CN210167126U - Detection robot for water film coverage rate test of nuclear power station - Google Patents
Detection robot for water film coverage rate test of nuclear power station Download PDFInfo
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- CN210167126U CN210167126U CN201920851000.0U CN201920851000U CN210167126U CN 210167126 U CN210167126 U CN 210167126U CN 201920851000 U CN201920851000 U CN 201920851000U CN 210167126 U CN210167126 U CN 210167126U
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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
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Abstract
The utility model discloses a detection robot for a water film coverage rate test of a nuclear power station, which comprises a base and two groups of wheels, wherein the two groups of wheels are respectively arranged at two sides of the base, one group of wheels are travelling wheels, the other group of wheels are supporting wheels, and each group of wheels consists of a plurality of pairs of wheels; the supporting wheels can move close to or away from the base relative to the base; the base is also provided with a camera and a wireless communication module, and the wireless communication module is communicated with a user, receives the instruction of the user and returns the picture information shot by the camera. The supporting wheels are divided into two rows which are independent, the two rows of supporting wheels can be different in angle, the climbing environment with slightly curved surfaces can be better adapted, and the safety shell is protected by arranging the springs on the supporting rods.
Description
Technical Field
The utility model belongs to the nuclear power station field especially relates to an adopt the high flush tank outside to spray to realize that the passive refrigerated containment of containment carries out the water film coverage when experimental to the inlayer steel containment for the robot that detects.
Background
The containment vessel of the nuclear power plant is the last barrier for preventing radioactive substances in the nuclear power plant from being released to the surrounding environment in a large quantity. At present, the method of realizing the safety function of the containment vessel under the serious accident condition of the nuclear power station by only depending on natural force or natural process (such as gravity, natural evaporation of water, natural convection of air and the like) is an important safety feature of a new generation nuclear power station at home and abroad. For an AP/CAP series nuclear power station which adopts a steel inner-layer containment and a high-level water tank for external spray cooling, in order to ensure that the containment function is always normal in the whole service life, a containment water film coverage test needs to be regularly carried out at the debugging stage of the nuclear power station and after the nuclear power station is put into operation, which is an important safety performance test of the AP/CAP series nuclear power station.
FIG. 1 is a schematic diagram of a passive cooling system of a containment vessel of an AP/CAP series nuclear power plant. The purpose of carrying out the containment water film coverage test is to confirm whether the coverage condition of the whole containment surface of the water sprayed from the containment cooling water tank 91 to the surface of the inner layer steel containment at the initial stage of an accident meets the design regulation requirement. The measurement of the water film coverage rate of the containment vessel is required to be carried out at the arch line of the containment vessel, namely, the measurement is carried out at the connecting section of the upper semi-ellipsoidal head and the cylindrical barrel of the middle containment vessel of the inner containment vessel 92 in the figure 1. Considering that the arch line is 40 meters high above the ground, and after the construction of the nuclear power plant is completed, an air deflector 93 is also installed between the inner containment vessel 92 and the outer reinforced concrete structural containment vessel (i.e., the shielding factory building 94 in fig. 1), and the air deflector is only 30 centimeters away from the inner containment vessel. Such field conditions pose particular difficulties for the measurement of water film coverage at the inner containment camber line.
At present, the experience of the existing AP/CAP series nuclear power station containment water film coverage rate test at home and abroad is only obtained in the system debugging stage before the nuclear power station is put into operation. In the debugging stage, because the installation of the air guide plate is carried out after the containment water film coverage rate test is completed, a tester can reach the position of the arch wire of the inner containment through building a scaffold on the ring corridor between the inner containment and the outer containment, and can obtain the water film coverage rate data by means of manual measurement. However, if the method is used for carrying out a test after the nuclear power plant is put into operation, part of the air guide plate must be removed before the test, and the scheme is obviously not an ideal scheme no matter the safety of field operation or the economy of the nuclear power plant.
