CN212681914U - Visual cleaning robot of pipeline for nuclear power station - Google Patents

Abstract

The utility model belongs to the technical field of nuclear power station generator and auxiliary system, especially, relate to a visual cleaning robot of pipeline for nuclear power station. The visual pipeline cleaning robot for the nuclear power station comprises a video probe, a high-pressure water gun head and a robot body for mounting the video probe and the high-pressure water gun head; the robot body comprises a guiding device, a fixing and adjusting device, a video driving device and a high-pressure driving device, wherein the guiding device is used for exploring the internal working condition of the pipeline and guiding, the fixing and adjusting device is used for fixing the robot body in the pipeline, the video driving device is used for driving the video probe to move to be aligned with a part to be cleaned in the pipeline, and the high-pressure driving device is used for driving the high-pressure water gun head to move to be aligned with the part to be cleaned in the pipeline. Therefore, the visual pipeline cleaning robot for the nuclear power station can automatically clean the part to be cleaned in the pipeline, and the pipeline cleaning cost is reduced.

Description

Visual cleaning robot of pipeline for nuclear power station

Technical Field

The utility model belongs to the technical field of nuclear power station generator and auxiliary system, especially, relate to a visual cleaning robot of pipeline for nuclear power station.

Background

At present, the hollow copper conductor of the stator coil of the large-scale generator for the nuclear power station mostly adopts desalted water as a cooling medium, and along with the increase of the running years of a power station generator, a corrosion product of the hollow copper conductor of the stator coil of the generator migrates to a water outlet part of a coil bar, a water loop is gradually blocked, the heating of the stator coil is influenced, so that the forced shutdown treatment of the generator caused by the local blocking of the hollow copper conductor can be caused, and even the burning accident of a stator winding can occur. Because a special position of the stator coil water box is easy to be blocked and the video probe cannot directly reach the special position for detection, whether the special position is blocked or not cannot be accurately determined through the video probe on time, and in the prior art, the following three methods are generally adopted for cleaning the special position of the stator coil water box: 1. manual cleaning, namely manually cleaning deposits in the copper conductor, but the method needs to visually check the blockage condition after the stator water circuit is disassembled and manually clean the deposits, and has the defects of high cost, high risk, much time consumption and the like; 2. the method comprises the following steps of mechanical flushing, namely performing steam-water two-phase flushing by adopting high-pressure nitrogen and demineralized water, wherein the steam-water two-phase flushing has a certain relieving effect on sediments inside a hollow copper conductor of a generator stator coil, but has a poor cleaning effect on the severely blocked hollow copper conductor of the generator stator coil, and cannot perform directional inspection on the blocking condition of the hollow copper conductor; 3. chemical cleaning is realized by a method for removing deposits inside a hollow copper conducting wire of a stator coil of a generator by using compound dissolution, but in the method, the compound used for cleaning has very limited dissolution on copper materials, and the dissolution speed is slow and the effect is relatively weak.

Disclosure of Invention

The utility model discloses the technical problem that will solve is: the visual cleaning robot for the nuclear power station pipeline is provided for solving the problems that the blocked part of a hollow copper conductor of a generator stator coil is not easy to detect and clean in the prior art.

In view of the above technical problem, the utility model provides a visual cleaning robot of pipeline for nuclear power station includes video probe, high pressure water gun head and is used for installing the robot body of video probe and high pressure water gun head;

the robot body comprises a guiding device, a fixing and adjusting device, a video driving device and a high-pressure driving device, wherein the guiding device is used for exploring the internal working condition of the pipeline and guiding, the fixing and adjusting device is used for fixing the robot body in the pipeline, the video driving device is used for driving the video probe to move to be aligned with a part to be cleaned in the pipeline, and the high-pressure driving device is used for driving the high-pressure water gun head to move to be aligned with the part to be cleaned in the pipeline; the guide device is rotationally connected with the fixed adjusting device; the video driving device is rotatably connected with one end of the fixed adjusting device, which is far away from the guide device; the high-voltage driving device is rotatably connected with one end, far away from the fixed adjusting device, of the video driving device.

Optionally, the guiding device comprises a first camera, a second camera, a first illuminating lamp, a second illuminating lamp and a guiding body rotatably connected with the fixed adjusting device; the first camera and the first illuminating lamp are installed on the guide body and far away from one end of the fixed adjusting device, and the second camera and the second illuminating lamp are installed at one end of the guide body and far away from the first camera.

Optionally, the fixed adjusting device comprises a fixed adjusting body, a support member and an adjusting member; the fixed adjusting device comprises a fixed adjusting device body and is characterized in that a first groove used for installing an adjusting piece is formed in the fixed adjusting device body, and a second groove communicated with the first groove and used for installing the supporting piece is formed in the outer wall of the fixed adjusting device body.

