CN219225915U - Wheeled multiaxis thermal sleeve inspection robot - Google Patents
Wheeled multiaxis thermal sleeve inspection robot Download PDFInfo
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- CN219225915U CN219225915U CN202320072772.0U CN202320072772U CN219225915U CN 219225915 U CN219225915 U CN 219225915U CN 202320072772 U CN202320072772 U CN 202320072772U CN 219225915 U CN219225915 U CN 219225915U
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- vehicle body
- end part
- steering wheel
- mechanical arm
- probe
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The utility model discloses a wheeled multi-axis thermal sleeve inspection robot, which comprises: a vehicle body; the mechanical arm is provided with a first end part and a second end part, the first end part is rotatably connected to the vehicle body, the mechanical arm is in an upright state and a recumbent state, and when the mechanical arm is in the upright state, the second end part is positioned above the first end part; the probe assembly comprises a protection pipe arranged on the mechanical arm and a probe arranged at one end part of the protection pipe, the other end part of the protection pipe is wound on the first end part, the protection pipe has two states of retraction and extension, when the protection pipe is in the retraction state, the probe is positioned at the second end part of the mechanical arm, and the probe is a phased array ultrasonic probe and can be used for checking cracks in a pipeline; steering wheel assemblies mounted to the front and rear end portions of the lower portion of the vehicle body for adjusting the position of the vehicle body. The robot has compact structure and flexible movement, and can quickly withdraw the shielding ring under emergency.
Description
Technical Field
The utility model belongs to the field of nuclear power detection equipment, and particularly relates to a wheeled multi-axis thermal sleeve inspection robot.
Background
In the operation process of the reactor, the water flow vibration of the reactor pressure vessel can lead to contact abrasion of the lower edge of the heat sleeve and the adapter penetrating piece, and the heat sleeve is abraded and falls off under severe conditions to influence the normal operation of the nuclear power unit, so that the heat sleeve needs to be checked regularly, and the structure of the conventional device for checking the heat sleeve is complex, such as the publication number is: the patent application of CN102384939B, it uses a huge and complex supporting frame as a base to fix the detection device below the thermal sleeve, and further needs to implement the conveying of the probe through a multi-stage guiding mechanism, so that the whole volume of the probe is larger, and more time is required for conveying and installing, and the time of exposing the operator to the radiation environment is increased.
Disclosure of Invention
The utility model aims to provide a wheeled multi-axis thermal sleeve inspection robot which is compact in structure and capable of being flexibly adjusted.
In order to solve the technical problems, the utility model adopts the following technical scheme: a wheeled multi-axis thermal sleeve inspection robot, comprising:
a vehicle body;
the mechanical arm is provided with a first end part and a second end part, the first end part is rotatably connected to the vehicle body, the mechanical arm is in an upright state and a recumbent state, and when the mechanical arm is in the upright state, the second end part is positioned above the first end part;
the probe assembly comprises a protection pipe arranged on the mechanical arm and a probe arranged at one end part of the protection pipe, the other end part of the protection pipe is wound on the first end part, the protection pipe has two states of retraction and extension, when the protection pipe is in the retraction state, the probe is positioned at the second end part of the mechanical arm, and the probe is a phased array ultrasonic probe and can be used for checking cracks in a pipeline;
steering wheel assemblies mounted to front and rear end portions of the vehicle body below for adjusting the position of the vehicle body.
In another embodiment, the robot includes a wireless ultrasonic device mounted on the vehicle body for converting the probe's signal into a network signal, which can be transmitted using a wireless network.
In another embodiment, the robot includes a control box mounted to the body for controlling the cooperative action of the components.
In another embodiment, the robot includes a gas-water separator mounted on the vehicle body for separating a gas-water mixture and collecting couplant water, and further for delivering the water to the probe via the main pump.
In another embodiment, the robot includes a battery compartment that provides electrical energy.
In another embodiment, the robot comprises self-balancing wheel sets which are arranged at the left side and the right side below the vehicle body and used for assisting the vehicle body to keep balance.
In another embodiment, the self-balancing wheel set includes a left self-balancing wheel assembly and a right self-balancing wheel assembly, the left self-balancing wheel assembly and the right self-balancing wheel assembly are centrosymmetric, the left self-balancing wheel assembly includes a left guide rail fixed below the vehicle body and arranged along a left-right direction, a left sliding frame slidingly connected to the left guide rail, a left telescopic member fixed to the left sliding frame, a left mounting plate fixedly connected with a telescopic rod of the left telescopic member, a left balancing wheel mounted below the left mounting plate, a rack formed on a front side of the left mounting plate, a left motor mounted on the left motor and meshed with the rack, and a left motor driving the rack to move along the left-right direction so as to drive the left balancing wheel to move along the left-right direction, wherein the left telescopic member drives the left balancing wheel to move up and down.
