Visual guidance fastening bolt intelligent detection device

Abstract

The application discloses a visual guiding fastening bolt intelligent detection device, which comprises a frame, a main floating body which is installed on the frame and serves as a main floating source of the detection device, a propeller propeller which is used for controlling the moving direction of the detection device, an ultrasonic detection module, and an underwater self-stabilizing moving platform which comprises an upper nut slider and a lower nut slider with opposite moving directions, a counterweight, and a self-stabilizing driving part which is used for driving the upper nut slider and the lower nut slider to move reversely, wherein the ultrasonic detection module is connected with the upper nut slider, the counterweight and the lower nut slider respectively, or the ultrasonic detection module is connected with the lower nut slider, the counterweight and the upper nut slider respectively. The device is beneficial to keeping self-balance under water.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of nuclear power detection equipment, and particularly relates to a visual guiding fastening bolt intelligent detection device. BACKGROUND

[0002] The in-core structure of a nuclear power plant reactor is all other structures in the reactor pressure vessel except the fuel assembly and its related assemblies, including the upper core support structure, the lower core support structure, the core measurement support structure and the like. The in-core structure is a key component for supporting and fixing the core assembly and bearing the weight of the core, and the structural integrity of the in-core structure is of great significance to the safe operation of the nuclear power unit. A large number of fastening bolts are installed on the in-core structure, and the in-core structure is long-term exposed to a high-temperature, high-pressure, strong neutron irradiation and vibration environment, and is prone to irradiation stress corrosion cracking. The failure of the fastening bolts will cause the loosening of the connection of the in-core structure, reduce the overall rigidity of the in-core structure, and under the impact of the primary coolant, cause harm to the nuclear fuel assembly. During the overhaul, ultrasonic and video inspection needs to be performed on the fastening bolts of the in-core structure to ensure the structural integrity of the in-core structure.

[0003] At present, a robot adopts a bracket type structure, and when used, the robot is first installed above the closure panel to form a fixed platform, and a multi-freedom mechanical hand installed at the lower end can carry an ultrasonic probe to perform inspection on the closure panel bolts. Another robot is a micro submarine, and a power system, an ultrasonic probe and an auxiliary system are installed on a cylindrical buoyancy cabin, and the ultrasonic probe performs inspection on the closure panel bolts by operating the underwater robot. The bracket type device needs to be disassembled and assembled before and after detection, and needs to occupy a large amount of in-service inspection time. The underwater robot is submerged, floated up and suspended by controlling a vertical propeller, and since the thrust of the propeller is difficult to be absolutely maintained in a constant force state, and the rotation of the propeller will cause shaking and the like, the underwater robot is maintained in a certain depth range when suspended in water. This will affect the focusing of the video inspection and the efficiency of the ultrasonic inspection, and the inspection tool needs to be moved horizontally according to the position of the to-be-inspected part, and the center of gravity or the center of buoyancy will inevitably change, affecting the positioning of the underwater robot, and the lens of the camera and the to-be-inspected part have an angle deviation (non-parallel state), which will cause distortion of the detection picture. SUMMARY

[0004] The purpose of the present application is to provide a visual guiding fastening bolt intelligent detection device, which can keep the center of gravity unchanged when the underwater self-stable moving platform moves, and is beneficial to keeping the underwater self-balance.

[0005] To solve the above technical problems, the present application adopts the following technical scheme: a visual guiding fastening bolt intelligent detection device, which comprises:

[0006] frame;

[0007] a main buoyancy body mounted on the frame, which is the main buoyancy source of the detection device;

[0008] a propeller for controlling the moving direction of the detection device, which is the first moving direction;

[0009] an ultrasonic detection module for ultrasonic detection of the fastening bolt;

[0010] characterized in that it further comprises:

[0011] an underwater self-stabilizing moving platform comprising an upper nut block moving in a second moving direction, a lower nut block moving in a third moving direction, a counterweight, and a self-stabilizing driving part for driving the upper nut block and the lower nut block to move, the second moving direction and the third moving direction are always opposite, the ultrasonic detection module is fixedly connected with the upper nut block, the counterweight is fixedly connected with the lower nut block, or the ultrasonic detection module is fixedly connected with the lower nut block, and the counterweight is fixedly connected with the upper nut block.

