CN113488216B - Running mechanism of video scanning device for bolt holes of reactor pressure vessel - Google Patents
Running mechanism of video scanning device for bolt holes of reactor pressure vessel Download PDFInfo
- Publication number
- CN113488216B CN113488216B CN202110827511.0A CN202110827511A CN113488216B CN 113488216 B CN113488216 B CN 113488216B CN 202110827511 A CN202110827511 A CN 202110827511A CN 113488216 B CN113488216 B CN 113488216B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 67
- 230000033001 locomotion Effects 0.000 claims description 7
- 229920002635 polyurethane Polymers 0.000 claims description 2
- 239000004814 polyurethane Substances 0.000 claims description 2
- 230000007306 turnover Effects 0.000 claims description 2
- 230000008878 coupling Effects 0.000 abstract description 6
- 238000010168 coupling process Methods 0.000 abstract description 6
- 238000005859 coupling reaction Methods 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004992 fission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 239000003758 nuclear fuel Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
-
- 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
-
- 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 a reactor pressure vessel bolt hole video scanning device traveling mechanism which comprises a shell, a front wheel shaft and a rear wheel shaft which are rotatably connected to the shell, wheels arranged on the front wheel shaft and the rear wheel shaft, and a driving part for driving the wheels to rotate, wherein the driving part comprises a motor which is in transmission connection with the front wheel shaft, a first output shaft which is rotatably connected to the shell, a first gear set which is connected between the front wheel shaft and the first output shaft and realizes transmission between the front wheel shaft and the first output shaft, a first transmission shaft which is rotatably connected to the shell, a second gear set which is connected between the front wheel shaft and the first transmission shaft and realizes transmission between the front wheel shaft and the first transmission shaft, a second transmission shaft which is rotatably connected to the shell, a third gear set which is connected between the rear wheel shaft and the second transmission shaft and realizes transmission between the first transmission shaft and the second transmission shaft, and a universal coupling between the first transmission shaft and the second transmission shaft. The duplex universal joint is adopted, so that the power transmission is convenient and reliable; the mechanism has simple structure and high reliability, and is convenient for field maintenance.
Description
Technical Field
The invention belongs to the field of nuclear power detection equipment, and particularly relates to a traveling mechanism of a video scanning device for a bolt hole of a reactor pressure vessel.
Background
The reactor pressure vessel is the core device of the nuclear fission reactor, is a second path protection barrier for nuclear safety, and is the only non-replaceable main device in the nuclear island. The basic function is to build and maintain the pressure of a loop system, to fix the containment core, and to build up in the reactor, so that the chain reaction of nuclear fuel is limited in a loop. The equipment needs to work for a long time under high temperature, high pressure, high irradiation and corrosive environment and is not replaceable, so that ensuring stable and healthy operation of the equipment is a serious problem in nuclear power nondestructive testing work.
The main bolt hole of the RPV pressure container is an important component part of the top cover equipment of the pressure container, the sealing assembly needs to perform the tasks of closing and opening the cover for a plurality of times, the work responsibility is heavy, the time is urgent, but a plurality of main bolt blocking accidents of the RPV pressure container occur in the work of opening and closing the cover, and the phenomenon of damage of the threaded hole is found, so that the development of a set of CCTV video inspection device for the inner surface of the main bolt hole of the RPV pressure container is of important practical significance and nuclear safety requirement.
The invention patent of China with the application number of 201210551196.4 discloses a traveling mechanism of a closed-circuit television inspection device for a bolt hole of a reactor pressure vessel, which comprises the following components: the device comprises a power source motor, a shell, a turbine worm power transmission mechanism, a belt pulley power transmission mechanism, a gear power transmission mechanism and a positioning mechanism. The mechanism has compact structure, and effectively realizes the circular motion of the mechanism around the flange surface. However, the scanning device is complex in structure, low in transmission efficiency of the worm and gear mechanism, high in machining precision and high in requirement on machining precision, and bevel gears with special angles are required to be machined additionally. Therefore, it is necessary to design a simpler and more reliable running mechanism for circular motion around the flange surface.