In another embodiment, the mechanical arm comprises a supporting frame rotatably connected to the vehicle body, a winding roll and a winding motor arranged on the supporting frame, a line pressing wheel, a plurality of guide blocks, a plurality of guide belt assemblies, a guide cover and a guide post; the first end of the mechanical arm is the first end of the supporting frame, the second end of the mechanical arm is the second end of the supporting frame, the winding drum is rotationally connected to the first end, the other end of the protection tube is wound on the winding drum, the line pressing wheel tightly presses the protection tube on the winding drum, the winding motor drives the winding drum to rotate, at least two guide blocks are respectively arranged at the first end and the second end of the supporting frame, the protection tube penetrates through the guide blocks, a line passing space extending from the first end to the second end is formed between the guide belt components, and one end of the protection tube penetrates through the line passing space, penetrates out of the guide cover and is connected with the probe.
In another embodiment, each of the guide belt assemblies includes a belt gear mounted on the support one by one in a direction from the first end toward the second end, a gear belt wound around the belt gear, and a conveyor motor mounted on the support frame and in driving connection with one of the belt gears.
In another embodiment, each steering wheel assembly includes a fixed gear fixed below the vehicle body, a rotating disc rotatably connected to the end face of the fixed gear, a first steering wheel motor installed on the rotating disc, a steering wheel gear installed on the first steering wheel motor and meshed with the fixed gear, a second steering wheel motor installed below the rotating disc and a steering wheel body in driving connection with the second steering wheel motor, the first steering wheel motor drives the steering wheel gear to roll on the peripheral surface of the fixed gear and then drives the rotating disc to rotate so as to enable the steering wheel body to change direction, and the second steering wheel motor drives the steering wheel body to rotate and then drive the whole vehicle body to move.
In another embodiment, the robot comprises a navigation camera mounted on the car body, and the indoor positioning can be completed through the navigation camera to realize automatic navigation.
The utility model has the beneficial effects that: the robot has compact structure and flexible movement, and can quickly withdraw the shielding ring in emergency; the levelness of the robot can be adjusted by the self-balancing wheel assembly; the self-contained gas-water separator solves the problems of conveying and recycling the probe couplant; the take-up reel solves the problem that the original device must drag the cable; the problem of ultrasonic inspection in the small pipe diameter of the phased array ultrasonic probe is solved.
Drawings
FIG. 1 is a perspective view of a robot with a robotic arm lying on its side and a self-balancing wheelset retracted;
FIG. 2 is a side view of the robot with the robotic arm lying on its side and the self-balancing wheelset contracted;
FIG. 3 is a perspective view of the robot with the robotic arm lying on its side and the self-balancing wheelset extended;
FIG. 4 is a perspective view of the robot with the robotic arm upright and the self-balancing wheelset contracted;
FIG. 5 is a bottom view of the robot with the robotic arm upright and the self-balancing wheelset contracted;
FIG. 6 is a perspective view of the robot with the robotic arm upright and the self-balancing wheelset extended;
fig. 7 is a bottom view of the robot with the arm upright and the self-balancing wheelset extended.
Detailed Description
The utility model is described in detail below with reference to the embodiments shown in the drawings:
as shown in fig. 1, a wheeled multi-axis thermal sleeve inspection robot includes: the ultrasonic vehicle comprises a vehicle body 1, a mechanical arm 2, a probe assembly 3, a steering wheel assembly 4, a wireless ultrasonic instrument 5, a control box 6, a gas-water separator 7, a battery compartment 8, a self-balancing wheel set 9 and a navigation camera 10.
Each component is mounted on the vehicle body 1, specifically:
the mechanical arm 2 comprises a support frame 21 rotatably connected to the vehicle body 1, a winding roll 22 and a winding motor 23 which are arranged on the support frame 21, a wire pressing wheel 24, a plurality of guide blocks 25, a plurality of guide belt assemblies 26, a guide cover 27 and a guide post 28; the support frame 21 has a first end portion a rotatably connected to the vehicle body 1, and a second end portion B located above the first end portion a when the support frame 21 is in the erected state, the support frame 21 having both the erected and recumbent states; the winding roll 22 is rotatably connected to the first end portion a, the other end portion of the protection tube 31 is wound on the winding roll 22, the wire pressing wheel 24 presses the protection tube 31 on the winding roll 22, the winding motor 23 drives the winding roll 22 to rotate, at least two guide blocks 25 are respectively arranged at the first end portion a and the second end portion B of the supporting frame 21, the protection tube 31 is arranged on the guide blocks 25 in a penetrating manner, a wire passing space extending from the first end portion a to the second end portion B is formed between the guide belt assemblies 26, and one end portion of the protection tube 31 penetrates through the wire passing space, penetrates out of the guide cover 27 and is connected with the probe 32.