Optionally, a sliding groove is formed in the guide body, and the guide device further comprises a plunger mounted in the sliding groove;

the fixed adjusting device also comprises a connecting rod, one end of the connecting rod is connected with the plunger, and the other end of the connecting rod is connected with the supporting piece; the connecting rod drives the supporting piece to extend out of the second groove under the driving of the plunger so as to fix the robot body in the pipeline.

Optionally, the robot body further comprises a harness management device for managing all harnesses of the guiding device, the fixing and adjusting device, the video driving device and the high-voltage driving device; the wire harness management device is rotatably connected to one end, far away from the video driving device, of the high-voltage driving device.

Optionally, the harness management device comprises a cable distributor, a compressed air decomposer, a waterproof cable joint and a harness management body for mounting the cable distributor, the compressed air decomposer and the waterproof cable joint; the compressed air decomposer is used for driving the plunger to move along the sliding groove.

Optionally, the video driving device comprises a first driving member, a first conveying member and a video driving body for mounting the first driving member and the first conveying member; the first conveying piece is connected with the first driving piece and the video probe, and the first driving piece drives the first conveying piece to drive the video probe to move.

Optionally, the video drive apparatus comprises a first clamp for clamping a cable connected to the video probe; the first clamping member is installed inside the video driving body and connected with the first conveying member.

Optionally, the high-pressure driving device comprises a second driving element, a second conveying element and a high-pressure driving body for mounting the second driving element and the second conveying element; the second driving piece drives the second conveying piece to drive the high-pressure water gun head to move.

Optionally, the high-pressure driving device further comprises a second clamping member for clamping a water pipe connected with the high-pressure water gun head; the second clamping member is mounted inside the high-pressure driving body and connected with the second conveying member.

Optionally, the video probe comprises a hand grip for gripping a large object to be cleaned at the part to be cleaned and an endoscope mounted on the hand grip for observing the part to be cleaned.

In the utility model, the high-pressure water gun head for cleaning the part to be cleaned of the pipeline and the video probe for observing the part to be cleaned are carried on the robot body, and the robot body adopts a modularized arrangement and can smoothly move in the pipeline; and the robot body adopts a snake-shaped modular structure design and can run in a pipeline with a complex structure, so that the applicability of the visual pipeline cleaning robot for the nuclear power station is improved. The guide device can pull the robot body to move in the pipeline, and when the robot body reaches a part to be cleaned of the pipeline, the fixing and adjusting device can fix the robot body in the pipeline; the fixed adjusting device can also adjust the video probe and the high-pressure water gun head to be aligned with the part to be cleaned in the pipeline; the video driving device is used for driving the video probe to move to the part to be cleaned so as to observe the part to be cleaned, and the high-pressure driving device is used for driving the high-pressure water gun head to move to the part to be cleaned and clean the part to be cleaned. This visual cleaning robot of pipeline for nuclear power station can be complicated at inner structure smooth current in the pipeline carries on the robot body the high pressure squirt head is washd should treat when wasing the position, video probe can also be used for observing treat the position and situation when the high pressure squirt washs, so this visual cleaning robot of pipeline for nuclear power station can be with the position sanitization of treating in the pipeline, has reduced the pipeline cleaning cost to the cleaning speed is fast, the cleaning performance is good, the inside cleaning work of large-scale generator stator coil hollow copper conductor such as specially adapted nuclear power station.

Drawings

The present invention will be further explained with reference to the drawings and examples.

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of a visual cleaning robot for a pipeline of a nuclear power station according to an embodiment of the present invention;

fig. 2 is a structural diagram of a guiding device of a visual cleaning robot for a pipeline in a nuclear power plant according to an embodiment of the present invention;

fig. 3 is a cross-sectional view of a guiding device of a visual cleaning robot for a pipeline in a nuclear power plant according to an embodiment of the present invention;

fig. 4 is a front view of a fixing and adjusting device of a visual cleaning robot for a pipeline in a nuclear power plant according to an embodiment of the present invention;

fig. 5 is a left side view of a fixing and adjusting device of a visual cleaning robot for a pipeline in a nuclear power plant according to an embodiment of the present invention;

fig. 6 is a cross-sectional view of a high-pressure driving device of a visual cleaning robot for a pipeline in a nuclear power plant according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a video driving apparatus of a visual pipeline cleaning robot for a nuclear power station according to an embodiment of the present invention;

