Multi-joint type main pump television inspection device

Abstract

The invention belongs to the technical field of nuclear power station pre-service and in-service inspection, and particularly relates to a multi-joint type main pump television inspection device. Comprising a mechanical device, a control system and a mobile power supply. The mechanical device comprises a lifting main body, a translation assembly and a visual assembly, the mobile power supply adopts a 220V-20AH standard high-power storage battery, and the control system performs motion control on the mechanical device. The method has the beneficial effects that the workload is greatly reduced, the foreign matter risk and the foreign matter prevention registration time are reduced, and the working efficiency is improved; the inspection device is light in weight and detachable, so that the inspection device is convenient to transfer and install, and auxiliary installation of other personnel and large machinery is not needed any more; the telescopic arm of the equipment can rotate by 90 degrees, so that the inner wall and the pipeline of the main pump can be inspected at the same time; and an image recognition algorithm realizes automatic detection of foreign matters and defects, and reduces and makes up errors caused by human factors.

Description

Technical Field

[0001] This invention belongs to the field of pre-service and in-service inspection technology for nuclear power plants, and specifically relates to a television inspection device for a main pump based on a multi-joint type. Background Technology

[0002] The main pump of a nuclear power plant is a critical medium transport device in the nuclear power plant system. It is the heart of the system and is used to pump hot water into the evaporator to convert it into heat energy. It is the key to controlling the water circulation in the operation of the nuclear power plant and belongs to the first-level equipment of the nuclear power plant. Each steam generator has one main pump. Because it is directly or indirectly involved in nuclear safety, the safety and reliability requirements of the nuclear main pump are particularly high. In addition, due to the harsh temperature, radioactivity and pressure levels of the medium it transports, higher requirements are placed on the design, materials, manufacturing and maintenance of the main pump.

[0003] To ensure the safe and efficient operation of the main pump and its continuous power output, regular and meticulous operation and maintenance are required. This involves using video inspections to assess its health status and determine whether its performance meets in-service requirements. However, the existing main pump video inspection equipment has significant design shortcomings, such as a bulky and cumbersome mechanical structure and poor mobility. In actual use, it requires the use of a lifting ring, which is severely constrained by working conditions, resulting in slow inspection speed and low efficiency. Furthermore, the existing equipment has numerous screws and hexagonal sockets used for securing the pump, which not only increases the workload of foreign object registration but also poses a significant risk of foreign objects being lost. Therefore, each video inspection of the main pump requires a substantial investment of manpower and time for equipment transfer, assembly, commissioning, and foreign object registration. This not only increases the complexity and stress of on-site work but may also affect project schedules and even pose industrial safety risks. This inspection equipment is increasingly unable to meet the stringent requirements of "high quality and zero risk" at nuclear power plants.

[0004] Therefore, upgrading and transforming the existing main pump television inspection system is an urgent task. By optimizing the mechanical design and improving the portability and operability of the equipment, inspection efficiency can be significantly improved, safety risks can be reduced, and a strong guarantee can be provided for the safe and stable operation of the nuclear power plant. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-joint type main pump television inspection device, which can better maintain and inspect the main pump of nuclear power units, improve work efficiency, and upgrade and improve the design of the main pump television inspection equipment currently in use, which has many shortcomings.

[0006] The technical solution of the present invention is as follows: a multi-joint type main pump television inspection device, including a mechanical device, a control system and a mobile power supply; the mechanical device includes a lifting main body, a translation component and a vision component, the mobile power supply adopts a standard high-power storage battery of 220V~20AH, and the control system performs motion control on the mechanical device.

[0007] The vision component includes a camera and a lighting source, with the lighting source and camera mounted on the same horizontal plane.

[0008] The camera can adjust its focal length and resolution according to the received instructions to acquire high-definition video. The control system is equipped with an image recognition algorithm to analyze the acquired video stream frame by frame and automatically detect defects and foreign objects in the main pump. The camera can rotate 360 ​​degrees.

[0009] The lighting source provides over 1000 Lux of light within 0.2m.