Disclosure of Invention
The utility model aims at providing a be applicable to AP/CAP series nuclear power station site conditions, be used for carrying out the experimental detection robot of inlayer containment water film coverage.
Therefore, the utility model discloses a technical scheme is like this:
the detection robot for the water film coverage rate test of the nuclear power station comprises a base and two groups of wheels, wherein the two groups of wheels are respectively arranged on two sides of the base, one group of wheels are travelling wheels, the other group of wheels are supporting wheels, and each group of wheels consists of a plurality of pairs of wheels; the supporting wheels can move close to or away from the base relative to the base; the base is also provided with a camera, a wireless communication module and a battery pack, the battery pack is used for supplying power, and the wireless communication module is used for communication between the robots or between the robots and the user, receiving the instruction of the user and returning the picture information shot by the camera.
Furthermore, the supporting wheel is arranged on the base through a connecting rod mechanism, the connecting rod mechanism comprises a supporting rod and a push rod mechanism, one end of the supporting rod is rotatably connected with the base, the supporting wheel is arranged at the other end of the supporting rod, one end of the push rod mechanism is connected to the base, the other end of the push rod mechanism is rotatably connected with the middle part of the supporting rod, and the push rod mechanism can stretch in the length direction; so that the support wheels can move closer to or further away from the base.
As a further technical scheme, the supporting wheels are divided into two rows of supporting wheels, and the supporting wheels are respectively and independently connected with the supporting rod in a rotating mode through supporting wheel seats.
The support rod is divided into two sections which are connected by a spring.
The support rod is also provided with a pressure sensor.
The push rod mechanism comprises a motor for controlling the telescopic motion of the push rod.
The shooting area of the camera deviates from the traveling area of the robot.
A dimension scale is preset on the camera.
During detection, the detection robot is vertically placed between the inner containment and the air guide plate, the traveling wheel is in contact with the air guide plate, and the support wheel is opposite to the inner containment; the push rod mechanism is controlled to extend, so that the support rod is pushed to rotate, the support wheel is far away from the base until the support wheel applies pressure to the surface of the inner-layer containment shell, all forces are balanced, and the robot is suspended between the inner-layer containment shell and the air guide plate by means of friction force provided by all the wheels; controlling the traveling wheel to rotate, and enabling the robot to climb upwards to a specified height; and controlling the robot to turn to enable the robot to move in the horizontal direction, and simultaneously shooting and returning shot data by the camera.
And processing data returned by the camera by using image analysis software, judging whether a water flow area and a water-free area exist in the picture, and calculating the water film coverage rate.
The robots measure the water film coverage rate in different areas; the robots communicate wirelessly to adjust the measurement range.
In the utility model, two coaxial and opposite wheels are called as 'pair'; a plurality of wheels with different axes and basically coincident motion tracks are called as 'rows'; the two groups of wheels are arranged on two sides of the base, and refer to the parts of the wheels, which are in contact with the opposite surfaces, and are distributed on two sides of the base.
The working environment of the robot is the gap of the circular ring, and the diameter of the circular ring is large, so that the robot can be approximately considered to be positioned between two planes relative to the size of the robot, and the robot can climb in the gap; meanwhile, the supporting wheels are divided into two rows which are independent from each other, which means that the angles of the two rows of supporting wheels can be different, so that the climbing device can better adapt to the climbing environment with slightly curved surfaces; in order to avoid under some circumstances, the too big and damage that causes for inlayer safety shell surface of pressure of supporting wheel, the utility model discloses set up the spring on the bracing piece, the spring plays overload protection's effect in fact, can undertake too big pressure, protects inlayer safety shell.
It can be seen from the above description, the utility model discloses need not to demolish air guide plate in the course of the work, also need not take the scaffold frame, do not have any damage to field device, can accomplish the detection achievement of water film coverage.
