CN209399976U - One kind being suitable for in-pile component anti-loose structure automatic video frequency check device - Google Patents
One kind being suitable for in-pile component anti-loose structure automatic video frequency check device Download PDFInfo
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- CN209399976U CN209399976U CN201822155585.0U CN201822155585U CN209399976U CN 209399976 U CN209399976 U CN 209399976U CN 201822155585 U CN201822155585 U CN 201822155585U CN 209399976 U CN209399976 U CN 209399976U
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- chain type
- mechanical arm
- loose structure
- check device
- pile component
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Abstract
The utility model belongs to nuclear power maintenance field, is related to a kind of suitable for in-pile component anti-loose structure automatic video frequency check device.The mode manually checked at present by site space limited more, the degree of automation is low, camera cannot comprehensive arrival be detected region；Tool stability is poor, adjustment camera angle is inconvenient.In the utility model, the hanging ring of the suspension hook connection long rod tool upper end of nuclear island refueling machine, chain type flexible mechanical arm upper end is connected to the lower end of long rod tool, and the other end is fixedly connected on Omni-mobile platform；Chain type mechanical arm is stretched out in chain type flexible mechanical arm lower part, and the front end of chain type mechanical arm is equipped with main video checking system；Auxiliary system is installed on component pool inner wall.The utility model tool stability height, high degree of automation, video check can cover region to be checked comprehensively, facilitate adjustment camera angle and focal length.
Description
Technical field
The invention belongs to nuclear powers to repair field, be related to a kind of suitable for in-pile component anti-loose structure automatic video frequency inspection dress
It sets.
Background technique
In-pile component is the important component of reator body, and long-term work is influenced under adverse circumstances by three-dimensional flow field, two
The stress condition of secondary bearing assembly is complex, and the anti-loose structure of the components such as core support column and instrumentation thimble component, which exists, to be lost
Imitate risk.In-pile component structure is complex, main at present using artificial mobile due to no Special Automatic video check tool
Long rod tool with camera is moved to position to be checked and checked by personnel's suspension bridge mode (or reloading trolley is mobile).
This mode by site space limited more, the degree of automation is low, camera cannot comprehensive arrival be detected region；Tool is stablized
Property it is poor, adjustment camera angle is inconvenient.
A kind of in-pile component anti-loose structure automatic video frequency check device that is suitable for of the invention is mainly used for nuclear in-pile component
The underwater automatic video frequency inspection of anti-loose structure.Tool stability is high, facilitates adjustment camera angle and focal length, video check can be complete
Face covers region to be checked.
Summary of the invention
Purpose:
It is suitable for the automatic video frequency inspection of in-pile component anti-loose structure the technical problem to be solved in the present invention is to provide one kind to fill
It sets, can solve the problem of nuclear in-pile component anti-loose structure underwater video inspection is without tool is automaticly inspected.
Technical solution:
One kind being suitable for in-pile component anti-loose structure automatic video frequency check device, comprising: Omni-mobile platform, second camera
Head, chain type flexible mechanical arm, cable, control system, refueling machine suspension hook, long rod tool, refueling machine, underwater environment headlamp, water
Lower lamps for environmental illumination, main video check camera composition.By means of refueling machine suspension hook by long rod tool, chain type flexible mechanical arm and
Omni-mobile platform assembles, and long rod tool is hung on refueling machine suspension hook, and chain type flexible mechanical arm upper end is connected to stock work
The lower end of tool, the other end are fixedly connected on Omni-mobile platform；The hanging ring of long rod tool upper end is hung over after being completed and is changed
On material machine suspension hook；The front end of chain type mechanical arm is equipped with main video checking system in chain type flexible mechanical arm；In component pool inner wall
On auxiliary system is installed.
The telescopic length of chain type flexible mechanical arm is 2m, and maximum adjustable height is 0.8m；Omni-mobile platform can be flat
Any direction movement or any angle rotation in face.
Auxiliary system includes underwater environment headlamp, underwater environment camera.
Chain type flexible mechanical arm is connected by cable with control system.Main video checking system includes: that main video check is taken the photograph
As head, headlamp, auxiliary camera.It is mechanical that main video check camera and headlamp are mounted on chain type in chain type flexible mechanical arm
The front end of arm can carry out clockwise or counterclockwise within the scope of 0 ° to 180 ° of its main shaft, while can be with chain type mechanical arm
Front end move together.Auxiliary camera is mounted on above the horizontal rail of chain type mechanical arm extension end.
