CN212967136U

CN212967136U - Top cap video inspection device

Info

Publication number: CN212967136U
Application number: CN202021388421.3U
Authority: CN
Inventors: 赵伟; 商小坤; 赵玄; 孙海涛; 吕云鹤
Original assignee: Research Institute of Nuclear Power Operation; China Nuclear Power Operation Technology Corp Ltd
Current assignee: Research Institute of Nuclear Power Operation; China Nuclear Power Operation Technology Corp Ltd
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-04-13
Anticipated expiration: 2030-07-14

Abstract

The invention belongs to the field of machinery, and particularly relates to a top cover video inspection device. The original inspection device is hoisted and transported to the nuclear island from the equipment and then hoisted and transported out from the nuclear island, the top cover video inspection task is long in time, a large amount of manpower and material resources are wasted, and the efficiency is low. The device comprises a central camera fixedly arranged at the top end of an electric elevator, a side camera mounting bracket arranged between the central camera and the electric elevator, and an upgrading cover shell fixedly connected with the bottom of the electric elevator; the upgrading housing is fixedly arranged on the top surface of the vehicle body platform; three groups of moving devices are uniformly distributed in the vehicle body platform, are in a strip shape and comprise omnidirectional wheels, speed reducers and servo motors which are sequentially connected. The device has the advantages of small mass, simple installation, high positioning precision and capability of moving in any direction.

Description

Top cap video inspection device

Technical Field

The utility model belongs to the field of machinery, concretely relates to top cap video inspection device.

Background

The top cover is formed by welding a cylinder body and a spherical crown body, and the spherical crown body is arranged on the cylinder body. The control rod driving mechanism penetrating piece and the temperature measuring mechanism penetrating piece vertically penetrate through the spherical crown body and are welded with the spherical crown body on the inner wall of the spherical crown body. The bottom surface of the cylinder body consists of two table surfaces, wherein the upper table surface is a flange surface, and the lower table surface is a sealing surface. Video inspection is carried out to the J type welding seam of top cap through-going piece and top cap junction, top cap internal surface surfacing layer and 4 evenly distributed's keyway, based on seven structural formula arm top cap video inspection devices, including frame, horizontal slip table, perpendicular slip table, lift slip table, rotary platform, every single move platform, pneumatic and remote control system, connecting cable. The multiple capping machines of 600MW and 900MW are successfully applied to pre-service and in-service inspection projects of multiple nuclear power units such as Fuqing, Fangjiashan, Qinshan second-stage, Daya gulf, Ling and Macao.

Based on seven structural formula arm top cap video inspection device bases 3000mm long, 450mm wide, height 600mm, net weight 500Kg, in the transportation, collision damage easily. When a nuclear power plant is transported, due to the fact that the weight of the nuclear power plant is large, only a gantry crane and a 20-meter ring crane are adopted for hoisting and transporting, during refueling overhaul, the gantry crane and the 20-meter ring crane are occupied by a key path, unless an overhaul task belongs to the key path, generally, window hoisting is not needed, therefore, during top cover video inspection, top cover video inspection equipment is hoisted to a top cover storage room within one week after the beginning of refueling overhaul, the top cover video inspection equipment is hoisted out of a nuclear island from the storage room within 10 days before the end of refueling overhaul, however, the time interval between equipment hoisting and hoisting is long, the inspection is only needed to be completed for 7 days, the equipment is hoisted and transported to the nuclear island and then is hoisted out of the nuclear island, 2 months are needed, and accordingly, the time for top cover video inspection task is long, a large amount of manpower and material resources.

Disclosure of Invention

1. The purpose is as follows:

aiming at the video inspection of the inner surface of the top cover of the pressurized water reactor pressure vessel, a special inspection device is developed to meet the inspection requirement of the inner surface of the top cover of the pressure vessel. The device structure can also be used for similar inspection and monitoring in other industries.

2. The technical scheme is as follows:

a top cover video inspection device is characterized in that a central camera is fixedly arranged at the top end of an electric elevator, a side camera mounting bracket is arranged between the central camera and the electric elevator, and the bottom of the electric elevator is fixedly connected with an upgrading housing; the upgrading housing is fixedly arranged on the top surface of the vehicle body platform; three groups of moving devices are uniformly distributed in the vehicle body platform, are in a strip shape and comprise omnidirectional wheels, speed reducers and servo motors which are sequentially connected.