[0010] The lifting assembly includes a lifting rack and a telescopic arm. The telescopic arm uses a ball screw to complete the telescopic movement and is used to adjust the movement of the vision assembly in the vertical direction. The telescopic arm also uses gear transmission, which allows the telescopic arm to reverse 90 degrees.

[0011] The translation component is mounted on the slide rail, and the drive motor drives the lifting rack to move.

[0012] The beneficial effects of this invention are as follows: it greatly reduces workload, reduces the risk of foreign objects and the time required for foreign object registration, and improves work efficiency; the inspection device is lightweight and detachable, making transportation and installation convenient, eliminating the need for auxiliary installation by other personnel and large machinery; the telescopic arm of the device can rotate 90 degrees, thus allowing simultaneous inspection of the inner wall of the main pump and pipelines; the image recognition algorithm enables automatic detection of foreign objects and defects, reducing and compensating for errors caused by human factors; the multi-joint telescopic structure improves the flexibility and adaptability of the inspection system, making it more advantageous than existing equipment. Attached Figure Description

[0013] Figure 1 A schematic diagram of a multi-joint type main pump television inspection device provided by the present invention;

[0014] Figure 2 This is the front view of the mechanical device;

[0015] Figure 3 for Figure 2 Top view;

[0016] Figure 4 for Figure 2 Layout diagram;

[0017] Figure 5 To check the device connection diagram;

[0018] Figure 6 This is a schematic diagram of the overall structure.

[0019] In the diagram: 1. Vision component, 2. Lifting rack, 3. Lifting assembly, 4. Lifting main body, 5. Translation assembly, 6. Drive motor, 7. Linear slide rail, 8. Support panel, 9. Handle, 10. Main pump body, 11. Telescopic arm, 12. Mechanical device, 13. Control system, 14. Power bank, 15. Camera, 16. Light source. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] A multi-joint type main pump television inspection device includes a mechanical device, a control system, and a mobile power supply.

[0022] The aforementioned mechanical device includes a lifting main body, a translation component, and a vision component. Each component can be disassembled into smaller mechanisms under certain circumstances, allowing for separation during transportation and reassembly on-site. This facilitates handling and installation. Furthermore, the mechanical device design should minimize the number of exposed screws, nuts, and other potentially detachable foreign objects, ensuring the safety of foreign objects during on-site inspection and reducing workload. The portable power supply can utilize a standard high-power 220V~20AH battery to ensure continuous and sustained operation even without power within the nuclear island. The control software controls the movement of the mechanical device and should also support data storage functions.

[0023] The vision component 1 includes a camera and a lighting source. The lighting source and camera are designed to be installed on the same horizontal plane. The camera can adjust its focus and resolution according to received instructions to acquire high-definition video. Furthermore, an image recognition algorithm is deployed in the computer control software. This algorithm can analyze the acquired video stream frame by frame, automatically detect defects and foreign objects in the main pump, and can detect minute deviations that are imperceptible to the human eye or compensate for the interference of subjective emotional fluctuations of the inspectors, thereby improving inspection efficiency and accuracy. In addition, the camera can rotate 360 ​​degrees to eliminate blind spots in the inspection view. The lighting source provides more than 1000 Lux of illumination within 0.2m. Under sufficient illumination, the probability of missing defects and displays is smaller, and the brightness of the light source can be adjusted according to the on-site conditions to achieve the optimal brightness and field of view at a certain position or angle in the main pump.

[0024] The lifting assembly 3 includes a lifting rack 2 and a telescopic arm 11. The telescopic arm 11 uses a ball screw to complete the telescopic movement and is used to adjust the vertical movement of the vision assembly. In addition, the telescopic arm 11 also uses gear transmission, which allows the telescopic arm 11 to reverse 90 degrees, allowing the vision assembly 1 to penetrate deeper into the pump body. The lifting body 4 is used to connect the translation assembly and the vision assembly. The lifting body is an independent assembly and can be disassembled and stored during transportation. The translation assembly 5 is mounted on a high-precision, high-strength linear guide rail 7. The drive motor 6 drives the lifting rack 2 to achieve high-precision operation and adjust the horizontal position of the mechanical device 12. The handle 9 facilitates the removal and installation of the support panel 8 on the main pump body 10.

