A kind of slit detection robot for nuclear power steam generator

Abstract

The present application relates to a kind of slit detection robot for nuclear power steam generator, including flexible steel band, steering walking system and endoscope;Steering walking system includes pedestal, clamping device, steering device and support device, clamping device is equipped with clamping space, through passage is equipped in pedestal, flexible steel band is sequentially arranged in through passage and clamping space, clamping device is used to clamp and drive flexible steel band moves along the extension direction of clamping space;Support device is used to provide support to pedestal, clamping device, steering device and flexible steel band after steering walking system enters nuclear power steam generator;Steering device is used to drive flexible steel band steering;Flexible steel band is equipped with mounting groove, endoscope is arranged in mounting groove, for detecting the heat pipe slit of nuclear power steam generator.This slit detection robot for nuclear power steam generator is compact, so that detection process is simple, easy to control, improve the efficiency of nuclear power steam generator heat pipe gap detection.

Description

Technical Field

[0001] This invention relates to the field of steam generator inspection, and more specifically to a slit inspection robot for nuclear power steam generators. Background Technology

[0002] In pressurized water reactor nuclear power plants, the steam generator, as the boundary device between the primary and secondary loops, is a crucial piece of equipment that transfers the energy generated by nuclear fission in the primary loop to the secondary loop, heating it to form steam to drive the turbine and generate electricity. During the operation of the nuclear power plant, corrosion products generated in the secondary loop form deposits on the secondary side of the steam generator, seriously affecting the safety of the heat transfer tubes and increasing the risk of heat transfer tube degradation. Furthermore, the steam generator exhibits a certain degree of radiation under the inspection environment of nuclear power plants. Currently, in most cases, the inspection of the gaps in the heat transfer tubes of nuclear power plant evaporators relies mainly on manual operation of endoscopes. This method has the following disadvantages: it wastes human resources, has low work efficiency, lacks automation, and long-term exposure to this inspection environment can cause serious health hazards to personnel.

[0003] Based on the above problems, some devices have emerged that can replace manual labor for inspecting the gaps in heat transfer tubes of nuclear power plant evaporators, such as the CECIL device. This device eliminates the need for inspectors to operate it near the steam generator's handhole for extended periods, resulting in lower radiation doses and less physical strain. Remote operation using the CECIL device can reduce the radiation dose received by operators by 70% compared to conventional techniques. However, this system still has certain drawbacks: its mechanical structure and control system are very complex and expensive; the installation and assistance time before robot operation is lengthy, requiring alignment of the installation rails; because it requires high-pressure water flushing, it demands high structural stability; the drive power is high, resulting in high energy consumption; and the system is bulky and inflexible. Therefore, current domestic inspections are still mainly based on manual video inspection equipment, which lacks automation and results in high radiation doses during the inspection process, posing a significant health hazard.

[0004] In summary, to address the aforementioned issues, there is an urgent need to design a new slit inspection robot for nuclear power steam generators to improve the automation level of heat transfer tube gap inspection in nuclear power steam generators. Summary of the Invention

[0005] Based on the above description, the present invention provides a slit detection robot and detection method for nuclear power steam generators, in order to solve the technical problem of low automation in the detection of heat transfer tube gaps in nuclear power steam generators in the prior art.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] This invention provides a slit inspection robot for nuclear power plant steam generators, comprising: a flexible steel belt, a steering and walking system, and an endoscope;

[0008] The steering and walking system includes a base, a clamping device, a steering device, and a supporting device, wherein the clamping device, the steering device, and the supporting device are all located on the base;

[0009] The clamping device includes a clamping space, and the base has a through channel. The flexible steel strip passes sequentially through the through channel and the clamping space. The clamping device clamps and drives the flexible steel strip to move along the extension direction of the clamping space. The supporting device provides support for the base, the clamping device, the steering device, and the flexible steel strip after the steering and walking system enters the nuclear power steam generator. The steering device drives the flexible steel strip to turn.

[0010] The flexible steel strip is provided with an installation groove, and the endoscope is installed in the installation groove. The endoscope is used to inspect the heat penetration slit of the nuclear power steam generator.

[0011] Based on the above technical solution, the present invention can be further improved as follows.