Disclosure of Invention
The invention aims to provide a traveling mechanism of a video scanning device for a bolt hole of a reactor pressure vessel, which has higher transmission efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a reactor pressure vessel bolt hole video scanning device running gear, its includes the casing, rotate connect in wheel front axle and wheel rear axle on the casing, install in wheel front axle and wheel rear axle are epaxial, and be used for driving wheel pivoted drive division, wheel front axle with wheel rear axle coplanarity and the extension line of both axes pass through the arc circular of pressure vessel terminal surface, drive division include with wheel front axle drive connection's motor, rotate connect in first output shaft on the casing, connect in first gear train that makes both realize the transmission between wheel front axle and the first output shaft, rotate connect in first transmission shaft on the casing, connect in between wheel front axle and the first transmission shaft make both realize the transmission second gear train, rotate connect in second transmission shaft on the casing, connect in between wheel rear axle and the second transmission shaft make both realize the transmission third gear train, connect in the universal joint between first transmission shaft and the second transmission shaft.
Preferably, the front axle and the rear axle are coplanar, and the included angle formed by the intersection of the extension lines of the axes of the front axle and the rear axle is smaller than 90 degrees.
Preferably, the driving part comprises a first coupler arranged on the motor, the first gear set comprises a first bevel gear which is coaxial with the front axle of the wheel and fixedly connected with the front axle of the wheel, and a second bevel gear which is coaxial with the first output axle and fixedly connected with the front axle of the wheel, and the first bevel gear and the second bevel gear are in orthogonal fit.
Preferably, the second gear set comprises a third bevel gear which is coaxial with the front axle of the wheel and fixedly connected with the front axle of the wheel, and a fourth bevel gear which is coaxial with the first transmission axle and fixedly connected with the front axle of the wheel, and the third bevel gear and the fourth bevel gear are in orthogonal fit.
Preferably, the third gear set comprises a fifth bevel gear which is coaxial with the second transmission shaft and fixedly connected with the second transmission shaft, and a sixth bevel gear which is coaxial with the rear axle of the wheel and fixedly connected with the rear axle of the wheel, and the fifth bevel gear and the sixth bevel gear are in orthogonal fit.
Preferably, the end parts with smaller axial distance between the front axle and the rear axle are inner end parts of the front axle and the rear axle, the other two end parts are outer end parts, the two wheels arranged on the inner end parts are driving wheels respectively and are coaxially and fixedly connected with the front axle and the rear axle respectively, and the two wheels arranged on the outer end parts are free wheels respectively and are coaxially and rotationally connected with the front axle and the rear axle respectively.
Preferably, the inner side end is located at the inner side of the shell, the outer side end is located at the outer side of the shell, a fixed leaning wheel is arranged at the inner side of the shell, a movable leaning wheel is arranged at the outer side of the shell, the movable leaning wheel can turn over, and after the movable leaning wheel turns down, the fixed leaning wheel and the movable leaning wheel clamp the end of the pressure container.
The invention has the beneficial effects that: the duplex universal joint is adopted, so that the power transmission is convenient and reliable; the mechanism has simple structure and high reliability, and is convenient for on-site maintenance; the travelling mechanism shell is in a shape matched with a section of the flange surface of the pressure container, the forward and backward movement shaft of the mechanism forms an angle of 13 degrees, and the circular movement around the flange surface can be automatically realized under the drive of a motor; the error of the mechanism is compensated by adopting a double-roller limiting mode, the travelling wheels of the mechanism adopt soft polyurethane, the surface is knurled, and the positioning precision and the repeated positioning precision can reach +/-1 mm.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Wherein: 1. the fixed leaning wheel, 2, a motor, 3, a first coupler, 4, a first output shaft, 5, a first bevel gear, 6, a second bevel gear, 7, a front wheel shaft, 8, a third bevel gear, 9, a free wheel, 10, a fourth bevel gear, 11, a movable leaning wheel, 12, a first transmission shaft, 13, a universal coupler, 14, a second transmission shaft, 15, a fifth bevel gear, 16, a sixth bevel gear, 17, a rear wheel shaft, 18 driving wheels, 19, a bolt hole site, 20 and a shell.