fig. 8 is a cross-sectional view of a harness management device of a visual cleaning robot for a pipeline in a nuclear power plant according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a video probe of a visual cleaning robot for a pipeline in a nuclear power station according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a video probe; 11. a gripper; 12. an endoscope; 2. a high-pressure water gun head; 3. a robot body; 31. A guide device; 311. a first camera; 312. a second camera; 313. a first illumination lamp; 314. a guide body; 3141. a sliding groove; 315. a plunger; 32. a video driving device; 321. a first driving member; 322. a first conveyance member; 323. a video driver body; 33. a high voltage drive device; 331. a second driving member; 332. a second conveyance member; 333. a high voltage drive body; 34. fixing the adjusting device; 341. a support member; 342. fixing the adjusting body; 3421. a second groove; 343. a connecting rod; 35. a harness management device; 351. a cable distributor; 352. a waterproof cable joint; 353. a harness management body.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

As shown in fig. 1 and 5, an embodiment of the present invention provides a visual cleaning robot for a pipeline of a nuclear power station, including a video probe 1, a high-pressure water gun head 2, and a robot body 3 for installing the video probe 1 and the high-pressure water gun head 2; it will be appreciated that the video probe 1 includes, but is not limited to, an endoscope or the like, which is small in diameter and facilitates movement within the conduit; the high-pressure water gun head 2 comprises a gas-liquid two-phase high-pressure water gun head and the like, and cleaning liquid sprayed by the gas-liquid two-phase high-pressure water gun head is more beneficial to cleaning blocked sediments in the pipeline.

Preferably, as shown in fig. 9, the video probe 1 includes a grip 11 for gripping a large object to be cleaned at the site to be cleaned and an endoscope 12 mounted on the grip for observing the site to be cleaned. It is understood that after the object to be cleaned is cleaned by the high-pressure water gun head 2, a large block of the object to be cleaned may fall off the pipeline after being cleaned, and the hand grip 11 may be used for gripping the large block of the object to be cleaned; further, be equipped with on the robot body 3 and be used for holding the bold that places tongs 11 snatch and wait to wash the storage tank (not shown in the figure) of thing, tongs 11 snatch the bold and wait to wash and put into after the thing the storage tank to in take it out the pipeline, tongs 11's convenient design this nuclear power station is right the visual cleaning robot of pipeline is to the clearance of waiting to wash the thing in the pipeline, and work efficiency is higher. It is understood that the gripper 11 includes more than two claws, and preferably, for the purpose of facilitating observation to accurately grip a large object to be cleaned, the endoscope 12 is installed at a middle position of the plurality of claws of the gripper 11, and the endoscope 12 may also be installed on a cable connecting the gripper 11 and the robot body 3, so as to facilitate the gripping work of the gripper (i.e., the endoscope 12 does not obstruct the gripping of the gripper 11 for gripping a large object to be cleaned).

The robot body 3 comprises a guiding device 31 for exploring the internal working condition of the pipeline and guiding, a fixing and adjusting device 34 for fixing the robot body 3 in the pipeline, a video driving device 32 for driving the video probe 1 to move to be aligned with the part to be cleaned in the pipeline, and a high-pressure driving device 33 for driving the high-pressure water gun head 2 to move to be aligned with the part to be cleaned in the pipeline; the guide device 31 is rotatably connected with the fixed adjusting device 34; the video driving device 32 is rotatably connected with one end of the fixed adjusting device 34 far away from the guiding device 31; the high-voltage driving device 33 is rotatably connected with one end of the video driving device 32 away from the fixed adjusting device 34. It can be understood that the guiding device 31 is used as the head of the robot body 3, and can detect the inside of the pipeline for the visual cleaning robot for the pipeline of the nuclear power plant, and also can conveniently observe and determine whether a blockage occurs in the pipeline, or determine whether the part to be cleaned in the pipeline needs to be cleaned, and observe the operation conditions of other parts (including the fixed adjusting device 34, the video driving device 32, the high-pressure driving device 33, and the like) of the robot body 3 connected to the rear end of the guiding device 31.

Specifically, when the visual pipeline cleaning robot for the nuclear power station reaches a preset position (the preset position is also the part to be cleaned inside the pipeline), the fixed adjusting device 34 adjusts the high-pressure water gun head 2 and the video probe 1 to be aligned with the part to be cleaned inside the pipeline, and the fixed adjusting device 34 can also fix the robot body 3 in the pipeline and keep the robot body still; the fixed adjustment device 34 can also adjust the high-pressure water gun head 2 and the video probe 1 to be aligned with the part to be cleaned inside the pipeline. The video driving device 32 is used for driving the video probe 1 to move to a part to be cleaned of the pipeline, and the video probe 1 is used for observing and assisting the high-pressure water gun head 2 in cleaning the part to be cleaned; the high-pressure driving device 33 is used for driving the high-pressure water gun head 2 to move forwards to the part to be cleaned and starting to clean the part to be cleaned in the pipeline.