The probe assembly 3 comprises a protection tube 31 arranged on the mechanical arm 2 and a probe 32 arranged at one end part of the protection tube 31, a cable of the probe 32 is arranged in the protection tube 31, the other end part of the protection tube 31 is wound on the first end part A, the protection tube 31 has two states of retraction and extension, when the protection tube 31 is in the retraction state, the probe 32 is positioned at the second end part B of the mechanical arm 2, the probe 32 is a phased array ultrasonic probe 32, and the pipeline internal crack inspection can be performed.
The self-balancing wheelsets 9 are mounted on the left and right sides below the vehicle body 1 for assisting the vehicle body 1 to maintain balance. The self-balancing wheel set 9 includes left self-balancing wheel assembly and right self-balancing wheel assembly, left side self-balancing wheel assembly and right self-balancing wheel assembly are central symmetry, left side self-balancing wheel assembly is including being fixed in automobile body 1 below, and left guide rail 91 that sets up along left and right directions, left carriage 92 of sliding connection on left guide rail 91, left extensible member 93 that is fixed in on left carriage 92, with left mounting panel 94 of telescopic link fixed connection of left extensible member 93, install left balancing wheel 95 in left mounting panel 94 below, rack 96 formed on left mounting panel 94 leading flank, be located on automobile body 1 and be located left motor 97 of left mounting panel 94 front side, install left gear 98 on left motor 97 and with rack 96 meshing, left motor 97 drives rack 96 and removes along left and right directions, and then drive left balancing wheel 95 and remove along left and right directions, left extensible member 93 drives left balancing wheel 95 and reciprocate, right side self-balancing wheel assembly and left self-balancing wheel assembly central symmetry, not do here and need to repeat.
Each guide belt assembly 26 includes a belt gear 261 mounted on the support one by one in the direction of the first end portion a toward the second end portion B, a gear belt 262 wound around the belt gear 261, a transmission motor 263 mounted on the support frame 21 and in driving connection with one of the belt gears 261, the transmission motor 263 driving one of the belt gears 261 to rotate, the gear belt 262 engaged with the belt gear 261 rotating around the same set of belt gears 261, and the gear belt 262 driving the protection tube 31 to move by friction.
The wireless ultrasonic instrument 5 is arranged on the vehicle body 1 and used for converting the signal of the probe 32 into a network signal, and the wireless network can be used for transmitting ultrasonic signals; the control box 6 is arranged on the vehicle body 1 and used for controlling the cooperative action of all the components; the gas-water separator 7 is mounted on the vehicle body 1 for separating a gas-water mixture and collecting couplant water, and can also convey water to the probe 32 through the main pump; the battery compartment 8 supplies power to other components; the navigation camera 10 is arranged on the vehicle body 1, and the indoor positioning can be completed through the navigation camera 10, so that the automatic navigation can be realized.
Before the inspection is implemented, the wheel type multi-shaft thermal sleeve inspection robot can automatically advance to the inside of the biological shielding ring through the steering wheel assembly and the self-balancing wheel set, and after the system self-inspection confirms that the function is normal, the inspection work is started. Firstly, a mechanical arm with a pushing function is erected, the mechanical arm is kept in an upright state, a self-balancing wheel set telescopic component stretches out, the levelness of the robot is adjusted, then a navigation camera starts to work, and after the position of the wheeled multi-axis thermal sleeve inspection robot in a biological shielding ring is confirmed, the robot moves to the position right below the inspected thermal sleeve. And an operator confirms that the probe on the mechanical arm is aligned to the center of the thermal sleeve, at the moment, the winding motor and the guide belt assembly drive the protection tube and the probe to enter the thermal sleeve for inspection, and after one thermal sleeve inspection is finished, the next thermal sleeve inspection can be finished by reversing the action and then repeating the action.
The above embodiments are provided to illustrate the technical concept and features of the present utility model and are intended to enable those skilled in the art to understand the content of the present utility model and implement the same, and are not intended to limit the scope of the present utility model. All equivalent changes or modifications made in accordance with the spirit of the present utility model should be construed to be included in the scope of the present utility model.