Detailed Description
The invention is described in detail below with reference to the embodiments shown in the drawings:
as shown in fig. 1, the reactor pressure vessel bolt hole video scanning device traveling mechanism comprises a shell 20 provided with a bolt hole 19, a front wheel shaft 7 and a rear wheel shaft 17 rotatably connected to the shell 20, wheels mounted on the front wheel shaft 7 and the rear wheel shaft 17, and a driving part for driving the wheels to rotate, wherein the front wheel shaft 7 and the rear wheel shaft 17 are coplanar, and the extension lines of the two axes pass through the arc-shaped circle of the end face of the pressure vessel. The front wheel axle 7 and the rear wheel axle 17 are coplanar and the angle between the extension lines of the two axes is smaller than 90 degrees, in this embodiment 13 degrees.
The driving part comprises a first coupling 3 arranged on the motor 2, the motor 2 in driving connection with the front wheel shaft 7, a first output shaft 4 in rotating connection with the shell 20, a first gear set connected between the front wheel shaft 7 and the first output shaft 4 for realizing the driving of the two, a first transmission shaft 12 in rotating connection with the shell 20, a second gear set connected between the front wheel shaft 7 and the first transmission shaft 12 for realizing the driving of the two, a second transmission shaft 14 in rotating connection with the shell 20, a third gear set connected between the rear wheel shaft 17 and the second transmission shaft 14 for realizing the driving of the two, and a universal coupling 13 connected between the first transmission shaft 12 and the second transmission shaft 14. The first gear set comprises a first bevel gear 5 which is coaxial with and fixedly connected with a front wheel shaft 7, and a second bevel gear 6 which is coaxial with and fixedly connected with a first output shaft 4, and the first bevel gear 5 and the second bevel gear 6 are in orthogonal fit; the second gear set comprises a third bevel gear 8 which is coaxial with the front wheel shaft 7 and fixedly connected with the front wheel shaft, and a fourth bevel gear 10 which is coaxial with the first transmission shaft 12 and fixedly connected with the front wheel shaft, and the third bevel gear 8 and the fourth bevel gear 10 are in orthogonal fit; the third gear set includes a fifth bevel gear 15 coaxially and fixedly connected with the second transmission shaft 14, a sixth bevel gear 16 coaxially and fixedly connected with the rear wheel shaft 17, and the fifth bevel gear 15 and the sixth bevel gear 16 are orthogonally mated.
The end portions of the front wheel axle 7 and the rear wheel axle 17 with smaller distance are inner end portions of the two, the other two end portions are outer end portions, the two wheels mounted on the inner end portions are respectively driving wheels 18 and are respectively and fixedly connected coaxially with the front wheel axle 7 and the rear wheel axle 17, and the two wheels mounted on the outer end portions are respectively and rotatably connected coaxially with the front wheel axle 7 and the rear wheel axle 17. The inner side end is positioned at the inner side of the shell 20, the outer side end is positioned at the outer side of the shell 20, the inner side of the shell 20 is provided with a fixed leaning wheel 1, the outer side of the shell 20 is provided with a movable leaning wheel 11, the movable leaning wheel 11 can be turned over, and after the movable leaning wheel 11 is turned down, the fixed leaning wheel 1 and the movable leaning wheel 11 clamp the flange surface end of the pressure vessel.
Due to the above arrangement, the present invention has the following advantages:
(1) After the mechanism is placed on the surface of the top cover of the RPV pressure vessel and the fixed leaning wheel 1 is positioned close to the inner side of the flange surface, the movable leaning wheel 11 is placed on the outer side of the clamping flange surface, so that the equipment positioning can be rapidly completed.
(2) The housing 20 is shaped to fit a portion of the flange face of the pressure vessel within 13 degrees of the central angle and is adapted to move circumferentially around the flange face smoothly.