[0012] In another embodiment, the self-stabilizing driving part comprises oppositely arranged side plates, a plurality of guide shafts mounted between the side plates, an upper screw rod and a lower screw rod mounted between the side plates and capable of rotating, the upper nut block is sleeved on two of the guide shafts and is threadedly connected with the upper screw rod, the lower nut block is sleeved on the other two guide shafts and is threadedly connected with the lower screw rod, and the screw threads of the upper screw rod and the lower screw rod are opposite in direction. The upper nut block and the lower nut block run more smoothly through the guidance of the guide shafts, and the swing amplitude of the detection device when running in water can be reduced.

[0013] In another embodiment, the self-stabilizing driving part comprises a first gear fixedly connected with the upper screw rod coaxially and a second gear fixedly connected with the lower screw rod coaxially, a second motor gear driving the first gear and the second gear to rotate, and a third motor driving the second motor gear to rotate. The first gear and the second gear adopt the same power source, which can ensure the synchronism of the two.

[0014] Another embodiment, the second motor gear and the first gear and the second gear between the connection with a torque limiter, the torque limiter and the third motor mounted on the same side plate, including a third gear, steel ball, the first spring, transmission disc, limit ring, the fourth gear, support shaft, rotatingly connected to the second motor gear and the third gear on the side plate mesh, the third gear on the symmetrically mounted a plurality of steel ball, steel ball and the third gear between the first spring is installed, the first spring is in compression; The third gear is installed on the transmission disc, and can relatively rotate along the axis of the transmission disc. The transmission disc has a circular hole corresponding to the position of the steel ball, and the diameter of the circular hole is smaller than the diameter of the steel ball. The transmission disc is fixedly connected with the fourth gear and is installed on the support shaft and can rotate around the support shaft. The limit ring is installed between the third gear and the fourth gear and can rotate relative to the third gear and the fourth gear. When the transmitted torque is too large, the third gear and the transmission disc will relatively rotate. At this time, the torque limiter no longer continues to transmit relative motion, avoiding the motor from locking and protecting the motor under water.

[0015] Another embodiment, the main buoyancy body is provided with a through mounting hole, and the propeller thrusters are divided into two groups and are respectively arranged horizontally on the frame and vertically in the mounting hole of the main buoyancy body. Installing one group of propeller thrusters in the mounting hole at the middle position of the main buoyancy body can improve the stability of the detection device in operation.

[0016] In another embodiment, the detection device further comprises a variable buoyancy module, the variable buoyancy module comprising an upper cavity, a lower cavity, a fixed plate, a piston, a first sealing ring, a first motor, a first nut gear, a bearing, a first motor gear, a second nut gear, a first bolt shaft, a second bolt shaft, a waterproof joint, and a motor cable. The fixed plate is installed on the cylindrical upper cavity, the first motor is installed on the fixed plate, the first motor is provided with the first motor gear, the first motor gear is engaged with the first nut gear and the second nut gear, the first nut gear and the second nut gear have the same number of teeth, and the first nut gear and the second nut gear are fixed on the fixed plate through the bearing. The first nut gear is internally provided with the first bolt shaft, the second nut gear is internally provided with the second bolt shaft, the first bolt shaft and the second bolt shaft respectively form a bolt-nut motion pair with the first nut gear and the second nut gear, the cylindrical lower cavity is connected with the upper cavity, the piston is provided with the first sealing ring and is installed in the lower cavity and can move along the lower cavity, and the first bolt shaft and the second bolt shaft are installed on the piston. In the case of mounting different loads, the variable buoyancy module can adjust the buoyancy of the detection device, so that the detection device can keep the net buoyancy unchanged in water and the propeller can be more easily protected in the case of unchanged propeller.

[0017] In another embodiment, the waterproof joint is installed on the upper part of the upper cavity, and the motor cable is led out of the variable buoyancy module through the waterproof joint. The waterproof joint is distributed on the four corners of the main buoyancy body, which can improve the stability of the detection device.