In the moving process of the robot, the robot inevitably passes through an area with water flow, and in order to avoid the influence of the movement trace of the supporting wheel on the measurement accuracy, the camera designed by the utility model deviates from the robot; the camera can be installed by giving an elevation angle, and the camera can also be installed by arranging a crank arm, so that the shooting area of the camera and the travelling area of the supporting wheel cannot be overlapped. By controlling the movement path of the robot, the traveling area is always below the shooting area, and the water at the downstream cannot influence the water at the upstream. In addition, after the scale is preset on the camera, the shot picture is provided with the scale, so that the subsequent calculation is facilitated.
Drawings
The following detailed description is made with reference to the accompanying drawings and embodiments of the present invention
FIG. 1 is a schematic diagram of a passive cooling system of a containment vessel of an AP/CAP series nuclear power plant;
FIG. 2 is a schematic structural view of the present invention;
fig. 3 is a schematic view of the operation of the present invention.
Labeled as: the device comprises a base 1, a traveling wheel 2, a supporting wheel 3, a first driving motor 41, a second driving motor 42, a camera 5, a wireless communication module 6, a communication antenna 7, a supporting wheel seat 8, a supporting rod 9, a connecting plate 10, a connecting bolt 11, a spring 12, a pressure sensor 13, a push rod 14, a push rod motor 15, a push rod base 16, a containment cooling water tank 91, an inner containment 92, an air deflector 93 and a shielding workshop 94.
Detailed Description
See the drawings. The detection robot comprises a base 1 and two groups of wheels, wherein the two groups of wheels are respectively arranged on two sides of the base, one group of wheels is a travelling wheel 2, the other group of wheels is a supporting wheel 3, and each group of wheels consists of a plurality of pairs of wheels; each travelling wheel 2 is independently provided with a first driving motor 41, the first driving motor 41 is arranged below the base 1, and the travelling wheel 2 is arranged on a rotating shaft of the first driving motor 41; the base is also provided with a camera 5, a wireless communication module 6 and a large-capacity battery pack, wherein the wireless communication module 6 is responsible for communication between the robot and the robot (if necessary) and between the robot and the user, receives the instruction of the user and returns the picture information shot by the camera, the wireless communication module 6 is also provided with a communication antenna 7, and the battery pack is responsible for supplying power to the whole robot. The camera rotates to be installed on a support, and the support is established on wireless communication module 6, and the camera is installed on the support through a pivot to can revolute the rotation of axes, the camera is the angle of elevation or the angle of depression and shoots, thereby makes the shooting region of camera deviate from the region of marcing in the robot, has set gradually the size scale on the camera simultaneously, makes the picture of shooing from taking the scale.
The supporting wheels 3 can move close to or far away from the base 1 relative to the base, the supporting wheels and the wheels with different axes are in a row and are divided into two rows of supporting wheels, two supporting wheel seats 8 are arranged and are of a strip-shaped structure, the two rows of supporting wheels are respectively and independently arranged on one supporting wheel seat 8, each supporting wheel 3 is provided with an independent second driving motor 42, the second driving motors are arranged on the supporting wheel seats, the two independent supporting wheel seats 8 can enable the angles of the two rows of supporting wheels to be different, the supporting wheel seats 8 are arranged on the base 1 through a connecting rod mechanism, the connecting rod mechanism comprises a supporting rod 9 and a push rod mechanism, the bottom end of the supporting rod 9 is rotatably connected with the base 1 through a connecting plate 10 and a connecting bolt 11, and the top end of the supporting rod 9 is provided with the two supporting wheel seats 8; the support rod is divided into two sections which are connected by a spring 12, and a pressure sensor 13 is also arranged on the support rod. The push rod mechanism comprises a push rod 14, a push rod motor 15 and a push rod base 16, the push rod base 16 is installed on the base 1, the push rod 14 and the push rod motor 15 are installed on the push rod base 16, the end portion of the push rod 14 is rotatably connected with the middle portion of the supporting rod 9, the push rod motor 15 controls the telescopic movement of the push rod 14, the push rod can stretch in the length direction, and therefore the supporting wheel 3 can move close to or far away from the base 1.
