present invention relates to a magnetic adsorption wall-climbing device for nuclear power plant containment inspection.
Background
The containment vessel of the nuclear power station is an important safety facility of the nuclear reactor, has the function of containing the radioactivity generated by the reactor in the containment vessel under the accident condition, is a third safety barrier behind a nuclear fuel cladding and a primary circuit pressure boundary, is also a last safety barrier in the nuclear safety accident, and plays an extremely important role in daily operation and safety of the nuclear power station. The containment shell is divided into a reinforced concrete lining steel lining structure, concrete and an independent steel containment double-layer structure. As the operation time of a nuclear power unit is advanced, the steel lining or the steel containment vessel of the containment vessel is easy to generate defects such as cracks, corrosion, surface coating falling off and the like. In order to ensure that the safety barrier of the nuclear power station is not damaged, the containment is periodically inspected by adopting a visual inspection technology.
Containment steel lining or steel containment comprise triplex, and upper portion is the hemisphere, and the middle part is cylinder type barrel, and the lower part is the hemisphere type, and barrel diameter is 40 meters, and height drop is 60 meters, and the area is huge, and current nuclear power plant containment inspection all adopts large-scale link plate structure, and the inspector reachs the cladding through the cat ladder and looks the inspection to nuclear power plant containment on arriving the link plate, for example chinese patent utility model patent CN208751792U discloses a nuclear power plant containment structure integrity test welding seam inspection auxiliary device, including the link plate structure of collecting the dam under the containment head cofferdam, the link plate structural connection has two arc side levers, be provided with a plurality of horizontal poles between the arc side lever, the arc side lever passes through the landing leg and supports on the containment head. According to the scheme, the collecting dam at the lower part of the containment vessel top head cofferdam is used as a supporting point, and the end part is designed into a suitable structure to be hung on the collecting dam at the lower part. During the welding seam inspection, the ladder climbing device is convenient to move, and stable in structure is suitable for inspection operation. By utilizing the existing structure of the containment (the collecting dam at the lower part of the cofferdam) and combining the platform device, the installation of a tool platform by utilizing a welding method is avoided, and the requirement of the containment test is met.
However, the nuclear power plant containment vessel inspection device still has the following problems: 1. the hanging plate has a large structure, high setting cost and large installation engineering quantity; 2. the danger degree of the inspection personnel for high-altitude operation is high, and the scaffold is required for mounting and dismounting the hanging plate structure, so that the risk is increased; 3. the inspection working time window is limited, the manual inspection efficiency is low, and the purpose of quickly inspecting the containment cannot be achieved.
Therefore, in order to solve the above problems, it is necessary to design a magnetic adsorption wall-climbing device for nuclear power plant containment inspection with reasonable efficiency.
Disclosure of Invention
The invention aims to provide the magnetic adsorption wall surface crawling device for the nuclear power plant containment vessel inspection, which has a simple structure, does not need to install a manual frame through an inspection mode that a magnetic adsorption wall surface crawls to carry a camera, has low use cost, does not need manual high-altitude operation, has high safety, effectively overcomes the defect that the traditional camera has a small visual field range, namely poor accessibility, greatly improves the overall inspection efficiency, and meets the requirement of the rapid video inspection of the nuclear power plant containment vessel.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a magnetic adsorption wall surface crawling device for nuclear power plant containment vessel inspection comprises a frame body, a moving wheel arranged on the frame body and a camera arranged on the frame body, the frame body is an aluminum alloy part, the bottom of the frame body is provided with a magnetic part, the end part of the frame body is provided with a support rod, the cameras comprise first cameras arranged on the supporting rod and second cameras arranged at one end of the frame body far away from the supporting rod, the number of the first cameras is at least three, the first cameras are arranged in a linear arrangement and are arranged towards the direction far away from the second cameras, the second camera faces the direction far away from the first camera, and a storage electrically connected with the camera and a wireless transmitter electrically connected with the storage are arranged in the frame body.
Preferably, the support rods are connected with the frame body through support columns, the number of the support columns is at least two, and the support rods are arranged in parallel with the top surface of the frame body.
Preferably, the support rods and the support columns are both made of carbon fiber.