[0018] In another embodiment, the main buoyancy body is provided with a lifting point, the main cable passes through the middle of the main buoyancy body and the lifting point, and the detection device further comprises an unhooking device connected with the lifting point through the main cable. After lifting is completed, the unhooking device can be separated from the main body of the device, reducing the interference of the lifting rope on the movement of the detection device in water. When lifting is needed, the unhooking device can be thrown along the main cable to realize automatic installation of the unhooking device. At this time, the detection device can be easily lifted out of the pool.

[0019] In another embodiment, the unhooker comprises an unhooker body, a pin, a second spring, a steel wire rope, a lifting rope, the unhooker body passes through the main cable, the unhooker body is provided with the lifting rope, the unhooker body is internally provided with the movable pin, the pin and the unhooker body are provided with the second spring, and the tail end of the pin is connected with the steel wire rope. The unhooker body falls along the main cable and is embedded into the lifting point under the action of gravity, the pin is stretched into the clamping groove of the lifting point under the pressure of the spring, and at this time, the lifting of the detection device can be realized through the lifting rope. When the detection device works underwater, the steel wire rope is pulled, the pin is pulled out of the clamping groove of the lifting point at this time, the lifting rope is pulled, and the separation of the unhooker and the detection device can be realized, so that the interference of the lifting rope on the underwater movement of the detection device is reduced.

[0020] In another embodiment, the propeller comprises a base, a mounting frame, a second motor, a propelling shell, a blade, a propelling shaft, a shaft coupling, an oil box and a second sealing ring, the second motor is mounted on the base through the mounting frame, the second sealing ring is mounted between the propelling shell and the base, the propelling shaft passes through the base and the oil box and is mounted on the output shaft of the second motor through the shaft coupling, and the blade is mounted on the propelling shaft. The oil box of the propeller is a hollow structure with an inner cavity, the inner cavity is filled with lubricating oil or grease, lubrication can be generated between the shaft and the sealing ring, friction resistance is reduced, and the lubricating oil or grease in the cavity is beneficial to the dynamic sealing of the shaft in water.

[0021] In another embodiment, the second sealing ring is mounted between the oil box and the base, between the propelling shaft and the base, and between the propelling shaft and the oil box.

[0022] In another embodiment, the oil box is a hollow structure with an inner cavity, and the inner cavity is filled with lubricating oil or grease.

[0023] The underwater self-stabilizing mobile platform has the same underwater net weight of the counterweight mounted on the lower nut slider and the ultrasonic detection module mounted on the upper nut slider, the same distance movement of the two in opposite directions can ensure that the center of gravity of the underwater self-stabilizing mobile platform remains unchanged during movement, which is beneficial to the self-balance of the underwater self-stabilizing mobile platform. The ultrasonic detection module ensures that the ultrasonic probe and the fastening bolt have a certain pressing force, which can ensure more effective transmission of ultrasonic waves; the rotation of the ultrasonic probe can be realized through the motor, the incidence direction of the ultrasonic waves can be changed, and the detection of the entire volume of the fastening bolt can be better realized; the automatic alignment of the ultrasonic probe and the fastening bolt can be realized through the visual guidance of the vertical alignment camera and the horizontal alignment camera. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a schematic diagram of fastening bolt detection;

[0025] Figure 2 is a front view of the present application;

[0026] Figure 3 is a perspective view of the present invention;

[0027] Figure 4 is a schematic view of the variable buoyancy module structure;

[0028] Figure 5 is a schematic view of the propeller structure;

[0029] Figure 6 is a schematic view of the underwater self-stabilizing platform structure;

[0030] Figure 7 is a cross-sectional view of the underwater self-stabilizing platform;

[0031] Figure 8 is a schematic view of the torque limiter structure;

[0032] Figure 9 is a schematic view of the ultrasonic detection module structure;

[0033] Figure 10 is a cross-sectional view of the ultrasonic detection module;

[0034] Figure 11 is a schematic view of the unhooker when unlocked;

[0035] Figure 12 is a schematic view of the unhooker when locked;

[0036] Figure 13 is a schematic view of the vertically aligned camera;