Claims (11)
1. A wheeled multiaxial thermal sleeve inspection robot, comprising:
a vehicle body;
the mechanical arm is provided with a first end part and a second end part, the first end part is rotatably connected to the vehicle body, the mechanical arm is in an upright state and a recumbent state, and when the mechanical arm is in the upright state, the second end part is positioned above the first end part;
the probe assembly comprises a protection tube arranged on the mechanical arm and a probe arranged at one end part of the protection tube, the other end part of the protection tube is wound on the first end part, the protection tube has two states of retraction and extension, and when the protection tube is in the retraction state, the probe is positioned at the second end part of the mechanical arm;
steering wheel assemblies mounted to front and rear end portions of the vehicle body below for adjusting the position of the vehicle body.
2. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: the robot comprises a wireless ultrasonic instrument which is arranged on the vehicle body and used for converting the signal of the probe into a network signal.
3. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: the robot comprises a control box which is arranged on the vehicle body and used for controlling the cooperative action of all the components.
4. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: the robot comprises a gas-water separator which is arranged on the vehicle body and used for separating a gas-water mixture and collecting couplant water, and can also convey the water to the probe through a main pump.
5. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: the robot includes a battery compartment that provides electrical energy.
6. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: the robot comprises self-balancing wheel sets which are arranged at the left side and the right side below the car body and used for assisting the car body to keep balance.
7. The wheeled multi-axis thermal sleeve inspection robot of claim 6, wherein: the self-balancing wheel group comprises a left self-balancing wheel component and a right self-balancing wheel component, the left self-balancing wheel component and the right self-balancing wheel component are centrally symmetrical, the left self-balancing wheel component comprises a left guide rail fixed below the vehicle body and arranged along the left-right direction, a left sliding frame slidingly connected to the left guide rail, a left telescopic part fixed to the left sliding frame, a left mounting plate fixedly connected with a telescopic rod of the left telescopic part, a left balancing wheel arranged below the left mounting plate, a rack formed on the front side of the left mounting plate, a left motor arranged on the vehicle body and positioned on the front side of the left mounting plate, a left gear arranged on the left motor and meshed with the rack, and the left motor drives the rack to move along the left-right direction so as to drive the left balancing wheel to move along the left-right direction, and the left telescopic part drives the left balancing wheel to move up and down.
8. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: the mechanical arm comprises a support frame which is rotatably connected to the vehicle body, a winding roll and a winding motor which are arranged on the support frame, a line pressing wheel, a plurality of guide blocks, a plurality of guide belt components, a guide cover and a guide column; the first end of the mechanical arm is the first end of the supporting frame, the second end of the mechanical arm is the second end of the supporting frame, the winding drum is rotationally connected to the first end, the other end of the protection tube is wound on the winding drum, the line pressing wheel tightly presses the protection tube on the winding drum, the winding motor drives the winding drum to rotate, at least two guide blocks are respectively arranged at the first end and the second end of the supporting frame, the protection tube penetrates through the guide blocks, a line passing space extending from the first end to the second end is formed between the guide belt components, and one end of the protection tube penetrates through the line passing space, penetrates out of the guide cover and is connected with the probe.
9. The wheeled multi-axis thermal sleeve inspection robot of claim 8, wherein: each guide belt assembly comprises belt gears which are arranged on the support one by one along the direction from the first end to the second end, a gear belt wound on the belt gears, and a conveying motor which is arranged on the support frame and is in driving connection with one of the belt gears.
10. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: each steering wheel assembly comprises a fixed gear fixed below the vehicle body, a rotating disc rotationally connected to the end face of the fixed gear, a first steering wheel motor arranged on the rotating disc, a steering wheel gear arranged on the first steering wheel motor and meshed with the fixed gear, a second steering wheel motor arranged below the rotating disc and a steering wheel body in driving connection with the second steering wheel motor, wherein the first steering wheel motor drives the steering wheel gear to roll on the peripheral surface of the fixed gear and further drives the rotating disc to rotate so as to enable the steering wheel body to change direction, and the second steering wheel motor drives the steering wheel body to rotate and further drive the whole vehicle body to move.
11. The wheeled multi-axis thermal sleeve inspection robot of claim 1, wherein: the robot includes a navigation camera mounted on the vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320072772.0U CN219225915U (en) | 2023-01-10 | 2023-01-10 | Wheeled multiaxis thermal sleeve inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320072772.0U CN219225915U (en) | 2023-01-10 | 2023-01-10 | Wheeled multiaxis thermal sleeve inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219225915U true CN219225915U (en) | 2023-06-20 |
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ID=86742398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320072772.0U Active CN219225915U (en) | 2023-01-10 | 2023-01-10 | Wheeled multiaxis thermal sleeve inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219225915U (en) |
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2023
- 2023-01-10 CN CN202320072772.0U patent/CN219225915U/en active Active
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