[0012] Furthermore, the steering and walking system also includes a video detection and positioning device;

[0013] The video detection and positioning device is located on the side of the base facing the support device, and the video detection and positioning device is used to monitor the real-time position of the steering and walking system.

[0014] Furthermore, the steering and walking system also includes a controller; the controller is used to control the movement of the clamping device and the steering device according to the real-time position of the steering and walking system.

[0015] Furthermore, the clamping device includes a base, a first drive motor, a belt pulley transmission module, a first connecting rod, a second connecting rod, a first guide roller, and a second guide roller;

[0016] The first connecting rod and the second connecting rod are disposed inside the base, and the first connecting rod and the second connecting rod are arranged side by side. The first guide roller and the second guide roller are respectively sleeved on the first connecting rod and the second connecting rod.

[0017] The first connecting rod and the second connecting rod are connected to the belt pulley transmission module, which is connected to the first drive motor. Under the action of the first drive motor, the belt pulley transmission module can drive the first connecting rod and the second connecting rod to rotate, thereby driving the first guide roller and the second guide roller to rotate in opposite directions.

[0018] Furthermore, there are multiple first connecting rods and multiple second connecting rods, and the number of each is equal; all the multiple first connecting rods and multiple second connecting rods are arranged along the moving direction of the flexible steel strip;

[0019] There are multiple first guide rollers and multiple second guide rollers. Multiple first guide rollers are sleeved on any first connecting rod, and multiple second guide rollers are sleeved on any first connecting rod.

[0020] Furthermore, the clamping device also includes support rollers;

[0021] The support roller is disposed between the first connecting rod and the second connecting rod and is located on the base; the support roller is used to support the flexible steel strip held by the first guide roller and the second guide roller.

[0022] Furthermore, the steering device includes a telescopic pole; both ends of the telescopic pole are connected to the base and the clamping device, respectively, and the telescopic pole is used to change the direction of travel of the flexible steel strip by pulling the clamping device to rotate.

[0023] Furthermore, the flexible steel strip includes a front baffle and multiple flexible steel sections;

[0024] Multiple flexible steel sections are connected in sequence by hinges, and the front baffle and the side of the flexible steel strip facing the nuclear power steam generator are rotatably connected by a rotating pin.

[0025] Furthermore, the slit inspection robot for nuclear power steam generators also includes a recovery device;

[0026] The recycling device includes a worktable, a rotary table, a limiting component, a guide component, and a second drive motor;

[0027] The rotary table and the guide are both mounted on the worktable. The guide is used to guide the flexible steel strip. The limiting member is located on one side of the rotary table and is used to limit the flexible steel strip. The second drive motor is connected to the rotary table. Under the action of the second drive motor, the rotary table can rotate to drive the flexible steel strip to retract.

[0028] Furthermore, the recycling device also includes a linear translation component and a third drive motor;

[0029] The linear translation component is located at the bottom of the rotary table. The third drive motor is connected to the linear translation component. Under the action of the third drive motor, the linear translation component can drive the rotary table to move horizontally in a direction perpendicular to the flexible steel belt, so as to adjust the position of the rotation center.

[0030] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0031] The slit inspection robot for nuclear power steam generators provided by this invention utilizes a flexible steel belt, a steering and walking system, and an endoscope. The steering and walking system comprises a base, a clamping device, a steering device, and a supporting device. The clamping device has a clamping space, and the base has a through channel. The flexible steel belt passes sequentially through the through channel and the clamping space. The clamping device can clamp the flexible steel belt and drive it to move along the extension direction of the clamping space, i.e., towards the nuclear power steam generator. The supporting device provides support for the steering and walking system and the flexible steel belt after the system enters the nuclear power steam generator. The steering device drives the flexible steel belt to turn, enabling the endoscope mounted on the flexible steel belt to inspect the slits in the heat transfer tubes of the nuclear power steam generator. This slit inspection robot for nuclear power steam generators solves the problem of difficult inspection of heat transfer tube gaps in nuclear power steam generators. While ensuring the structural design meets basic requirements, the robot has a compact and uncomplicated structure, making the inspection process simple and easy to operate, thereby effectively improving the efficiency of heat transfer tube gap inspection in nuclear power steam generators. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the slit inspection robot for a nuclear power plant steam generator provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the steering and walking system provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the flexible steel strip provided in an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of the flexible steel joint provided in an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the structure of the recycling device provided in an embodiment of the present invention;