[0037] Figure 14 is a schematic view of the horizontally aligned camera;

[0038] 1, main buoyancy body, 2, variable buoyancy module, 3, propeller thruster, 4, underwater self-stable mobile platform, 5, ultrasonic detection module, 6, unhooker, 11, frame, 13, hoisting point, 14, main cable, 15, underwater flat plate, 16, fastening bolt, 201, upper cavity, 202, lower cavity, 203, fixed plate, 204, piston, 205, first sealing ring, 206, first motor, 207, bolt shaft, 208, first nut gear, 209, bearing, 210, first motor gear, 211, second nut gear, 212, bolt shaft, 213, waterproof joint, 214, motor cable, 301, base, 302, mounting frame, 303, second motor, 304, propelling shell, 305, blade, 306, propelling shaft, 307, coupling, 308, oil box, 309, second sealing ring, 401, side plate, 402, guide shaft, 403, upper nut slider, 404, upper screw rod, 405, first gear, 406, third motor, 407, second motor gear, 408, counterweight, 409, torque limiter, 410, second gear, 411, lower nut slider, 412, lower screw rod, 4091, third gear, 4093, steel ball, 4094, first spring, 4095, transmission disc, 4096, limit ring, 4097, fourth gear, 4098, support shaft, 501, probe shell, 502, ultrasonic probe, 503, compression spring, 504, camera mounting plate, 505, shell connector, 506, fourth motor, 507, vertical alignment camera, 508, horizontal alignment camera, 601, unhooker body, 602, pin, 603, second spring, 605, steel wire rope, 606, hoisting rope. DETAILED DESCRIPTION

[0039] The application will be described in greater detail below with reference to the embodiments shown in the drawings:

[0040] As Figures 1-3As shown, the visual-guided fastening bolt intelligent detection device comprises a frame 11, a main buoyant body 1 installed on the frame to serve as the main buoyant source of the detection device, a variable buoyant module 2, a propeller thruster 3 for controlling the movement direction of the detection device, which is a first movement direction, the first movement direction can be in any direction, the main buoyant body 1 is provided with a through installation hole, the propeller thruster 3 is horizontally arranged on the frame 11 and vertically arranged in the installation hole of the main buoyant body, respectively, an ultrasonic detection module 5, and an underwater self-stabilizing mobile platform 4 comprising an upper nut block 403 moving in a second movement direction, a lower nut block 411 moving in a third movement direction, a counterweight 408, and a self-stabilizing driving part for driving the upper nut block 403 and the lower nut block 411 to move, the second movement direction and the third movement direction are always opposite, the ultrasonic detection module 5 is fixedly connected with the upper nut block 403 and the counterweight 408 and the lower nut block 411, or the ultrasonic detection module 5 is fixedly connected with the lower nut block 411 and the counterweight 408 and the upper nut block 403, in this embodiment, the ultrasonic detection module 5 is fixedly connected with the upper nut block 403 and the counterweight 408 and the lower nut block 411.