Preferably, the moving wheel comprises two driving wheels and two driven wheels, the two driving wheels are connected through a first connecting rod, the two driven wheels are connected through a second connecting rod, a first bearing sleeve is sleeved on the outer side of the first connecting rod, a second bearing sleeve is sleeved on the outer side of the second connecting rod, the first bearing sleeve is connected with the second bearing sleeve through an adjusting rod, the adjusting rod is connected with the inner side face of the frame body through a telescopic rod, and a first sliding groove and a second sliding groove are formed in the side wall of the frame body, wherein the first sliding groove is used for enabling the first connecting rod to penetrate through and slide conveniently, and the second sliding groove is used for enabling the second connecting rod to penetrate through.
Preferably, the hub of the moving wheel is an aluminum alloy member, and the tire of the moving wheel is a polyurethane member.
Preferably, the camera further comprises a third camera, and the third camera is arranged between the support column and the second camera.
Preferably, the camera is fixedly mounted through a camera head, the camera head includes a support frame for supporting the camera, a rotating frame connected to the support frame, and a bracket for supporting the rotating frame, the camera is connected to the support frame through a first movable joint, the support frame is connected to the rotating frame through a second movable joint, and the rotating frame is connected to the bracket through a third movable joint.
Preferably, the frame body is provided with a falling prevention shackle.
Preferably, the magnetic attraction part comprises at least one electromagnet and at least one permanent magnet.
Preferably, the view angle of the first camera is not less than 60 °, and the distance between two adjacent first cameras is not less than 400 mm.
The magnetic adsorption wall surface crawling device for the containment vessel inspection of the nuclear power plant has the advantages that: simple structure, through the inspection mode that magnetism adsorbs the wall to crawl and carry on the camera, need not to install artifical frame, use cost is low, need not artifical high altitude construction, and the security is high, and effectively overcomes the shortcoming that traditional camera's field of vision scope is little promptly can reach the difference, and whole inspection efficiency improves greatly, satisfies the quick video inspection requirement of nuclear power plant's containment.
Drawings
FIG. 1 is a schematic perspective view of a magnetic attraction wall crawling apparatus for nuclear power plant containment inspection according to an embodiment of the present invention;
FIG. 2 is a perspective view from the bottom of one embodiment of a magnetic attachment wall-climbing device for nuclear power plant containment inspection in accordance with the present invention;
FIG. 3 is a schematic diagram of the linear array distribution of the cameras in an embodiment of the magnetic adsorption wall-climbing device for nuclear power plant containment inspection according to the present invention;
FIG. 4 is a schematic diagram of a camera head in an embodiment of a magnetic attachment wall-climbing device for nuclear power plant containment inspection according to the present invention;
in the figure: 1. the anti-falling device comprises a frame body, 11, an anti-falling shackle, 2, a moving wheel, 3, a camera, 31, a first camera, 32, a second camera, 33, a third camera, 4, a magnetic suction part, 5, a support rod, 51, a support column, 6, a camera head frame, 61, a support frame, 62, a rotating frame, 63, a bracket, 64, a first movable joint, 65, a second movable joint, 66 and a third movable joint.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the present invention is not limited to these examples.
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the modules and steps set forth in these embodiments and steps do not limit the scope of the invention unless specifically stated otherwise.
Meanwhile, it should be understood that the flows in the drawings are not merely performed individually for convenience of description, but a plurality of steps are performed alternately with each other.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and systems known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
The first embodiment is as follows: as shown in fig. 1 to 3, which are only one embodiment of the present invention, a magnetic adsorption wall climbing device for nuclear power plant containment vessel inspection includes a frame 1, a moving wheel 2 disposed on the frame 1, and a camera 3 disposed on the frame 1, where the frame 1 is an aluminum alloy member, a magnetic adsorption part 4 is disposed at the bottom of the frame 1, a support rod 5 is disposed at an end of the frame 1, the camera 3 includes a first camera 31 disposed on the support rod 5 and a second camera 32 disposed at an end of the frame 1 away from the support rod 5, the number of the first cameras 31 is at least three, and a plurality of the first cameras 31 are arranged in a straight line, the first cameras 31 are disposed in a direction away from the second cameras 32, and the second cameras 32 are disposed in a direction away from the first cameras 31, and a memory electrically connected with the camera 3 and a wireless transmitter electrically connected with the memory are arranged in the frame body 1.
In the invention, a frame body 1 is a main body of the whole device, a magnetic absorption part 4 is arranged at the bottom of the frame body 1 and is used for being absorbed at a steel inner lining or a steel containment vessel of a nuclear power plant, the detection work of a safety shell of the nuclear power plant is carried out through a camera 3 arranged on the frame body 1, and the safety shell of the nuclear power plant is comprehensively checked through displacement of a movable wheel 2.