Effect:
Omni-mobile platform can be in basin bottom any direction and angular movement, so that chain type flexible mechanical arm is mobile
To suitable position.By the lifting of chain type mechanical arm and it is flexible by main video check camera be sent to object to be checked top or
Lower section；The environmental aspect near main camera can be observed during chain type flexible mechanical arm 3 is flexible by auxiliary camera；
It can observe the situation of anti-loose structure on the screen by main camera operation personnel.At work under water lamps for environmental illumination and
The lower environment that can obviously observe entire pond of underwater environment camera auxiliary.
It is each anti-that in-pile component can be observed by the main camera of in-pile component anti-loose structure automatic video frequency check device
The situation of loose structure, while can inspection result and process be taken pictures or be recorded a video.
Detailed description of the invention
Fig. 1 in-pile component anti-loose structure automatic video frequency check device
In figure: 1. Omni-mobile platforms, 2. auxiliary cameras, 3. chain type flexible mechanical arms, 4. cables, 5. control systems,
6. refueling machine suspension hook, 7. long rod tools, 8. refueling machines, 9. underwater environment headlamps, 10. underwater environment cameras, 11. main views frequency
Check camera.
Specific embodiment
This patent is described in detail in the following with reference to the drawings and specific embodiments:
As shown in Fig. 1, a kind of in-pile component anti-loose structure automatic video frequency check device that is suitable for of the present invention specifically includes that
Omni-mobile platform 1, auxiliary camera 2, chain type flexible mechanical arm 3, cable 4, control system 5, refueling machine suspension hook 6, stock work
Tool 7, refueling machine 8, underwater environment headlamp 9, underwater environment camera 10, main video check camera 11 form.
Omni-mobile platform 1 is located at the bottom of kit in the present invention, for supporting chain type flexible mechanical arm 3 and inciting somebody to action
It is moved to suitable position.Omni-mobile platform 1 under control of the control system 5, can it is mobile in component pool bottom any direction,
Rotation and the fine tuning of each direction of motion.
Chain type flexible mechanical arm 3 is connected by screw in the support plate of Omni-mobile platform 1 in work, is moved by omnidirectional
Chain type flexible mechanical arm 3 is sent to scheduled position by moving platform 1.The front end of chain type mechanical arm rides in chain type flexible mechanical arm 3
There is main video check camera 11, using the telescoping mechanism and elevating mechanism of chain type flexible mechanical arm 3 by video check camera
It is sent to above or below object to be checked according to path pre-planned.To guarantee that main camera examination scope being capable of full model
The secondary bearing assembly and all attachment screws on instrumentation thimble for enclosing covering lower part in-pile component, the telescopic length of mechanical arm
For 2m, maximum adjustable height is 0.8m.
Main video checking system includes: main video check camera 11 and headlamp, auxiliary camera 2 and headlamp.It is main
Video check camera 11 and headlamp are mounted on the front end of chain type mechanical arm, can stretch with chain type mechanical arm, simultaneously
It can be carried out within the scope of 0 °~180 ° of its main shaft clockwise or counterclockwise, to observe the situation of anti-loose structure.Auxiliary is taken the photograph
The horizontal rail top for being mounted on chain type mechanical arm extension end as first 2, for observing near during chain type mechanical arm stretches out
Environmental aspect.
Control system 5 is placed on the platform of nuclear island absolute altitude 20m, flexible by cable 4 and Omni-mobile platform 1 and chain type
Mechanical arm 3 connects；It is soft by the orientation and chain type of the adjustment Omni-mobile platform 1 of operation control system 5 under the cooperation of refueling machine 8
The motion profile of property mechanical arm 3, to main video check camera 11 is sent to above or below check object, operator
Over the display it can be observed that the case where anti-loose structure, and can inspection result be taken pictures or be recorded a video as needed.
Pool environment camera and submersible lighting fixture in auxiliary system are placed in suitable position in component pool, under water
Ambient lighting device provides enough light sources for entire video check environment, operator on the platform of absolute altitude 20m by means of
Auxiliary system observes the environment in pond, and position and the appearance of underwater video checking tool are observed by top aided positioning system
State.