[0041] Specifically, as shown in the drawings, Figure 6 The self-stabilizing driving part comprises oppositely arranged side plates, guide shafts, an upper screw rod and a lower screw rod, the upper nut block slides on two of the guide shafts and is threadedly connected with the upper screw rod, the lower nut block slides on the other two guide shafts and is threadedly connected with the lower screw rod, and the screw threads of the upper screw rod and the lower screw rod are opposite in direction. The self-stabilizing driving part comprises a first gear for driving the upper nut block to move and a second gear for driving the lower nut block to move, a second motor gear for driving the first gear and the second gear to rotate, and a third motor for driving the second motor gear to rotate. A torsion limiter is connected between the second motor gear and the first gear and the second gear, the torsion limiter comprises a third gear, steel balls, a first spring, a transmission disc, a limiting ring, a fourth gear, and a support shaft, as shown in the drawings, Figure 5 、 Figure 6The side plate 401 is provided with a plurality of guide shafts 402, and the side plate 401 is provided with an upper screw rod 404 and a lower screw rod 412; an upper nut block 403 and the upper screw rod 404 form an upper screw nut pair, and a lower nut block 411 and the lower screw rod 412 form a lower screw nut pair; the upper screw rod 404 is provided at an end portion with a first gear 405, and the lower screw rod 412 is provided at an end portion with a second gear 410; a torsion limiter 409 is installed on the side plate, and a fourth gear 4097 on the torsion limiter 409 is engaged with the first gear 405 and the second gear 410 at the same time, and the first gear 405 and the second gear 410 have the same number of teeth; a third motor 406 is installed on the side plate, a second motor gear 407 is installed on an output shaft of the third motor 406, and the second motor gear 407 is engaged with a third gear 4091 on the torsion limiter 409; a counterweight 408 is installed on the lower nut block 411. The upper nut block 403 and the upper screw rod 404 form a screw nut pair, and the lower nut block 411 and the lower screw rod 412 form a screw nut pair, and the screw pitches of the two pairs are the same and the directions are opposite. The third motor 406 drives the second motor gear 407 to rotate, drives the first gear 405 and the second gear 410 to rotate in the same direction through the 409 torsion limiter, and realizes the same speed and opposite direction movement of the upper nut block 403 and the lower nut block 411 through the upper screw nut pair and the lower screw nut pair with the same screw pitch and opposite direction.

[0042] As Figures 7-8As shown, a plurality of steel balls 4093 are symmetrically mounted on the third gear 4091, and a first spring 4094 is mounted between the third gear 4091 and the steel balls 4093, and the first spring 4094 is in a compressed state; the third gear 4091 is mounted on a transmission disc 4095 and can relatively rotate along the axis of the transmission disc 4095, the transmission disc 4095 has a circular hole at a position corresponding to the steel balls 4093, and the diameter of the circular hole is smaller than the diameter of the steel balls 4093; the transmission disc 4095 is fixedly connected with a fourth gear 4097 and is mounted on a support shaft 4098 and can rotate around the support shaft 4098; a limiting ring 4096 is mounted between the third gear 4091 and the fourth gear 4097 and can rotate relative to the third gear 4091 and the fourth gear 4097. The steel balls 4093 mounted on the third gear 4091 are embedded into the circular hole of the transmission disc 4095 through the first spring 4094, and when the third gear 4091 rotates, the force is transmitted to the transmission disc 4095 through the steel balls 4093, driving the transmission disc 4095 to rotate around the support shaft 4098, and the fourth gear 4097 fixedly connected to the transmission disc 4095 rotates at the same time, realizing the transmission of the rotary motion from the third gear 4091 to the fourth gear 4097; when the torque to be transmitted by the third gear 4091 to the fourth gear 4097 is too large and exceeds the pressure of the first spring 4094 on the steel balls 4093, the third gear 4091 and the transmission disc 4095 will relatively rotate, at which time the steel balls 4093 will be squeezed into the hole of the third gear 4091. When the transmitted torque is too large, the third gear 4091 and the transmission disc 4095 will relatively rotate, at which time the torque limiter no longer continues to transmit the relative motion, avoiding the motor from being blocked and protecting the safety of the motor under water.