Firstly, the frame body 1 is of an aluminum alloy structure, so that the mass of the whole frame body 1 can be reduced, the frame body is easily adsorbed on a safety shell with a large inclination angle and even arranged vertically, and the frame body 1 is more energy-saving and efficient when moving.
Then is magnetic part 4, and magnetic part 4 sets up in the bottom of framework 1, and when placing whole device on and on the forecourt containment, framework 1 bottom one side is towards the containment, through the magnetic attraction between the steel structure of containment and magnetic part 4 for framework 1 adsorbs on the containment wall.
Here, the magnetic attraction portion 4 includes at least one electromagnet and at least one permanent magnet. The permanent magnet plays a basic magnetic adsorption role, the electromagnet is connected with a power supply and used for enhancing the magnetic adsorption capacity after being electrified to generate magnetism, and when the frame body 1 is displaced to the high altitude and the high altitude airflow is large, the electromagnet is started to enhance the magnetic adsorption capacity, so that the frame body 1 is prevented from being blown off the wall surface of the containment vessel by the airflow.
Then remove wheel 2 again, remove wheel 2 includes two drive wheels and two from the driving wheel, connects through first connecting rod between two drive wheels, connects through the second connecting rod between two follow driving wheels, first connecting rod outside cover is equipped with first bearing sleeve, second connecting rod outside cover is equipped with the second bearing sleeve, first bearing sleeve through adjust the pole with the second bearing sleeve is connected, adjust the pole pass through the telescopic link with 1 medial surface of framework is connected, 1 lateral wall of framework is provided with and is used for the convenience first connecting rod passes and gliding first spout and is used for the convenience the second connecting rod passes and gliding second spout. The first sliding groove and the second sliding groove are arranged perpendicular to the bottom surface of the frame body 1, namely, extend from the bottom direction of the frame body 1 to the top direction of the frame body 1.
During magnetic adsorption operation, the telescopic rod extends, the first connecting rod and the second connecting rod can be displaced (along the extension directions of the first sliding groove and the second sliding groove respectively) to the direction far away from the bottom of the frame body 1, namely the movable wheel 2 is also displaced to the top surface of the frame body 1, so that the bottom surface of the frame body 1 is lowered, namely the magnetic part 4 is close to the containment vessel, the magnetic part 4 is used for increasing the suction force of the magnetic part 4 to the containment vessel, and the frame body 1 is prevented from being separated from the wall surface of the containment vessel; otherwise, the telescopic rod is shortened, and the magnetic suction part 4 is far away from the containment. It should be noted that when the telescopic rod extends to the maximum, the magnetic attraction part 4 will not contact the wall surface of the containment vessel, so as to prevent the frame 1 from being damaged by friction with the wall surface of the containment vessel. The whole vehicle body is adsorbed on the wall surface of the containment vessel by adopting a suspended structure, the frame body 1 is not in direct contact with the wall surface of the containment vessel, the self load is small, the crawling is flexible, and the safety factor is high.
Of course, a gear meshed with the output gear of the driving motor is arranged at the first connecting rod between the two driving wheels, the hub of the moving wheel 2 is made of aluminum alloy, and the tire of the moving wheel 2 is made of polyurethane. In fact, the first connecting rod, the second connecting rod, the telescopic rod and the bearing sleeve are all aluminum alloy pieces, and the weight of the whole device is further reduced.
The end is camera 3, the tip of framework 1 is provided with bracing piece 5, camera 3 including set up in first camera 31 on bracing piece 5 with set up in keep away from in the framework 1 the second camera 32 of the one end of bracing piece 5, the quantity of first camera 31 is three at least, and a plurality of first camera 31 is the inline setting, first camera 31 is towards keeping away from the direction setting of second camera 32, second camera 32 is towards keeping away from the direction setting of first camera 31.
In a word, the camera 3 includes a front first camera 31 and a rear second camera 32, the front first camera 31 is disposed on the support rod 5 at the front end of the frame 1, at least three first cameras 31 are sequentially disposed in the length direction of the support rod 5 to increase the range of the first cameras 31 for shooting videos, here, the view angle of the first cameras 31 is not less than 60 °, the distance between two adjacent first cameras 31 is not less than 400mm, the view ranges between two first cameras 31 are approximately overlapped by 10% in front of the normal shooting of the first cameras 31, an area with a front width of more than two meters can be scanned, and the overall inspection efficiency is greatly improved; the number of the second cameras 32 at the tail part of the frame body 1 is at least two, so that the leakage detection and the gap filling can be carried out on the detected area, and the detection effectiveness is further ensured.