Preferably, as shown in fig. 1, the guiding device 31, the fixed adjusting device 34, the video driving device 32 and the high-pressure driving device 33 are connected in a universal joint rotation manner, so that the robot can move freely in the pipeline; it can be understood that the robot body 3 adopts a 'snake-shaped' structural design, and is adaptable to different types of pipelines, such as T-shaped pipelines, bent pipelines, pipelines with protruding structures on the inner walls, and the like, so that the applicability of the pipeline visual cleaning robot for the nuclear power station is improved.

The utility model discloses in, be used for the washing treat the washing position of pipeline high pressure water gun head 2 and be used for observing should treat the washing position video probe 1 carries on robot 3, robot 3 adopts snakelike modular structure design, can move in the pipeline that the structure is complicated to this nuclear power station is with the visual cleaning robot's of pipeline suitability has been improved. The guiding device 31 can pull the robot body 3 to move in the pipeline, and when the robot body 3 reaches the part to be cleaned of the pipeline, the fixed adjusting device 34 can fix the robot body 3 in the pipeline; the fixed adjusting device 34 can also adjust the video probe 1 and the high-pressure water gun head 2 to be aligned with the parts to be cleaned in the pipeline; the video driving device 32 is used for driving the video probe 1 to move to the part to be cleaned and observing the part to be cleaned, and the high-pressure driving device 33 is used for driving the high-pressure water gun head 2 to move to the part to be cleaned and cleaning the part to be cleaned. This visual cleaning robot of pipeline for nuclear power station can be complicated in inner structure smooth current in the pipeline, carry on robot 3 is last when high-pressure squirt head 2 washs should treat the washing position, video probe 1 can also observe treat the washing position and situation when the high-pressure squirt washs, the washing liquid that high-pressure squirt head 2 inside carried can be chemical, high-pressure nitrogen gas and demineralized water etc. so this visual cleaning robot of pipeline for nuclear power station can be automatic with treat the washing position sanitization in the pipeline, reduced the pipeline abluent cost to the cleaning speed is fast, the cleaning performance is good, the inside cleaning work of large-scale generator stator coil hollow copper conductor such as specially adapted nuclear power station.

In one embodiment, as shown in fig. 2, the guiding device 31 includes a first camera 311, a second camera 312, a first illuminating lamp 313, a second illuminating lamp (not shown), and a guiding body 314 rotatably connected to the fixing and adjusting device 34; the first camera 311 and the first illuminating lamp 313 are mounted (mounted by means of screw connection, snap connection, etc.) at one end of the guide body 314 far from the fixing and adjusting device 34, and the second camera 312 and the second illuminating lamp are mounted (mounted by means of screw connection, snap connection, etc.) at one end of the guide body 314 far from the first camera 311. It can be understood that the first illuminating lamp 313 and the first camera 311 installed at the front end of the guiding body 314 can be used for observing the environment inside the pipeline (in the advancing direction of the pipeline visual cleaning robot for the nuclear power plant), and the second illuminating lamp and the second camera 312 installed at the rear end of the lead device body can be used for observing the operation condition of the rest part of the robot body 3 (the part of the robot body 3 behind the guiding device 31); preferably, the first illuminating lamp 313 and the second illuminating lamp are both LED lamps, and the first camera 311 and the second camera 312 are high-definition cameras with their own rotation functions. The fixed adjusting device 34 can clearly observe the condition inside the pipe and the operation condition of the robot body 3 inside the pipe.

In one embodiment, as shown in fig. 4 and 5, the fixed adjusting device 34 includes a fixed adjusting body 342, a supporting member 341, and an adjusting member (not shown); a first groove (not shown) for installing the adjusting member is formed in the fixing and adjusting device 34, and a second groove 3421 communicated with the first groove and used for installing the supporting member 341 is formed in the outer wall of the fixing and adjusting device 34. It can be understood that, when the robot body 3 moves in the pipeline, the supporting member 341 is retracted in the second groove 3421, and after the robot body 3 reaches the portion to be cleaned in the pipeline, the supporting member 341 extends from the second groove 3421 and is clamped in the pipeline, so as to fix the visual pipeline cleaning robot for the nuclear power station at the portion to be cleaned of the pipeline, and prepare for the subsequent work of the visual pipeline cleaning robot for the nuclear power station. Specifically, when the supporting member 341 does not extend out of the second groove 3421, the inner diameter of the pipe is larger than the outer diameter of the robot body 3, and when the supporting member 341 fully extends out of the second groove 3421, the height of the fixing and adjusting device 34 of the robot body 3 is larger than the inner diameter of the pipe, that is, the extending of the supporting member 341 may be in an elastic state, and may be fixed at a current extending position by external pressure when not fully extending (for example, when receiving pressure applied by the inner wall of the pipe having an inner diameter smaller than the fully extending fixing and adjusting device 34, the pipe abuts against the inner wall of the pipe and is fixed at the position), and thus the visual cleaning robot for a nuclear power plant pipe may be fixed at a preset position of the pipe.