[0043] As Figure 3 , 4As shown, the main buoyancy body 1 is roughly square, and four mounting positions are provided at its four corners, and the variable buoyancy modules are arranged on the four mounting positions, so that the buoyancy of the adjustment detection device is balanced, and the buoyancy of the adjustment detection device can be adjusted more effectively and quickly. Each variable buoyancy module comprises an upper cavity 201, a lower cavity 202, a fixed plate 203, a piston 204, a first sealing ring 205, a first motor 206, a first bolt shaft 207, a first nut gear 208, a bearing 209, a first motor gear 210, a second nut gear 211, a second bolt shaft 212, a waterproof joint 213, and a motor cable 214. The fixed plate is installed on the cylindrical upper cavity, the fixed plate 203 is installed on the cylindrical upper cavity 201, the first motor 206 is installed on the fixed plate 203, the first motor 206 is installed with the first motor gear 210, the first motor gear 210 is engaged with the first nut gear 208 and the second nut gear 211, the first nut gear 208 and the second nut gear 211 have the same number of teeth, and the first nut gear 208 and the second nut gear 211 are fixed on the fixed plate 203 through the bearing 209; the first nut gear 208 is internally provided with the first bolt shaft 207, and the second nut gear 211 is internally provided with the second bolt shaft 212. The bolt-nut pair formed by the first nut gear 208 and the first bolt shaft 207 has the same specification parameters as the bolt-nut pair formed by the second nut gear 211 and the second bolt shaft 212. The cylindrical lower cavity 202 is connected with the upper cavity 201, the piston 204 is installed with the first sealing ring 205 and is installed inside the lower cavity 202 and can move along the lower cavity; the first bolt shaft 207 and the second bolt shaft 212 are installed on the piston 204. The waterproof joint 213 is installed on the upper part of the upper cavity 201, and the motor cable 214 is led out to the outside of the variable buoyancy module through the waterproof joint 213. The first motor 206 rotates to drive the first motor gear 210 to rotate, and the first nut gear 208 and the second nut gear 211 rotate, and the first nut gear 208 and the second nut gear 211 rotate in the same direction and at the same speed. The bolt-nut pair formed by the first nut gear 208 and the first bolt shaft 207 drives the first bolt shaft 207 to move axially along the variable buoyancy module, and the bolt-nut pair formed by the second nut gear 211 and the second bolt shaft 212 drives the second bolt shaft 212 to move axially along the variable buoyancy module, and the two move in the same direction and at the same speed, thereby jointly driving the piston 204 to move, realizing the volume change of the variable buoyancy module 2, and realizing the change of the buoyancy.

[0044] As Figure 2 , 11 As shown in FIG. 12, a hoisting point is installed on the main buoyancy body, and the main cable passes through the middle of the main buoyancy body and the hoisting point. Figure 10As shown, the detection device also includes an unhooker connected with the lifting point through the main cable. After lifting is completed, the unhooker can be separated from the main body of the device, reducing the interference of the lifting rope to the detection device when it moves underwater. When lifting is needed, the unhooker is thrown along the main cable, and the automatic installation of the unhooker is realized. At this time, the detection device can be easily lifted out of the pool. The unhooker includes an unhooker body 601, a pin 602, a second spring 603, a steel wire rope 605, and a lifting rope 606. The unhooker body 601 passes through the main cable 14, and the lifting rope 606 is installed on the unhooker body 601. The movable pin 602 is installed inside, and the second spring 603 is installed between the pin 602 and the unhooker body 601. The steel wire rope 605 is connected to the tail end of the pin. When lifting, the unhooker body 601 falls along the main cable 14 and is embedded into the lifting point 13 under the action of gravity. The pin 602 extends into the clamping groove of the lifting point 13 under the pressure of the spring. At this time, the lifting of the detection device can be realized through the lifting rope 606. When the detection device works underwater, the steel wire rope 605 is pulled. At this time, the pin 602 is pulled out of the clamping groove of the lifting point 13. The lifting rope 606 is pulled to realize the separation of the unhooker 6 and the detection device, reducing the interference of the lifting rope to the detection device when it moves underwater.

[0045] As shown in Figure 5 , the propeller includes a base, a mounting frame, a second motor, a propeller shell, a blade, a propeller shaft, a coupling, an oil box, and a second sealing ring. The second motor 303 is installed on the base 301 through the mounting frame 302. The second sealing ring 309 is installed between the propeller shell 304 and the base 301. The second sealing ring 309 is installed between the oil box 308 and the base 301. The propeller shaft 306 passes through the base 301 and the oil box 308 and is installed on the output shaft of the second motor 303 through the coupling 307. The second sealing ring 309 is installed between the propeller shaft 306 and the base 301. The second sealing ring 309 is installed between the propeller shaft 306 and the oil box 308. The oil box 308 is a hollow structure with an inner cavity filled with lubricating oil or grease. The blade is installed on the propeller shaft 306. The second motor 303 rotates to drive the propeller shaft 306 to rotate through the coupling 307, driving the blade 305 to rotate, thereby generating thrust in water. Forward or backward thrust can be realized by controlling the forward and reverse rotation of the second motor 303.