[0037] The attached diagram lists the components represented by each number as follows:

[0038] 1. Flexible steel strip; 11. Flexible steel section; 12. Front baffle; 13. Mounting groove; 14. Rotating pin;

[0039] 2. Steering and walking system; 21. Base; 22. Clamping device; 221. Base; 222. Belt pulley drive module; 223. First connecting rod; 224. Second connecting rod; 225. First guide roller; 226. Second guide roller; 227. Support roller; 23. Steering device; 24. Support device; 241. Support pole; 242. Support wheel; 25. Video detection and positioning device;

[0040] 3. Recycling device; 31. Workbench; 32. Rotary table; 33. Second drive motor; 34. Limiting component; 35. Guide component; 36. Linear translation component; 37. Winding drive motor;

[0041] 4. Nuclear power steam generator. Detailed Implementation

[0042] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0043] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0044] It should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of this specification, references to terms such as "specific example" or "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0047] The following is in conjunction with the appendix Figures 1 to 5 The embodiments will be described in further detail below to illustrate the implementation of the present invention. The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0048] like Figure 1 As shown, this embodiment of the invention provides a slit inspection robot for nuclear power steam generators, including: a flexible steel belt 1, a steering and walking system 2, and an endoscope.

[0049] The steering and walking system 2 includes a base 21, a clamping device 22, a steering device 23, and a support device 24, all of which are located on the base 21.

[0050] The clamping device 22 has a clamping space, and the base 21 has a through channel. The flexible steel belt 1 passes through the through channel and the clamping space in sequence. The clamping device 22 is used to clamp and drive the flexible steel belt 1 to move along the extension direction of the clamping space. The support device 24 is used to provide support for the base 21, the clamping device 22, the steering device 23 and the flexible steel belt 1 after the steering and walking system 2 enters the nuclear power steam generator 4. The steering device 23 is used to drive the flexible steel belt 1 to turn.

[0051] The flexible steel strip 1 is provided with an installation groove 13, and the endoscope is installed in the installation groove 13. The endoscope is used to inspect the heat pipe slit of the nuclear power steam generator 4.

[0052] Specifically, such as Figure 1 As shown, the slit inspection robot for nuclear power steam generators provided in this embodiment of the invention is equipped with a flexible steel belt 1, a steering and walking system 2, and an endoscope, wherein, as... Figure 2 As shown, the steering and walking system 2 consists of a base 21, a clamping device 22, a steering device 23, and a support device 24. The clamping device 22 has a clamping space, and the base 21 has a through channel. The flexible steel belt 1 passes through the through channel and the clamping space in sequence. The clamping device 22 can clamp the flexible steel belt 1 and drive it to move along the extension direction of the clamping space, i.e., towards the nuclear power steam generator 4. The support device 24 can provide support for the steering and walking system 2 and the flexible steel belt 1 after the steering and walking system 2 enters the nuclear power steam generator 4. The steering device 23 is used to drive the flexible steel belt 1 to turn, so that the endoscope installed on the flexible steel belt 1 can inspect the heat pipe slit of the nuclear power steam generator 4.

[0053] Because the heat transfer tube gap of the nuclear power steam generator 4 is small, only about 5mm, and the heat transfer tubes of the evaporator are distributed on both sides of the middle tube gallery, there will be a channel in the middle for checking the movement of the device; therefore, in order to solve the problem of heat transfer tube gap detection, the core of the embodiment of the present invention lies in the structural design between the flexible steel belt 1 and the steering and walking system 2 and their detection position relationship. The flexible steel belt 1 is a multi-degree-of-freedom serial robot, and the steering is controlled by the steering and walking system 2 to accurately position and send the 4mm thick steel belt into the heat transfer tube gap.