(3) The direct current servo motor 2 is arranged on the inner side of the front part of the chassis of the travelling mechanism shell, the direction of the motor is vertical to the front axle 7 of the wheel, the output end of the motor is connected with the coupler 3, and the coupler 3 is connected with the first output shaft 4; the first output shaft 4 is provided with a first bevel gear 5, the front wheel shaft 7 is provided with a second bevel gear 6 which is perpendicular to the bevel pinion, the transmission ratio of the two is 1:2, the driving moment is further increased, the servo motor 2 drives the coupler 3 to be transmitted to the first output shaft 4 for movement, and the power is transmitted to the front wheel shaft 7 through the cooperation of the orthogonal bevel gears; the front axle 7 and the rear axle 17 are provided with two driving wheels 18 (inside the casing) respectively by key connection, and the outside is the freewheel 9, so that the difference between the rotational speeds of the inside and the outside can be compensated.
(4) The front axle 7 of the wheel is provided with a key slot, a third bevel gear 8 is fixed through the key slot, the third bevel gear 8 rotates under the action of the front axle of the wheel, a fourth bevel gear 10 is connected and fixed on a first transmission shaft 12 through a flat key, the fourth bevel gear 10 is in orthogonal fit with the third bevel gear 8, and the first transmission shaft 12 rotates through the rotation of the third bevel gear 8; the other end of the first transmission shaft 12 is connected with the universal coupling 13 through a pin connection mode, the other end of the universal coupling 13 is also connected with the second transmission shaft 14 through a pin, the bending angles of the two ends of the universal coupling are the same, and the consistency of the transmission speed is ensured. The other end of the second transmission shaft 14 is fixedly connected with a fifth bevel gear 15 through a pin, and the fifth bevel gear 15 is rotated due to the rotation movement of the second transmission shaft 14; the sixth bevel gear 16 is fixed to the rear wheel axle 17 by a key connection, and the sixth bevel gear 16 is fitted orthogonally to the fifth bevel gear 15, thereby transmitting the driving force to the rear wheel axle 17 with high transmission efficiency.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (5)
1. The utility model provides a reactor pressure vessel bolt hole video scanning device running gear, its includes the casing, rotate connect in preceding axle of wheel and wheel back axle on the casing, install in wheel on preceding axle of wheel and the wheel back axle, and be used for driving wheel pivoted drive division, the wheel front axle with the wheel back axle coplane and the arc circular of both axes's extension line process pressure vessel terminal surface, its characterized in that: the driving part comprises a motor in driving connection with the front axle of the wheel, a first output shaft rotationally connected to the shell, a first gear set connected between the front axle of the wheel and the first output shaft for realizing the transmission of the front axle of the wheel and the first output shaft, a first transmission shaft rotationally connected to the shell, a second gear set connected between the front axle of the wheel and the first transmission shaft for realizing the transmission of the front axle of the wheel and the first transmission shaft, a second transmission shaft rotationally connected to the shell, a third gear set connected between the rear axle of the wheel and the second transmission shaft for realizing the transmission of the rear axle of the wheel and the second transmission shaft, and a universal coupler connected between the first transmission shaft and the second transmission shaft;
the two wheels mounted on the inner side end parts are respectively driving wheels and are respectively and fixedly connected with the front wheel shaft and the rear wheel shaft coaxially, and the two wheels mounted on the outer side end parts are respectively and coaxially and rotatably connected with the front wheel shaft and the rear wheel shaft; the inner side end part is positioned at the inner side of the shell, the outer side end part is positioned at the outer side of the shell, the inner side of the shell is provided with a fixed leaning wheel, the outer side of the shell is provided with a movable leaning wheel, the movable leaning wheel can turn over, and after the movable leaning wheel turns down, the fixed leaning wheel and the movable leaning wheel clamp the end part of the pressure container;
the direct current servo motor is arranged on the inner side of the front part of the chassis of the travelling mechanism shell, the direction of the motor is vertical to the front axle of the wheel, the output end of the motor is connected with a coupler, and the coupler is connected with a first output shaft; a first bevel gear is arranged on the first output shaft, a second bevel gear perpendicular to the first bevel gear is arranged on the front axle of the wheel, the transmission ratio of the first bevel gear to the second bevel gear is 1:2, the servo motor drives the coupler to transmit motion to the first output shaft, and power is transmitted to the front axle of the wheel through the cooperation of the orthogonal bevel gears; the front axle and the rear axle are connected by keys and are respectively arranged at the inner sides of the two driving wheel shells, and the outer sides of the front axle and the rear axle are free wheels, so that the difference of the rotation speeds of the inner side and the outer side can be compensated;
the travelling wheel of the mechanism adopts soft polyurethane and has knurled surface.