And the top surface of the vehicle body platform is also fixedly provided with a battery box and a handle, and the top end of the battery box is fixedly connected with a laser navigator.

The whole body of the vehicle body platform is prismatic, and the side surface of the lower part of the vehicle body platform is a vehicle body cover; one side of the car body cover is provided with a groove, a plug mounting plate is fixedly mounted on the groove, and a control box cover plate is fixedly mounted on the other side of the car body cover.

A warning ribbon is pasted on the car body housing.

Obstacle avoidance sensors are distributed and mounted on the vehicle body cover.

The top surface in the vehicle body platform is fixedly connected with an omnidirectional wheel mounting seat which is of an H-shaped frame structure.

The moving device penetrates through the lower end of the omnidirectional wheel mounting seat and is fixedly connected inside the car body housing.

The side camera mounting bracket is fixedly provided with an illuminating lamp.

The battery box is internally provided with a storage battery.

3. Effect

(1) The weight is reduced to within 100 jin, the weight is light, the limit of a gantry crane and a ring crane is eliminated, manual carrying or trailer transportation can be adopted, the time window is free, the time consumed by equipment transfer is reduced, and the efficiency of a project is greatly improved;

(2) the device can move in any direction, so that the time for steering and moving the device is reduced, and the time for checking is greatly prolonged;

(3) the installation time is reduced, 4 mechanical personnel are required to install the multi-shaft mechanical arm due to overlarge weight of the multi-shaft mechanical arm, the installation needs to overcome objective conditions such as high environmental dosage, high contamination risk, high labor intensity and the like, the success rate of installation equipment is reduced due to the existing objective conditions, the inspection device can be remotely operated, 2 personnel can complete the whole installation process, the personnel configuration is reduced, and the installation power is improved;

(4) positioning accuracy is high, and both compare, and the old form adopts the annular location mode of gear output, because of video inspection device installs on the base, and inspection device is when the distal end, and the big arm of base can lead to the location inaccurate because of the unbalanced weight slope. The bottom of the inspection device is provided with four Maclam wheels, which are called as omni wheels for short and can move in any direction, the inspection device is provided with a plane capable of carrying a load, and the condition of plane inclination caused by weight unbalance can be avoided, so that the flatness is ensured, and the high positioning precision is realized.

Drawings

FIG. 1 is a schematic view of a video inspection machine carrier

FIG. 2 is a schematic view of a video apparatus with a top cover

In the figure: 1. the system comprises a central camera, 2 an electric lifter, 3 a laser navigator, 4 a battery box, 5 a storage battery, 6 a plug mounting plate, 7 a vehicle body cover, 8 a control box cover plate, 9 a side camera mounting bracket, 10 an illuminating lamp, 11 an upgrading cover, 12 a vehicle body platform, 13 a handle, 14 a warning ribbon, 15 a reduction box, 16 an omnidirectional wheel, 17 a speed reducer, 18 a servo motor, 19 an omnidirectional wheel mounting seat and 20 an obstacle avoidance sensor.

Detailed Description

As shown in fig. 1, the top cover video inspection device is externally provided with a central camera 1, an electric elevator 2, a laser navigator 3, a battery box 4, a storage battery 5, a plug mounting plate 6, a vehicle body cover 7, a control box cover plate 8, a side camera mounting bracket 9, an illuminating lamp 10, an elevator cover 11, a vehicle body platform 12, a handle 13 and a warning ribbon 14.

As shown in fig. 2, the top cover video inspection apparatus includes a control box 15, an omni wheel 16, a speed reducer 17, a servo motor 18, an omni wheel mounting base 19, and an obstacle avoidance sensor 20.

The specific installation mode is as follows:

firstly, a speed reducer 17 and a servo motor 18 are assembled into a whole, and then are connected with an omnidirectional wheel 16 and are installed on an omnidirectional wheel installation seat 19; then the control box 15 and the obstacle avoidance sensor 20 are arranged inside the vehicle body platform 12, and the control box cover plate 8 is covered to protect the control box from being influenced by the outside; then combining the laser navigator 3, the battery box 4 and the storage battery 5 on the upper surface platform of the vehicle body platform 12, after the installation is finished, installing the electric elevator 2 and the elevator housing 11 at the center of the vehicle body platform 12, simultaneously installing the center camera 1 and the side camera installing support 9 to the top of the electric elevator 2 together, and installing the illuminating lamp 10 on the side camera installing support 9; utilize top cap video equipment laser navigator 3 to fix a position to the penetration piece below, recycle center camera 1 and adjust, guarantee that top cap video equipment pinpoints to the penetration piece below, top cap video equipment self is rotatory to rotate around the penetration piece, rotates the in-process, utilizes the inspection camera to make a video recording to the penetration piece. Finally, a vehicle body cover 7 is additionally arranged outside, and a plug mounting plate 6, a handle 13 and a warning color ribbon 14 are arranged on the side surface