[0054] The inspection robot mainly uses a steering and walking system 2 and a flexible steel belt 1 to carry out the inspection process. The overall size of the steering and walking system 2 can be 120mm x 120mm, and its lateral interface is controlled within the range of 152.8mm in diameter of the access hole. The material of the steering and walking system 2 can be aluminum alloy.

[0055] When the flexible steel belt 1 is not driven by external force to turn, it is kept in a straight line. The clamping device 22 clamps and drives the flexible steel belt 1 forward. When the steering device 23 applies external force, the flexible steel belt 1 turns under the drive of the external force. That is, the function of the steering device 23 is to drive the flexible steel belt 1 to turn. In other words, the steering and walking system 2 has two functions: first, to clamp and drive the flexible steel belt 1 forward, and second, to drive the flexible steel belt 1 to turn according to actual needs.

[0056] The slit inspection robot for nuclear power steam generators provided in this embodiment of the invention solves the problem of difficult gap inspection of heat transfer tubes in nuclear power steam generator 4. Under the premise of ensuring that the structural design meets the basic requirements, the inspection robot has a compact and uncomplicated structure, making the inspection process simple and easy to operate, thereby effectively improving the efficiency of gap inspection of heat transfer tubes in nuclear power steam generator 4.

[0057] In optional embodiments, such as Figure 2 As shown, the steering and walking system 2 also includes a video detection and positioning device 25.

[0058] The video detection and positioning device 25 is located on the side of the base 21 facing the support device 24. The video detection and positioning device 25 is used to monitor the real-time position of the steering and walking system 2.

[0059] In an optional embodiment, the steering and walking system 2 further includes a controller; the controller is used to control the movement of the clamping device 22 and the steering device 23 according to the real-time position of the steering and walking system 2.

[0060] Specifically, when the steering and walking system 2 moves in the intermediate tube gallery of the nuclear power steam generator 4, the position of the steering and walking system 2 is controlled and monitored by the controller and the video detection and positioning device 25. When the steering and walking system 2 moves to the gap of the first row of heat transfer tubes, the steering device 23 retracts and pulls the clamping device 22 to rotate. After reaching 90°, it remains unchanged. The clamping device 22 drives the flexible steel belt 1 to continue to move forward in order to detect the gap of the heat transfer tubes.

[0061] In optional embodiments, such as Figure 2 As shown, the clamping device 22 includes a base 221, a first drive motor, a belt pulley transmission module 222, a first connecting rod 223, a second connecting rod 224, a first guide roller 225, and a second guide roller 226.

[0062] The first connecting rod 223 and the second connecting rod 224 are disposed inside the base 221, and the first connecting rod 223 and the second connecting rod 224 are arranged side by side. The first guide roller 225 and the second guide roller 226 are respectively sleeved on the first connecting rod 223 and the second connecting rod 224.

[0063] The first connecting rod 223 and the second connecting rod 224 are connected to the belt pulley transmission module 222, which is connected to the first drive motor. Under the action of the first drive motor, the belt pulley transmission module 222 can drive the first connecting rod 223 and the second connecting rod 224 to rotate, thereby driving the first guide roller 225 and the second guide roller 226 to rotate in opposite directions.

[0064] In an optional embodiment, there are multiple first connecting rods 223 and multiple second connecting rods 224, and the number of each is equal; the multiple first connecting rods 223 and multiple second connecting rods 224 are arranged along the moving direction of the flexible steel belt 1.

[0065] There are multiple first guide rollers 225 and multiple second guide rollers 226. Multiple first guide rollers 225 are fitted on any first connecting rod 223, and multiple second guide rollers 226 are fitted on any first connecting rod 223.

[0066] Furthermore, the clamping device 22 also includes a support roller 227.

[0067] The support roller 227 is located between the first connecting rod 223 and the second connecting rod 224, and is situated on the base 221. The support roller 227 is used to support the flexible steel strip 1 held by the first guide roller 225 and the second guide roller 226.

[0068] Specifically, the steering and travel system 2 is a drive steering device 23 that works directly in conjunction with the flexible steel belt 1, such as... Figure 1As shown, its end is driven by a drive motor to drive the pulley to rotate, which in turn drives the roller to rotate. When the roller rotates, the flexible steel belt 1 is clamped in the middle of the roller and the roller generates relative motion through static friction to control the flexible steel belt 1 to move forward.