[0046] As shown in Figure 9 , 10, 13, 14, the cylindrical ultrasonic probe 502 is placed in the probe shell 501, the probe shell 501 has a groove inside, the ultrasonic probe 502 is processed or installed with the convex matched with the groove inside the shell 501, can move along the probe shell 501 axis, the two cannot rotate relative to each other; The other end of the probe shell 501 is provided with a shell connecting piece 505, a compression spring 503 is installed between the shell connecting piece 505 and the ultrasonic probe 502, and the spring is in a compressed state; The shell connecting piece 505 is installed on the output shaft of the fourth motor 506, and the fourth motor 506 is installed on the camera mounting plate 504; The horizontal alignment camera 508 and the vertical alignment camera 507 are installed on the camera mounting plate 504. When the ultrasonic detection module 5 is aligned with the fastening bolt 16, the probe shell 501 is tightly attached to the convex end face of the fastening bolt 16, and the head of the fastening bolt 16 lifts the ultrasonic probe 502, and under the action of the compression spring 503, the ultrasonic probe 502 generates a certain pre-tightening force with the fastening bolt 16, so as to ensure the effective transmission of ultrasonic waves. The fourth motor 506 drives the shell connecting piece 505 and the probe shell 501 to rotate, and because the groove of the shell 501 and the convexity processed or installed on the ultrasonic probe 502 are matched, the ultrasonic probe 502 is driven to rotate, so as to change the incident direction of the ultrasonic wave. The vertical alignment camera 507 and the horizontal alignment camera 508 capture the image of the fastening bolt 16 in real time, compare the vertical center line of the image of the vertical alignment camera 507 with the vertical center line of the image of the fastening bolt 16 through machine vision algorithm, when the two vertical center lines have deviation, through the underwater self-stabilizing moving platform 4, the two are kept coincident. Compare the horizontal center line of the image of the horizontal alignment camera 508 with the horizontal center line of the image of the fastening bolt 16, when the two horizontal center lines have deviation, control the detection device to float or sink through the propeller thruster 10 installed in the vertical direction, so as to keep the two coincident. In the case that the images of the transverse alignment camera 402 and the horizontal alignment camera 403 are aligned, the detection device advances in the water through the propeller thruster 3 installed in the horizontal direction, that is, the ultrasonic probe 502 can automatically align the fastening bolt 16.

[0047] The above embodiments are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made in accordance with the spirit of the present application shall be covered within the protection scope of the present application.