Specific implementation step is as follows:
When carrying out the inspection of in-pile component anti-loose structure automatic video frequency, step 1 is flexible by Omni-mobile platform 1 and chain type
Mechanical arm 3 is connected by cable 4 with control system 5；By Omni-mobile platform 1, chain type flexible mechanical arm 3 and long rod tool
7 connect；Underwater environment headlamp 9, underwater environment camera 10 are connected by cable 4 with control system 5.
Underwater environment headlamp 9 and underwater environment headlamp 10 are placed on suitable position in component pool by step 2.
Step 3 under water under the auxiliary of environment camera 10, is hung by nuclear island ring by chain type flexible mechanical arm 3 and omnidirectional
Mobile platform 1, which is sling, is put into scheduled initial position in component pool, and the upper end hanging ring of long rod tool is then hung over refueling machine and is hung
On hook 6.
Omni-mobile platform 1 is moved to suitable position by operation control system 5 by step 4, mobile in this process
Refueling machine cooperates the movement of Omni-mobile platform, controls the height and collapsing length of chain type mechanical arm in chain type flexible mechanical arm 3.
Step 5, operation control system 5 control main video check camera 11, according to the upper of both fixed tracks to object to be checked
Side or lower section observe the situation of anti-loose structure by video and inspection result are taken pictures or recorded a video, and related data is transmitted to
Operation control system 5.
Step 6, it is according to scheduled motion profile that main video check camera 11 is mobile after checking out an anti-loose structure
It is checked above or below to another object to be checked, until completing the inspection of all anti-loose structures.
Step 7 after having checked to all anti-loose structures, chain type mechanical arm is withdrawn, and kit is hung out water
Face.
Claims (7)
1. one kind is suitable for in-pile component anti-loose structure automatic video frequency check device, comprising: refueling machine suspension hook (6), long rod tool
(7), refueling machine (8), it is characterised in that: refueling machine suspension hook (6) is mounted on refueling machine (8), refueling machine suspension hook (6) connection length
Hanging ring on bar tool (7), chain type flexible mechanical arm (3) one end are connected to the lower end of long rod tool (7), and the other end is fixedly connected
On Omni-mobile platform (1)；Chain type mechanical arm is stretched out in chain type flexible mechanical arm (3) lower part, equipped with master on chain type mechanical arm
Video checking system；Auxiliary system is installed on component pool inner wall.
2. as described in claim 1 a kind of suitable for in-pile component anti-loose structure automatic video frequency check device, it is characterised in that:
The auxiliary system includes underwater environment headlamp (9), underwater environment camera (10).
3. as described in claim 1 a kind of suitable for in-pile component anti-loose structure automatic video frequency check device, it is characterised in that:
Omni-mobile platform (1) can planar any direction movement or rotation；Chain type is mechanical in the chain type flexible mechanical arm (3)
The telescopic length of arm is 2m, and maximum adjustable height is 0.8m.
4. as claimed in claim 3 a kind of suitable for in-pile component anti-loose structure automatic video frequency check device, it is characterised in that:
The chain type flexible mechanical arm (3) is connected by cable (4) with control system (5).
5. as described in claim 1 a kind of suitable for in-pile component anti-loose structure automatic video frequency check device, it is characterised in that:
The main video checking system includes: main video check camera (11), headlamp, auxiliary camera (2).
6. as claimed in claim 5 a kind of suitable for in-pile component anti-loose structure automatic video frequency check device, it is characterised in that:
The main video check camera (11) and headlamp be mounted on chain type mechanical arm in chain type flexible mechanical arm (3) most before
End, can stretch, while can carry out clockwise or counterclockwise within the scope of 0 ° to 180 ° of its main shaft with chain type mechanical arm.
7. as claimed in claim 5 a kind of suitable for in-pile component anti-loose structure automatic video frequency check device, it is characterised in that:
The auxiliary camera (2) is mounted on above the horizontal rail of chain type mechanical arm extension end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822155585.0U CN209399976U (en) | 2018-12-21 | 2018-12-21 | One kind being suitable for in-pile component anti-loose structure automatic video frequency check device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822155585.0U CN209399976U (en) | 2018-12-21 | 2018-12-21 | One kind being suitable for in-pile component anti-loose structure automatic video frequency check device |
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| CN209399976U true CN209399976U (en) | 2019-09-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111351472A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Automatic video inspection device suitable for anti-loosening structure of in-pile component |
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2018
- 2018-12-21 CN CN201822155585.0U patent/CN209399976U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111351472A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Automatic video inspection device suitable for anti-loosening structure of in-pile component |
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