2. The reactor pressure vessel bolt hole video scanning device running gear of claim 1, wherein: the front axle and the rear axle are coplanar, and the included angle formed by the intersection of the extension lines of the two axes is smaller than 90 degrees.
3. The reactor pressure vessel bolt hole video scanning device running gear of claim 1, wherein: the driving part comprises a first coupler arranged on the motor, the first gear set comprises a first bevel gear which is coaxial with the front axle of the wheel and fixedly connected with the front axle of the wheel, and a second bevel gear which is coaxial with the first output axle and fixedly connected with the front axle of the wheel, and the first bevel gear and the second bevel gear are in orthogonal fit.
4. The reactor pressure vessel bolt hole video scanning device running gear of claim 1, wherein: the second gear set comprises a third bevel gear and a fourth bevel gear, the third bevel gear is coaxial with the front axle of the wheel and is fixedly connected with the front axle of the wheel, the fourth bevel gear is coaxial with the first transmission axle and is fixedly connected with the first transmission axle, and the third bevel gear and the fourth bevel gear are in orthogonal fit.
5. The reactor pressure vessel bolt hole video scanning device running gear of claim 1, wherein: the third gear set comprises a fifth bevel gear which is coaxial with the second transmission shaft and fixedly connected with the second transmission shaft, and a sixth bevel gear which is coaxial with the rear axle of the wheel and fixedly connected with the rear axle of the wheel, and the fifth bevel gear and the sixth bevel gear are in orthogonal fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110827511.0A CN113488216B (en) | 2021-07-22 | 2021-07-22 | Running mechanism of video scanning device for bolt holes of reactor pressure vessel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110827511.0A CN113488216B (en) | 2021-07-22 | 2021-07-22 | Running mechanism of video scanning device for bolt holes of reactor pressure vessel |
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| Publication Number | Publication Date |
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| CN113488216A CN113488216A (en) | 2021-10-08 |
| CN113488216B true CN113488216B (en) | 2024-02-13 |
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| CN202110827511.0A Active CN113488216B (en) | 2021-07-22 | 2021-07-22 | Running mechanism of video scanning device for bolt holes of reactor pressure vessel |
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| US4476952A (en) * | 1981-11-25 | 1984-10-16 | Nissan Motor Company, Limited | Four-wheel vehicle drive system |
| US5117551A (en) * | 1989-01-10 | 1992-06-02 | Barras-Provence | Tool-carrier vehicle for inspecting and/or maintaining bolt holes in the cover of a steam vessel or the like |
| JPH08240690A (en) * | 1995-03-01 | 1996-09-17 | Toshiba Corp | Shroud inspection apparatus |
| JP2005188954A (en) * | 2003-12-24 | 2005-07-14 | Toshiba Corp | Device and method for inspection in reactor |
| CN103863431A (en) * | 2012-12-17 | 2014-06-18 | 核动力运行研究所 | Traveling mechanism of reactor pressure vessel bolt hole closed-circuit television inspection device |
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| CN104015199A (en) * | 2014-05-29 | 2014-09-03 | 中广核检测技术有限公司 | Mechanical arm and detection robot based on mechanical arms |
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Family Cites Families (1)
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| CN111247020B (en) * | 2017-10-24 | 2021-10-15 | 日产自动车株式会社 | Power transmission device for four-wheel drive vehicle |
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- 2021-07-22 CN CN202110827511.0A patent/CN113488216B/en active Active
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| CN113488216A (en) | 2021-10-08 |
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