Preferably, the adjusting member includes a first motor (not shown), a second motor (not shown), a first rack and pinion mechanism (not shown) and a second rack and pinion mechanism (not shown) all mounted in the first groove; the first motor is connected to the first rack and pinion mechanism, and is used for adjusting the movement of the supporting member 341 along the front-back direction of the body of the fixed adjusting device 34; the second motor is connected to the second rack and pinion mechanism, and is configured to adjust the rotation of the supporting member 341 around the telescopic direction of the supporting member 341, so as to ensure that the supporting member 341 is aligned with the portion to be cleaned in the pipe.

Preferably, in an embodiment, as shown in fig. 4 and 5, the support 341 is further provided with a first through hole for installing the high-pressure water gun head 2, and a second through hole for installing the video probe 1; the water pipe of the high-pressure water gun head 2 is connected with the high-pressure driving device 33 through the first through hole; the cable of the video probe 1 is connected with the video driving device 32 through the second through hole. It can be understood that the water pipe between the high-pressure water gun head 2 and the high-pressure driving device 33 is a hard water pipe, and the cable between the video probe 1 and the video driving device 32 is a hard cable. Specifically, after the visual pipeline cleaning robot for the nuclear power station reaches and fixes a part to be cleaned in the pipeline, the adjusting part adjusts the high-pressure water gun head 2 and the video probe 1 to be aligned with the part to be cleaned, and the video driving device 32 drives a cable connected with the video probe 1 to move so as to drive the video probe 1 to move to the part to be cleaned; the high-pressure driving device 33 drives the water pipe connected with the high-pressure water gun head 2 to move so as to drive the high-pressure water gun head 2 to move to the part to be cleaned.

In an embodiment, as shown in fig. 3 and 4, a sliding groove 3141 is formed inside the guide body 314, and the guide device 31 further includes a plunger 315 installed in the sliding groove 3141; it can be understood that the plunger 315 is used as an actuating element of pneumatic transmission, and pneumatic transmission is performed by other parts of the robot body 3 (for example, a pneumatic transmission driving element such as a cylinder is used for driving and transmitting pneumatic transmission), so as to achieve bidirectional movement of the plunger 315, and pneumatic transmission can reduce the weight of the robot body 3, thereby facilitating movement of the pipeline visualization cleaning robot for the nuclear power plant in the pipeline.

The fixed adjusting device 34 further comprises a connecting rod 343, one end of the connecting rod is connected with the plunger 315, and the other end of the connecting rod 343 is connected with the supporting member 341; the connecting rod drives the supporting member 341 to extend out of the second groove 3421 under the driving of the plunger 315 so as to fix the robot body 3 in the pipeline. As can be understood, when the plunger 315 moves backwards, the connecting rod 343 connected to the plunger 315 pushes the supporting member 341 to extend out of the second groove 3421, so as to fix the visual pipe cleaning robot for a nuclear power plant in the pipe (i.e., the plunger 315 drives the connecting rod of the fixing and adjusting device 34 and the supporting member 341 to extend out of the pipe under the driving of a pneumatic driving member such as a cylinder, so as to realize the fixed support of the robot body 3 in the pipe); when the plunger 315 moves forward, the supporting member 341 is pulled back to the second groove 3421 by the connecting rod 343 connected to the plunger 315, so as to ensure that the visual pipe cleaning robot for nuclear power plant moves continuously in the pipe to search and clean other parts to be cleaned in the pipe. The plunger 315 has a large power, which can drive the supporting member 341 to extend from the second groove 3421 or pull the supporting member 341 back to the second groove 3421; and the mode that the pneumatic transmission driving element such as an air cylinder drives the plunger 315 (the plunger 315 is an actuating element driven by the air cylinder) to drive the connecting rod and the supporting element 341 to realize the fixed support of the robot body 3 in the pipeline is simple and safe, even if the air source of the air cylinder is removed under the extreme condition of external power loss, the plunger 315 can still automatically drive the supporting element 341 to automatically recover (for example, the supporting element 341 automatically recovers to the second groove 3421 under the action of the resilience force of the elastic element), so that the outer shell of the robot body 3 is recovered to be in a smooth cylindrical shape, and the robot body can conveniently continue to advance or be taken out. Therefore, the pipeline visual cleaning robot for the nuclear power station is fixed in the pipeline and can freely move in the pipeline.