When the detection robot is used, the detection robot is vertically placed between the inner containment 92 and the air guide plate 93, the traveling wheel 2 corresponds to the air guide plate 93, and the support wheel 3 corresponds to the inner containment 92; the push rod 14 of the push rod mechanism is controlled to extend, so that the support rod 9 is pushed to rotate, the support wheel 3 is far away from the base 1 until the support wheel 3 applies pressure to the surface of the inner containment 92, all the forces reach balance, and the robot is kept between the inner containment 92 and the air deflector 93; controlling the travelling wheel 2 to rotate, and enabling the robot to climb upwards to a specified height; controlling the robot to turn to move in the horizontal direction, and simultaneously shooting by the camera 5 and returning shot data; and processing data returned by the camera by using image analysis software, judging whether a water flow area and a water-free area exist in the picture, and calculating the water film coverage rate.
Claims (8)
1. A inspection robot for nuclear power station water film coverage is experimental, its characterized in that: the device comprises a base and two groups of wheels, wherein the two groups of wheels are respectively arranged on two sides of the base, one group of wheels are travelling wheels, the other group of wheels are supporting wheels, and each group of wheels consists of a plurality of pairs of wheels; the supporting wheels can move close to or away from the base relative to the base; the base is also provided with a camera, a wireless communication module and a battery pack, the battery pack is used for supplying power, and the wireless communication module is used for communication between the robots or between the robots and the user, receiving the instruction of the user and returning the picture information shot by the camera.
2. The inspection robot of claim 1, wherein: the supporting wheel is arranged on the base through a connecting rod mechanism, the connecting rod mechanism comprises a supporting rod and a push rod mechanism, one end of the supporting rod is rotatably connected with the base, the supporting wheel is arranged at the other end of the supporting rod, one end of the push rod mechanism is connected to the base, the other end of the push rod mechanism is rotatably connected with the middle part of the supporting rod, and the push rod mechanism can stretch in the length direction; so that the support wheels can move closer to or further away from the base.
3. The inspection robot of claim 2, wherein: the supporting wheels are arranged in a row, are divided into two rows of supporting wheels and are respectively and independently connected with the supporting rod in a rotating mode through the supporting wheel seats.
4. The inspection robot of claim 2, wherein: the support rod is divided into two sections which are connected by a spring.
5. The inspection robot of claim 4, wherein: the support rod is also provided with a pressure sensor.
6. The inspection robot of claim 2, wherein: the push rod mechanism comprises a motor for controlling the telescopic motion of the push rod.
7. The inspection robot of claim 1, wherein: the shooting area of the camera deviates from the traveling area of the robot.
8. The inspection robot of claim 7, wherein: a dimension scale is preset on the camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920851000.0U CN210167126U (en) | 2019-06-06 | 2019-06-06 | Detection robot for water film coverage rate test of nuclear power station |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920851000.0U CN210167126U (en) | 2019-06-06 | 2019-06-06 | Detection robot for water film coverage rate test of nuclear power station |
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| CN210167126U true CN210167126U (en) | 2020-03-20 |
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| CN201920851000.0U Active CN210167126U (en) | 2019-06-06 | 2019-06-06 | Detection robot for water film coverage rate test of nuclear power station |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176320A (en) * | 2019-06-06 | 2019-08-27 | 核星核电科技(海盐)有限公司 | Detection robot and detection method for the test of nuclear power station moisture film coverage rate |
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2019
- 2019-06-06 CN CN201920851000.0U patent/CN210167126U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110176320A (en) * | 2019-06-06 | 2019-08-27 | 核星核电科技(海盐)有限公司 | Detection robot and detection method for the test of nuclear power station moisture film coverage rate |
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