The top cover video inspection device is mainly provided with 3 groups of omnidirectional wheels 16 which are uniformly distributed in a circular shape, can realize 8 directions of movement such as forward movement, backward movement, left movement, right movement, forward left movement, forward right movement, backward left movement and backward right movement, does not need to turn, does not need to adjust postures and the like, and realizes movement in any direction. An integrated driving and control module is arranged in the wireless remote control device, and a wireless signal transmission module is configured at the same time, so that wireless remote control is realized. The electric elevator 2 is arranged at the center of the top cover video inspection device, and can complete the action stroke of lifting 2 meters. Meanwhile, a plurality of groups of emergency hooks are designed around the device, the radioactive dosage of the environment is large and belongs to a red area inside a reactor pressure vessel top cover after service, personnel are prohibited to enter the reactor, the reactor pressure vessel top cover cannot automatically move out of the interior of the top cover after the device breaks down, the emergency structure handle 13 can be conveniently hooked and pulled out of the interior of the top cover, and subsequent maintenance is carried out. During the transfer, the weight of the device is suitable for 2 people to carry, and the workload and the time of the transfer are reduced.

The device realizes infinite 360-degree rotation around the center of the device based on the motion mode of three omnidirectional wheels 16; the method is suitable for the combined wireless transmission of video and control of the circular metal shielding area; a chassis based on universal movement and a lifting and descending structure; the hand-operated carrying can be realized, the need of lifting is avoided, and the light weight and the miniaturization are realized; the emergency protection structure can be dragged out by a tool when the device fails, so that the emergency protection structure is convenient to maintain; the lithium battery driving is realized, and the power supply, the driving and the control of a cable without leading out are combined.

Claims

1. A top cover video inspection device, its characterized in that: the central camera (1) is fixedly arranged at the top end of the electric elevator (2), a side camera mounting bracket (9) is arranged between the central camera (1) and the electric elevator (2), and the bottom of the electric elevator is fixedly connected with an upgrading housing (11); the upgrading housing (11) is fixedly arranged on the top surface of the vehicle body platform (12); three groups of moving devices are uniformly distributed in the vehicle body platform (12), are in a strip shape and comprise omnidirectional wheels (16), speed reducers (17) and servo motors (18) which are connected in sequence.

2. A top cover video inspection apparatus according to claim 1, wherein: the top surface of the vehicle body platform (12) is also fixedly provided with a battery box (4) and a handle (13), and the top end of the battery box (4) is fixedly connected with a laser navigator (3).

3. A top cover video inspection apparatus according to claim 1, wherein: the whole body of the vehicle body platform (12) is prism-shaped, and the side surface of the lower part of the vehicle body platform is a vehicle body cover (7); one side of the car body cover (7) is provided with a groove, a plug mounting plate (6) is fixedly mounted, and the other side is fixedly provided with a control box cover plate (8).

4. A top cover video inspection apparatus according to claim 3, wherein: a warning color ribbon (14) is pasted on the vehicle body cover (7).

5. A top cover video inspection apparatus according to claim 3, wherein: obstacle avoidance sensors (20) are distributed and mounted on the vehicle body cover (7).

6. A top cover video inspection apparatus according to claim 3, wherein: the top surface inside the vehicle body platform (12) is fixedly connected with an omnidirectional wheel mounting seat (19), and the omnidirectional wheel mounting seat (19) is of an H-shaped frame structure.

7. A top cover video inspection apparatus according to claim 3, wherein: the moving device penetrates through the lower end of the omnidirectional wheel mounting seat (19) and is fixedly connected inside the vehicle body housing (7).

8. A top cover video inspection apparatus according to claim 1, wherein: and an illuminating lamp (10) is fixedly arranged on the side camera mounting bracket (9).

9. A top cover video inspection apparatus according to claim 2, wherein: the battery box (4) is internally provided with a storage battery (5).