In an embodiment, as shown in fig. 1 and 8, the robot body 3 further includes a harness management device 35 for managing all harnesses of the guide device 31, the fixing and adjusting device 34, the video driving device 32, and the high voltage driving device 33; the harness management device 35 is rotatably connected to one end of the high-voltage driving device 33 far away from the video driving device 32. It will be appreciated that the harness management means 35 may also manage the water lines connecting the high pressure lance head 2 and the air lines connecting the guide means 31, etc. Due to the design of the wire harness management device 35, the guide device 31, the fixed adjusting device 34, the video driving device 32 and the connecting devices such as the connecting cables and the connecting water pipes of the external devices of the high-pressure driving device 33 can be reasonably distributed for the visual cleaning robot for the pipeline of the nuclear power station, and the structure compactness and the trafficability of the visual cleaning robot for the pipeline of the nuclear power station are improved.

In one embodiment, as shown in fig. 8, the harness management device 35 includes a cable distributor (not shown), a compressed air splitter (not shown), a waterproof cable connector 351, and a harness management body 352 for mounting the cable distributor, the compressed air splitter, and the waterproof cable connector 351; the compressed air decomposer is used for driving the plunger 315 to move along the sliding groove 3141. It is understood that the compressed air decomposer can provide power for the plunger 315 in the guiding device 31, so as to drive the plunger 315 to move back and forth along the sliding groove 3141, thereby driving the movement of the pull rod to realize the protrusion of the supporting member 341 from the second groove 3421 or the pull back of the protruded supporting member 341 to the second groove 3421; the guiding device 31, the fixing and adjusting device 34, the video driving device 32 and electric devices inside the high-voltage driving device 33 can be reasonably and electrically connected with external equipment through the cable distributor, the video probe 1 and the high-voltage water gun head 2 can be connected with external equipment through the cable distributor in a shunt way, and the waterproof cable joint 352 of the wire harness management device 35 is connected with the external equipment, so that the visual cleaning robot is ensured to clean the part to be cleaned in the pipeline, the probability of faults such as electric leakage, short circuit and the like of the visual cleaning robot is reduced, and the service life of the visual cleaning robot is prolonged.

In an embodiment, the harness management device 35 further includes a rigid interface connected to an end of the harness management body 352 far from the high-pressure driving device 33, where one end of the rigid interface is connected to an external water supply device (including a water supply device, a chemical agent supply device, and the like), and the other end of the rigid interface is connected to the high-pressure lance head 2. It can be understood that the rigid interface can provide a high-pressure cleaning liquid for the high-pressure water gun head 2 on one hand, and can also be used as a driving element for driving the robot body 3 on the other hand; the concrete process of the rigid interface as a driving piece for driving the robot body 3 is as follows: the water pipe connected with the rigid interface has certain rigidity, and the pipeline robot can move in the pipeline by pushing the water pipe.

In an embodiment, as shown in fig. 6, the video driving device 32 includes a first driving member 321, a first conveying member 322, and a video driving body 323 for mounting the first driving member 321 and the first conveying member 322; the first conveying member 322 is connected to the first driving member 321 and the video probe 1, and the first driving member 321 drives the first conveying member 322 to drive the video probe 1 to move. It can be understood that, after the visual pipe cleaning robot for nuclear power plant reaches the portion to be cleaned of the pipe and is fixed, and the adjusting member aligns the video probe 1 and the high-pressure water gun head 2 with the portion to be cleaned (at this time, the supporting member 341 has been protruded from the second groove 3421), the first driving member 321 drives the first conveying member 322 to convey the video probe 1 to the portion to be cleaned through the cable connected to the video probe 1. Preferably, the first driving member 321 is a first motor, and the first conveying member 322 is a first conveyor belt. It is understood that the first motor drives the first conveyor belt to rotate, and drives the cable clamped between the first conveyor belt to move (including forward and backward movement), so as to transport the video probe 1 to the to-be-cleaned part of the pipeline and pull the video probe 1 from the to-be-cleaned part back to the robot body 3.

In one embodiment, the video driver 32 further comprises a first clamp (not shown) for clamping a cable connected to the video probe 1; the first clamping member is installed inside the video driving body 323 and connected with the first conveying member. As will be understood, since the movement of the video probe 1 is realized by the movement of the cable having a certain flexibility, the first clamping member is connected to the first transmission member 322, so that the first transmission member 322 can smoothly transmit the video probe 1 to the portion of the water pipe to be cleaned through the cable; preferably, the first clamping member is a spring member disposed at both ends of the first conveying member 322.