[0069] In one example, the belt drive module in the clamping device 22 can be composed of a pulley and four transmission joints connected together. It has a certain limiting structure. At the end, two drive motors drive the pulley to rotate, thereby driving the guide roller to rotate. In this embodiment of the invention, a total of five sets of rollers can be set (other numbers are also possible, this is just an example and does not limit the solution itself). Each set has two rollers. The flexible steel belt 1 is clamped and moved by one set of rollers. Among the five sets of rollers, only the last set is used as the drive wheel, and the other four sets are used as driven wheels to control the direction of movement of the flexible steel belt 1.

[0070] like Figure 1 As shown, the steering and walking system 2 is equipped with a support roller 227. The function of the support roller 227 is to provide support for the flexible steel belt 1 and support the flexible steel belt 1 to move forward.

[0071] In addition, such as Figure 2 As shown, the support device 24 consists of a support rod 241 and a support wheel 242. Before the steering and walking system 2 enters the access channel and while in the access hole channel, the support rod 241 remains horizontal due to the support force provided by its own driving component. After passing through the access hole channel, the support rod 241 and the support wheel 242 will naturally swing down and become vertical due to gravity. After the support wheel 242 contacts the bottom of the evaporator, the support rod 241 locks in place, thus providing support.

[0072] In optional embodiments, such as Figure 2 As shown, the steering device 23 includes a telescopic pole; the two ends of the telescopic pole are connected to the base 21 and the clamping device 22 respectively. The telescopic pole is used to change the direction of travel of the flexible steel belt 1 by pulling the clamping device 22 to rotate.

[0073] In optional embodiments, such as Figure 3 As shown, the flexible steel strip 1 includes a front baffle 12 and multiple flexible steel sections 11.

[0074] Multiple flexible steel sections 11 are connected in sequence by hinges, and the front baffle 12 and the flexible steel strip 1 are rotatably connected to the side facing the nuclear power steam generator 4 by a rotating pin 14.

[0075] Specifically, the flexible steel belt 1 is made of aluminum alloy and is composed of multiple flexible steel sections 11 connected by hinges. The dimensions of a single steel section are 40mm x 70mm x 4mm, and the weight of a single flexible steel section 11 is approximately 20g. Depending on the working environment requirements, more than 100 sections are needed for parameter testing. The overall weight of the flexible steel belt 1 is approximately 2.52kg. Adjacent flexible steel sections 11 are connected by hinges to form a rotating pair and fixed by pins. The flexible steel belt 1 has multiple joints participating in rotation and belongs to a multi-degree-of-freedom planar redundant robot.

[0076] The flexible steel strip 1 has a 1mm wide limiting plate on its side, which fixes it so that it can only rotate to one side. The lower side of the flexible steel strip 1 has a 2.8mm deep mounting groove 13, which is used to install an endoscope for video inspection.

[0077] like Figure 4 As shown, the flexible steel section 11 has through holes with a diameter of 1mm on its sides, which are used to thread multiple flexible steel strips 1 through fishing line. The fishing line is stretched by a motor, so that the flexible steel strips 1 can maintain a certain degree of elasticity and remain in a straight line when there is no external force. When the telescopic pole is extended and the trolley turns, it drives the flexible steel strips 1 to turn, which mainly does work to overcome the elastic force of the flexible steel strips 1.

[0078] The front baffle 12 and the flexible steel strip 1 are connected by transversely inserted pins. The two structures can be rotated 90°. The main function is to place the front camera of the endoscope vertically downward at 90° so as to detect the sludge accumulation on the bottom plate of the heat transfer tube gap.

[0079] In an optional embodiment, the slit inspection robot for a nuclear power steam generator also includes a recovery device 3.

[0080] The recycling device 3 includes a worktable 31, a rotary table 32, a limiting member 34, a guide member 35, and a second drive motor 33.

[0081] The rotary table 32 and the guide 35 are both located on the worktable 31. The guide 35 is used to guide the flexible steel strip 1. The limiting member 34 is located on one side of the rotary table 32 and is used to limit the flexible steel strip 1. The second drive motor 33 is connected to the rotary table 32. Under the action of the second drive motor 33, the rotary table 32 can rotate to drive the flexible steel strip 1 to rotate and retract.