[0025] The installation process of this invention is as follows:

[0026] The multi-joint main pump television inspection device consists of a mechanical device 12, a mobile power supply 14, and a control system 13. First, the support panel 8 is placed on the main pump body 10, then the translation component 5 is installed parallel to the linear slide rail 7, and then the lifting body 4, the lifting component 3, and the vision component 1 are installed on the translation component. The mobile power supply 14 is connected to the mechanical device 12 and the control system 13 by wires to ensure proper interconnection.

[0027] After installation and cable connection are complete, ensure that the power bank 14, control system 13, vision component 1, lifting component 3, and translation component 5 are installed correctly. Confirm that all wiring connections are normal and there are no incorrect connections or looseness issues. After confirming that everything is normal, turn on the power bank 14, then turn on the control system 13 and use the control software to debug the equipment. Ensure that the light source 16 of the vision component 1 is turned on normally and adjustable, and that the focus of the camera 15 is adjustable; ensure that the translation component 5 can move horizontally normally; ensure that the lifting component 3 can lift and lower normally, and that the telescopic arm can rotate 90 degrees. Once everything is ready, a video inspection of the inner surface of the main pump can be performed. The control system 13 includes an electrical control box and a control computer. The electrical control box integrates core hardware such as the control board and motor driver; the control computer is equipped with control software for video inspection of the inner surface of the main pump. Operators can control the equipment from the computer and complete the video inspection of the inner surface of the main pump.

[0028] The features of this invention are as follows:

[0029] 1) The control software deploys intelligent image recognition algorithms to reduce and compensate for errors caused by human factors, thereby improving work efficiency and accuracy;

[0030] 2) Multi-joint structure: The multi-joint structure can improve the flexibility and adaptability of the inspection system. On the one hand, after the inspection system finishes working, the joint structures fold together, thus occupying less space. On the other hand, during operation, the inspection system uses a transmission device to extend the joint structures to the corresponding positions.

[0031] 3) The integrated structure reduces the risk of foreign objects being introduced into the main pump;

[0032] 4) Use a circular support panel. The circular support panel just covers the main pump port, which not only provides a fulcrum for the entire inspection device, but also prevents foreign objects from entering the main pump.

[0033] 5) Gear transmission structure, which can change the forward direction of the robotic arm so that it can rotate 90 degrees to meet the actual inspection needs.

Claims

1. A television inspection device for a main pump based on a multi-joint type, characterized in that: It includes a mechanical device, a control system, and a mobile power supply; the mechanical device includes a lifting body, a translation component, and a vision component; the mobile power supply uses a standard high-power storage battery of 220V~20AH; and the control system controls the motion of the mechanical device.

2. The television inspection device based on a multi-joint main pump as described in claim 1, characterized in that: The vision component includes a camera and a lighting source, with the lighting source and camera mounted on the same horizontal plane.

3. The television inspection device based on a multi-joint main pump as described in claim 2, characterized in that: The camera can adjust its focal length and resolution according to the received instructions to acquire high-definition video. The control system is equipped with an image recognition algorithm to analyze the acquired video stream frame by frame and automatically detect defects and foreign objects in the main pump. The camera can rotate 360 ​​degrees.

4. The multi-joint type main pump television inspection device as described in claim 2, characterized in that: The lighting source provides over 1000 Lux of light within 0.2m.

5. The television inspection device based on a multi-joint main pump as described in claim 1, characterized in that: The lifting assembly includes a lifting rack and a telescopic arm. The telescopic arm uses a ball screw to complete the telescopic movement and is used to adjust the movement of the vision assembly in the vertical direction. The telescopic arm also uses gear transmission, which allows the telescopic arm to reverse 90 degrees.

6. The television inspection device based on a multi-joint main pump as described in claim 1, characterized in that: The translation component is mounted on the slide rail.

7. A television inspection device based on a multi-joint main pump as described in claim 6, characterized in that: The translation component drives the motor to operate, which in turn drives the lifting rack to run.

Images