In an embodiment, as shown in fig. 7, the high-pressure driving device 33 includes a second driving element 331, a second conveying element 332, and a high-pressure driving body 333 for mounting the second driving element 331 and the second conveying element 332; the second driving member 331 drives the second conveying member 332 to drive the high-pressure lance head 2 to move. It can be understood that, when the visual pipeline cleaning robot for a nuclear power plant reaches and is fixed to the part to be cleaned of the pipeline, and the adjusting member aligns the video probe 1 and the high-pressure water gun head 2 with the part to be cleaned (at this time, the supporting member 341 has been protruded from the second groove 3421), the second driving member 331 drives the second conveying member 332 to convey the high-pressure water gun head 2 to the part to be cleaned through the water pipe connected to the high-pressure water gun head 2. Preferably, the second driving element 331 is a second motor, and the second conveying element 332 is a second conveyor belt. It can be understood that the second motor drives the second conveyor belts to rotate, and drives the water pipe clamped between the second conveyor belts to move (including moving forward and moving backward), so as to convey the video probe 1 to the to-be-cleaned part of the pipeline and pull the high-pressure water gun head 2 back to the robot body 3 from the to-be-cleaned part.

In one embodiment, the high pressure driving device 33 further comprises a second clamping member (not shown) for clamping a water pipe connected with the high pressure water lance head 2; the second clamping member is mounted inside 333 the high pressure drive body and is connected to the second delivery member. As will be understood, since the movement of the lance head 2 is achieved by the movement of the water pipe, which has a certain flexibility, the second conveying member 332 is connected to the second clamping member, so that the second conveying member 332 can smoothly convey the lance head 2 to the part of the pipeline to be cleaned through the water pipe; preferably, the second clamping member is a spring member disposed at both ends of the second conveying member 332.

Preferably, the high-pressure water gun head 2 is a rotary nozzle, the water pipe connected with the high-pressure water gun head 2 is a high-pressure hose made of PEEK material. It can be understood that the water pipe made of the PEEK material has good pressure bearing capacity and certain rigidity in the pipeline, and the cleaning work of the high-pressure water gun head 2 on the part to be cleaned in the pipeline can be realized.

In order to help understand the working mechanism of the visual pipeline cleaning robot for the nuclear power station on the part to be cleaned of the pipeline in the pipeline, the visual pipeline cleaning robot for the nuclear power station is taken as an example to work in stator coils of a generator of the nuclear power station, the stator coils surround a water catchment ring, a plurality of branch pipes are connected to the inner wall of the water catchment ring, and the branch pipes are communicated with the water catchment ring; the branch pipes in front of the location where they are connected to the catchment ring are prone to deposit, i.e. the above-mentioned objects to be cleaned. The working steps of the visual pipeline cleaning robot for the nuclear power station in the water catchment ring are as follows:

the video probe and the high-pressure water gun head 2 are installed in the robot body 3, and electrical equipment and hydraulic driving equipment in the robot body are respectively connected with external power supply equipment and liquid supply equipment;

an operator penetrates a prepared hard steel cable into the water catchment ring from the flange opening, fixes the head of the hard steel cable and the prepared soft steel cable after surrounding the water catchment ring for a circle, and pulls the soft steel cable to enter the water catchment ring and surround the water catchment ring for a circle;

removing the hard steel cable, fixing the soft steel cable on the head of the guiding device 31 of the robot body 3, and putting the robot body 3 carrying the video probe 1 and the high-pressure water pipe head into a single-side designated direction of the catchment ring (for example, a direction towards a semicircle with relatively more branch pipes of the catchment ring) from the opened flange port by using a special tool;

manually driving the visual pipeline cleaning robot for the nuclear power station to walk in the catchment ring through a bowden cable, searching the interface between the catchment ring and the branch pipe, and controlling the supporting piece 341 to extend out to fix the visual pipeline cleaning robot for the nuclear power station in the catchment ring if necessary;

after the visual pipeline cleaning robot for the nuclear power station is arranged at the part to be cleaned of the water collecting ring, the video probe 1 and the high-pressure water gun head 2 are aligned with the branch pipe by driving the supporting piece, the video probe 1 and the high-pressure water gun head 2 are operated by the video driving device 32 and the high-pressure driving device 33 to enter the branch pipe with the part to be cleaned, and the part to be cleaned of the branch pipe is cleaned;

after the part to be cleaned of a single branch pipe is cleaned, withdrawing the video probe 1 and the high-pressure water gun head 2 to the robot body 3, and continuously positioning the part to be cleaned of the next branch pipe;

after the single-side water catchment ring is completely inspected, the pipeline visual cleaning robot for the nuclear power station is withdrawn from the water catchment ring, and is installed on the other side of the water catchment ring again for continuous inspection;

and after the inspection of all branch pipes of the water-circulating ring is finished, the visual pipeline cleaning robot for the nuclear power station is taken out of the water-collecting ring, and the work is finished.