Therefore, the cameras 3 are distributed in a linear array mode, the video pictures shot by the cameras 3 obtained finally are displayed by splicing images of the multiple cameras, the defects of the containment vessel can be found more easily, and the inspection efficiency is higher.
Certainly, be provided with in the framework 1 with the memory that the camera 3 electricity is connected and with the wireless transmitter that the memory electricity is connected, the video that the camera 3 was shot is acquireed to the memory is saved to can be through wireless transmitter with video transmission to the control center on ground, because the high ten minutes height of nuclear power plant's containment, when framework 3 displacement to nuclear power plant's containment top, the distance is far away between wireless transmitter and the control center, probably the signal is relatively weak, so in order to avoid the problem emergence that can't propagate video data, the real-time video that the camera 3 was shot of acquireing of memory, if wireless transmitter and control center disconnect, the video only is saved to the memory in, and when wireless transmitter and control center are connected just, send the video in the memory to the control center again. Otherwise, if the wireless transmitter is normally and continuously connected with the control center, the video is stored in the memory in real time and is sent to the control center through the wireless transmitter.
The magnetic adsorption wall crawling device for nuclear power plant containment vessel inspection is simple in structure, does not need to be provided with a manual frame through an inspection mode that the magnetic adsorption wall crawls to carry a camera, is low in use cost, does not need manual high-altitude operation, is high in safety, effectively overcomes the defect that a traditional camera is small in visual field range, namely poor in accessibility, greatly improves the overall inspection efficiency, and meets the requirement of rapid video inspection of a nuclear power plant containment vessel.
Second embodiment, as also shown in fig. 1 to 4, is only one embodiment of the present invention, and on the basis of the first embodiment, in the magnetic adsorption wall climbing device for nuclear power plant containment inspection of the present invention, the support rods 5 are connected with the frame body 1 through support columns 51, the number of the support columns 51 is at least two, the support rod 5 is arranged parallel to the top surface of the frame body 1, in fact, the support column 51 is arranged on the frame body 1 and extends towards the direction far away from the bottom surface of the frame body 1, the support rod 5 is arranged at one end of the support column 51 far away from the frame body 1, thus, the distance between the first camera 31 and the bottom surface of the frame body 1 is increased, the shooting range of the first camera 31 is increased, the support rods 5 are supported by the support posts 51, can prevent that bracing piece 5 from rocking and rotating, guarantee that a plurality of first cameras 31 are stable and shoot the place ahead of framework 1 displacement.
Of course, the support rods 5 and the support columns 51 are both made of carbon fiber, so that the mass of the frame body 1 is reduced.
In addition, the camera 3 further includes a third camera 33, and the third camera 33 is disposed between the supporting column 51 and the second camera 32. The third camera 33 is actually a side camera for observing the environment around the housing 1 and ensuring safety when the housing 1 is displaced.
It should be noted that the camera 3 is fixedly mounted by a camera head 6, the camera head 6 includes a supporting frame 61 for supporting the camera 3, a rotating frame 62 connected to the supporting frame 61, and a bracket 63 for supporting the rotating frame 62, the camera head 3 is connected to the supporting frame 61 by a first movable joint 64, the supporting frame 61 is connected to the rotating frame 62 by a second movable joint 65, and the rotating frame 62 is connected to the bracket 63 by a third movable joint 66.
The first movable joint 64, the second movable joint 65 and the third movable joint 66 are all electric controls and can be remotely controlled, wherein the first movable joint 64 can control the positive and negative 90-degree pitching of the camera 3; the second movable joint 65 can control the support frame 61 to rotate 360 degrees left and right, and the third movable joint 66 can control the bracket 63 to rotate up and down, so as to adjust the distance between the camera 3 and the wall surface of the containment vessel. The three movable joints are matched and adjusted, so that the multi-direction video signal acquisition can be realized, and the super-strong adaptability is provided for the field video inspection conditions.
Finally, the frame body 1 is provided with a falling preventing shackle 11. The lock catch of the safety rope is convenient to buckle the anti-falling hook ring 11 so as to prevent the frame body 1 from falling high.