Claims

1. A visual guiding fastening bolt intelligent detection device, comprising: a frame; a main buoyancy body mounted on the frame, which is the main source of buoyancy of the detection device; a propeller propeller for controlling the movement direction of the detection device, which is the first movement direction; an ultrasonic detection module; for ultrasonic detection of the fastening bolts of the reactor internal components of a nuclear power plant; characterized in that it further comprises: an underwater self-stabilizing mobile platform comprising an upper nut slider moving in a second movement direction, a lower nut slider moving in a third movement direction, a counterweight, and a self-stabilizing driving part for driving the movement of the upper and lower nut sliders, the second and third movement directions are always opposite, the ultrasonic detection module is fixedly connected with the upper nut slider, the counterweight and the lower nut slider are fixedly connected, or the ultrasonic detection module is fixedly connected with the lower nut slider, the counterweight and the upper nut slider are fixedly connected; the detection device further comprises a variable buoyancy module, the variable buoyancy module comprises an upper cavity, a lower cavity, a fixed plate, a piston, a first sealing ring, a first motor, a first bolt shaft, a second bolt shaft, a first nut gear, a bearing, a first motor gear, a second nut gear, a waterproof joint, a motor cable, the fixed plate is installed on the cylindrical upper cavity, the first motor is installed on the fixed plate, the first motor is installed with the first motor gear, the first motor gear is engaged with the first nut gear and the second nut gear, the first nut gear and the second nut gear have equal number of teeth, the first nut gear and the second nut gear are fixed on the fixed plate through the bearing; the first nut gear is installed with the first bolt shaft inside, the second nut gear is installed with the second bolt shaft inside, the bolt-nut movement pair composed of the first nut gear and the first bolt shaft, and the second nut gear and the second bolt shaft are the same; the cylindrical lower cavity is connected with the upper cavity, the piston is installed with the first sealing ring, the piston is installed inside the lower cavity and can move along the lower cavity; the first bolt shaft and the second bolt shaft are installed on the piston; the first bolt shaft and the second bolt shaft are symmetrically arranged and move in the same direction. The ultrasonic detection module comprises a probe shell, a camera mounting plate, a shell connecting piece, a fourth motor, a vertical alignment camera, and a horizontal alignment camera; the shell connecting piece is mounted on the output shaft of the fourth motor, and the fourth motor is mounted on the camera mounting plate; the horizontal alignment camera and the vertical alignment camera are mounted on the camera mounting plate; the vertical alignment camera and the horizontal alignment camera capture images of the fastening bolt in real time, and the image vertical center line of the vertical alignment camera is compared with the image vertical center line of the fastening bolt through a machine vision algorithm; when the two vertical center lines are deviated, the underwater self-stabilizing moving platform is used to keep the two vertical center lines coincident; the image horizontal center line of the horizontal alignment camera is compared with the image horizontal center line of the fastening bolt; when the two horizontal center lines are deviated, the vertical direction installed propeller thruster is used to control the detection device to float or sink, so that the two horizontal center lines are kept coincident; when the images of the horizontal alignment camera and the horizontal alignment camera are aligned, the horizontal direction installed propeller thruster is used to realize the forward movement of the detection device in water, so that the ultrasonic probe can be automatically aligned with the fastening bolt. The self-stabilizing driving part comprises oppositely arranged side plates, a plurality of guide shafts mounted between the side plates, an upper screw rod and a lower screw rod rotatably mounted between the side plates, an upper nut block slidingly sleeved on two of the guide shafts and threadedly connected with the upper screw rod, a lower nut block slidingly sleeved on the other two guide shafts and threadedly connected with the lower screw rod, and the screw threads of the upper screw rod and the lower screw rod are opposite in direction.

2. The visually guided fastener bolt smart detection apparatus of claim 1, wherein: The main buoyancy body is provided with a through mounting hole, and the propeller thrusters are divided into two groups and are arranged horizontally on the frame and vertically in the mounting hole of the main buoyancy body.

3. The vision guided fastener bolt intelligent detection apparatus of claim 1, wherein: The upper cavity is provided with a waterproof joint at the upper portion, and the motor cable is led out of the variable buoyancy module through the waterproof joint.

4. The vision guided fastener bolt intelligent detection apparatus of claim 1, wherein: The main float body is provided with a hoisting point, the main cable passes through the middle of the main float body and the hoisting point, and the detection device further comprises an unhooking device connected with the hoisting point through the main cable.

5. The visually guided fastener bolt smart detection apparatus of claim 4, wherein: The unhooking device comprises an unhooking device body, a pin, a second spring, a steel wire rope and a hoisting rope, the unhooking device body passes through the main cable, the unhooking device body is provided with the hoisting rope, the unhooking device body is internally provided with the movable pin, the second spring is arranged between the pin and the unhooking device body, and the tail end of the pin is connected with the steel wire rope.

6. The vision-guided fastener bolt intelligent detection apparatus of claim 1, wherein: The propeller comprises a base, a mounting frame, a second motor, a propelling shell, a blade, a propelling shaft, a shaft coupling, an oil box and a second sealing ring, the second motor is mounted on the base through the mounting frame, the second sealing ring is arranged between the propelling shell and the base, the propelling shaft passes through the base and the oil box and is mounted on the output shaft of the second motor through the shaft coupling, and the blade is mounted on the propelling shaft.

7. The visually guided fastener bolt smart detection apparatus of claim 6, wherein: Second sealing rings are arranged between the oil box and the base, between the propelling shaft and the base and between the propelling shaft and the oil box.

8. The vision guided fastener bolt intelligent detection apparatus of claim 7, wherein: The oil box is a hollow structure with an inner cavity, and the inner cavity is filled with lubricating oil or grease.

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