[0082] Specifically, the recycling device 3 uses a rotary table 32 driven by a motor to rotate and recycle the flexible steel belt 1, i.e. Figure 5As shown, one end of the flexible steel strip 1 is fixed to one side of the rotary table 32, so that the flexible steel strip 1 is tightly attached to the rotary table 32 and rotates for recycling. A small winding drive motor 37 is installed next to the fixed side to drive the stretching of the winding in the flexible steel strip 1, so as to ensure that the flexible steel strip 1 always maintains a fixed elastic force.

[0083] Before entering the evaporator and during recycling, the flexible steel belt 1 is directionally conveyed by the guide 35. The guide 35 uses three sets of rollers to carry the flexible steel belt 1, ensuring that it is conveyed in the specified direction when exiting the rotary table 32.

[0084] like Figure 5 As shown, a limiting member 34 is also provided on the side of the rotary table 32. The limiting member 34 can be a spring limiting pressure plate, which not only ensures that the flexible steel belt 1 can fit tightly against the rotary table 32 during recycling, but also ensures that the flexible steel belt 1 will not spring back.

[0085] In an optional embodiment, the recovery device 3 further includes a linear translation member 36 and a third drive motor.

[0086] The linear translation component 36 is located at the bottom of the rotary table 32. The third drive motor is connected to the linear translation component 36. Under the action of the third drive motor, the linear translation component 36 can drive the rotary table 32 to move horizontally in a direction perpendicular to the flexible steel belt 1 to adjust the position of the rotation center.

[0087] Specifically, such as Figure 5 As shown, a linear translation component 36 is installed at the bottom of the rotary table 32. Because the conveying direction of the flexible steel belt 1 is fixed, the rotation radius will change slightly as the rotary table 32 retracts or conveys the steel belt. The function of the linear translation component 36 is to adjust the position of the rotation center according to the change of the rotation radius under the action of the third drive motor, so as to ensure the smooth retraction of the flexible steel belt 1.

[0088] The following describes the operation of the slit inspection robot for nuclear power steam generators provided in this embodiment of the invention in actual operation:

[0089] Step 1: The steering and walking system 2 drives the flexible steel belt 1 into the detection hole of the nuclear power steam generator 4. During this process, the front baffle 12 located inside the steering and walking system 2 is in a straight state. The steering and walking system 2, the front baffle 12 and the flexible steel belt 1 move forward in parallel. The flexible steel belt 1 is tightly attached to the steering platform by the compression of the limiting member 34. The guide member 35 controls the direction of movement of the flexible steel belt 1 to remain unchanged.

[0090] Step 2: The steering and walking system 2 fully enters the nuclear power steam generator 4, and the front baffle 12 is lowered. During this process, after the steering and walking system 2 fully enters the nuclear power steam generator 4 and exits the hole, the support rod drive motor is started, and the support rod 241, which is in a horizontal position, begins to fall. The support rod 241 changes to a vertical position, and the support wheel 242 at the end of the support rod 241 contacts the bottom of the nuclear power steam generator 4 and begins to work. At this time, the front baffle 12, which was originally in a horizontal position supported by the support wheel 242, is no longer supported and rotates around the pin connected to the flexible steel section 11 under its own weight, and falls vertically to the bottom of the nuclear power steam generator 4.

[0091] Step 3: The flexible steel belt 1 turns to one side and continues to move forward after the turn. During this process, when the endoscope at the end of the turning and walking system 2 is positioned at the detection position, the telescopic rod retracts, and the drag chain clamping device 22 starts to rotate, driving the flexible steel belt 1, which passes through the clamping space of the clamping device 22, to rotate smoothly. When it rotates to the target position, the drive motor starts and drives the roller to rotate and transport the flexible steel belt 1 clamped in the middle forward through the belt pulley transmission module 222. The flexible steel belt 1 sends the front baffle 12 into the pressure pipe gap. The endoscopes installed on the flexible steel belt 1 and the front baffle 12 start to work and check whether there is any residue in the heat transfer pipe gap and at the bottom.