The above is only an embodiment of the visual cleaning robot for the pipeline in the nuclear power station of the present invention, and the present invention should not be limited thereto, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims (11)

1. A visual cleaning robot for a pipeline for a nuclear power station is characterized by comprising a video probe, a high-pressure water gun head and a robot body for mounting the video probe and the high-pressure water gun head;

the robot body comprises a guiding device, a fixing and adjusting device, a video driving device and a high-pressure driving device, wherein the guiding device is used for exploring the internal working condition of the pipeline and guiding, the fixing and adjusting device is used for fixing the robot body in the pipeline, the video driving device is used for driving the video probe to move to be aligned with a part to be cleaned in the pipeline, and the high-pressure driving device is used for driving the high-pressure water gun head to move to be aligned with the part to be cleaned in the pipeline; the guide device is rotationally connected with the fixed adjusting device; the video driving device is rotatably connected with one end of the fixed adjusting device, which is far away from the guide device; the high-voltage driving device is rotatably connected with one end, far away from the fixed adjusting device, of the video driving device.

2. The visual pipeline cleaning robot for the nuclear power station as recited in claim 1, wherein the guiding device comprises a first camera, a second camera, a first illuminating lamp, a second illuminating lamp and a guiding body rotatably connected with the fixed adjusting device; the first camera and the first illuminating lamp are installed on the guide body and far away from one end of the fixed adjusting device, and the second camera and the second illuminating lamp are installed at one end of the guide body and far away from the first camera.

3. The visual pipeline cleaning robot for the nuclear power plant according to claim 2, wherein the fixed adjusting device comprises a fixed adjusting body, a support member and an adjusting member; the fixed adjusting device comprises a fixed adjusting device body and is characterized in that a first groove used for installing an adjusting piece is formed in the fixed adjusting device body, and a second groove communicated with the first groove and used for installing the supporting piece is formed in the outer wall of the fixed adjusting device body.

4. The visual pipeline cleaning robot for the nuclear power station as recited in claim 3, wherein a sliding groove is formed in the guide body, and the guide device further comprises a plunger mounted in the sliding groove;

the fixed adjusting device also comprises a connecting rod, one end of the connecting rod is connected with the plunger, and the other end of the connecting rod is connected with the supporting piece; the connecting rod drives the supporting piece to extend out of the second groove under the driving of the plunger so as to fix the robot body in the pipeline.

5. The visual pipe cleaning robot for the nuclear power plant according to claim 4, wherein the robot body further comprises a harness management device for managing all harnesses of the guide device, the fixing and adjusting device, the video driving device and the high-voltage driving device; the wire harness management device is rotatably connected to one end, far away from the video driving device, of the high-voltage driving device.

6. The visual pipe cleaning robot for nuclear power plant according to claim 5, wherein the harness management device includes a cable distributor, a compressed air decomposer, a waterproof cable joint, and a harness management body for installing the cable distributor, the compressed air decomposer, the waterproof cable joint; the compressed air decomposer is used for driving the plunger to move along the sliding groove.

7. The visual pipeline cleaning robot for the nuclear power plant according to claim 1, wherein the video driving device comprises a first driving member, a first conveying member and a video driving body for mounting the first driving member and the first conveying member; the first conveying piece is connected with the first driving piece and the video probe, and the first driving piece drives the first conveying piece to drive the video probe to move.

8. The visual pipe cleaning robot for the nuclear power plant according to claim 7, wherein the video driving device further comprises a first clamping member for clamping a cable connected to the video probe; the first clamping member is installed inside the video driving body and connected with the first conveying member.

9. The visual pipeline cleaning robot for the nuclear power plant according to claim 1, wherein the high-pressure driving device comprises a second driving member, a second conveying member, and a high-pressure driving body for mounting the second driving member and the second conveying member; the second driving piece drives the second conveying piece to drive the high-pressure water gun head to move.

10. The visual pipeline cleaning robot for the nuclear power plant as recited in claim 9, wherein the high pressure driving device further comprises a second clamping member for clamping a water pipe connected to the high pressure water lance head; the second clamping member is mounted inside the high-pressure driving body and connected with the second conveying member.

11. The visual pipe cleaning robot for the nuclear power plant according to claim 1, wherein the video probe comprises a gripper for gripping a large object to be cleaned of the site to be cleaned and an endoscope mounted on the gripper for observing the site to be cleaned.

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