The magnetic adsorption wall crawling device for nuclear power plant containment vessel inspection is simple in structure, does not need to be provided with a manual frame through an inspection mode that the magnetic adsorption wall crawls to carry a camera, is low in use cost, does not need manual high-altitude operation, is high in safety, effectively overcomes the defect that a traditional camera is small in visual field range, namely poor in accessibility, greatly improves the overall inspection efficiency, and meets the requirement of rapid video inspection of a nuclear power plant containment vessel.
The present invention is not limited to the above-described specific embodiments, and various modifications and variations are possible. Any modifications, equivalents, improvements and the like made to the above embodiments in accordance with the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a magnetism adsorbs wall surface device of crawling for nuclear power plant's containment inspection which characterized in that: comprises a frame body (1), a moving wheel (2) arranged on the frame body (1) and a camera (3) arranged on the frame body (1), wherein the frame body (1) is an aluminum alloy part, a magnetic suction part (4) is arranged at the bottom of the frame body (1), a support rod (5) is arranged at the end part of the frame body (1), the camera (3) comprises a first camera (31) arranged on the support rod (5) and a second camera (32) arranged on the frame body (1) and far away from one end of the support rod (5), the number of the first cameras (31) is at least three, the first cameras (31) are arranged in a linear arrangement manner, the first cameras (31) are arranged towards the direction far away from the second cameras (32), the second cameras (32) are arranged towards the direction far away from the first cameras (31), and a memory electrically connected with the camera (3) and a wireless transmitter electrically connected with the memory are arranged in the frame body (1).
2. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 1, wherein: the support rod (5) is connected with the frame body (1) through support columns (51), the number of the support columns (51) is at least two, and the support rod (5) is parallel to the top surface of the frame body (1).
3. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 2, wherein: the support rod (5) and the support column (51) are both carbon fiber pieces.
4. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 1, wherein: remove wheel (2) and include two drive wheels and two from the driving wheel, connect through first connecting rod between two drive wheels, two connect through the second connecting rod from between the driving wheel, first connecting rod outside cover is equipped with first bearing housing, second connecting rod outside cover is equipped with the second bearing housing, first bearing housing through adjust the pole with the second bearing housing is connected, adjust the pole pass through the telescopic link with framework (1) medial surface is connected, framework (1) lateral wall is provided with and is used for the convenience first connecting rod passes and gliding first spout and is used for the convenience the second connecting rod passes and gliding second spout.
5. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 4, wherein: the wheel hub of the moving wheel (2) is an aluminum alloy part, and the tire of the moving wheel (2) is a polyurethane part.
6. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 2, wherein: the camera (3) further comprises a third camera (33), and the third camera (33) is arranged between the supporting column (51) and the second camera (32).
7. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 1, wherein: the camera (3) is fixedly installed through a camera frame (6), the camera frame (6) comprises a supporting frame (61) used for supporting the camera (3), a rotating frame (62) connected with the supporting frame (61) and a bracket (63) used for supporting the rotating frame (62), the camera (3) is connected with the supporting frame (61) through a first movable joint (64), the supporting frame (61) is connected with the rotating frame (62) through a second movable joint (65), and the rotating frame (62) is connected with the bracket (63) through a third movable joint (66).
8. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 1, wherein: the frame body (1) is provided with an anti-falling hook ring (11).
9. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 1, wherein: the magnetic attraction part (4) comprises at least one electromagnet and at least one permanent magnet.
10. The magnetic attraction wall crawling device for nuclear power plant containment inspection according to claim 1, wherein: the visual field angle of the first camera (31) is not less than 60 degrees, and the distance between two adjacent first cameras (31) is not less than 400 mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110306145.4A CN113066593A (en) | 2021-03-23 | 2021-03-23 | Magnetic adsorption wall surface crawling device for containment inspection of nuclear power plant |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110306145.4A CN113066593A (en) | 2021-03-23 | 2021-03-23 | Magnetic adsorption wall surface crawling device for containment inspection of nuclear power plant |
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| CN113066593A true CN113066593A (en) | 2021-07-02 |
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| CN202110306145.4A Pending CN113066593A (en) | 2021-03-23 | 2021-03-23 | Magnetic adsorption wall surface crawling device for containment inspection of nuclear power plant |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654444A (en) * | 2022-04-08 | 2022-06-24 | 中广核核电运营有限公司 | Inspection robot |
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| CN114654444A (en) * | 2022-04-08 | 2022-06-24 | 中广核核电运营有限公司 | Inspection robot |
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Application publication date: 20210702 |