[0092] Step 4: After the inspection is completed, the drive motor rotates in the opposite direction to rotate the flexible steel belt 1 outward from the evaporator and recycle the flexible steel belt 1.

[0093] Step 5: Retract the front baffle 12 and the support pole 241. In this process, the motor reverses to control the telescopic pole to change from a retracted state to an extended state, so that the steering device 23 is in an extended state, that is, the clamping device 22 returns to its initial state before steering. When the flexible steel belt 1 is retracted to the same plane as the front baffle 12, the motor reverses to make the support pole 241 rotate back to be parallel to the direction of movement of the steering and walking system 2, which just drives the front baffle 12 to rotate 90° in the opposite direction, and retracts the front baffle 12 to return it to its initial horizontal state.

[0094] Step 6: Completely disconnect the steering and walking system 2 from the nuclear power steam generator 4 for the next inspection.

[0095] It should be noted that the slit inspection robot for nuclear power steam generators provided in this embodiment of the invention is a small, easy-to-operate, high-performance, and low-cost slit space operation robot, which is also applicable to other similar slit space operation environments.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A slit inspection robot for nuclear power plant steam generators, characterized in that, include: Flexible steel belt, steering and walking system, and endoscope; The steering and walking system includes a base, a clamping device, a steering device, and a supporting device, wherein the clamping device, the steering device, and the supporting device are all located on the base; The clamping device includes a clamping space, and the base has a through channel. The flexible steel strip passes sequentially through the through channel and the clamping space. The clamping device clamps and drives the flexible steel strip to move along the extension direction of the clamping space. The supporting device provides support for the base, the clamping device, the steering device, and the flexible steel strip after the steering and walking system enters the nuclear power steam generator. The steering device drives the flexible steel strip to turn. The flexible steel strip is provided with an installation groove, and the endoscope is installed in the installation groove. The endoscope is used to inspect the heat penetration tube slit of the nuclear power steam generator. The steering and walking system also includes a video detection and positioning device; The video detection and positioning device is located on the side of the base facing the support device, and the video detection and positioning device is used to monitor the real-time position of the steering and walking system. The clamping device includes a base, a first drive motor, a belt pulley transmission module, a first connecting rod, a second connecting rod, a first guide roller, and a second guide roller; The first connecting rod and the second connecting rod are disposed inside the base, and the first connecting rod and the second connecting rod are arranged side by side. The first guide roller and the second guide roller are respectively sleeved on the first connecting rod and the second connecting rod. The first connecting rod and the second connecting rod are connected to the belt pulley transmission module, which is connected to the first drive motor. Under the action of the first drive motor, the belt pulley transmission module can drive the first connecting rod and the second connecting rod to rotate, thereby driving the first guide roller and the second guide roller to rotate in opposite directions. The flexible steel strip includes a front baffle and multiple flexible steel sections; Multiple flexible steel sections are connected in sequence by hinges, and the front baffle and the side of the flexible steel strip facing the nuclear power steam generator are rotatably connected by a rotating pin.

2. The slit inspection robot for nuclear power steam generators according to claim 1, characterized in that, The steering and walking system further includes a controller; the controller is used to control the movement of the clamping device and the steering device according to the real-time position of the steering and walking system.

3. The slit inspection robot for nuclear power steam generators according to claim 1, characterized in that, There are multiple first connecting rods and multiple second connecting rods, and the number of each is equal; the multiple first connecting rods and multiple second connecting rods are all arranged along the moving direction of the flexible steel strip; There are multiple first guide rollers and multiple second guide rollers. Multiple first guide rollers are sleeved on any first connecting rod, and multiple second guide rollers are sleeved on any first connecting rod.

4. The slit inspection robot for nuclear power steam generators according to claim 1, characterized in that, The clamping device also includes support rollers; The support roller is disposed between the first connecting rod and the second connecting rod and is located on the base; the support roller is used to support the flexible steel strip held by the first guide roller and the second guide roller.

5. The slit inspection robot for nuclear power steam generators according to claim 1, characterized in that, The steering device includes a telescopic pole; both ends of the telescopic pole are connected to the base and the clamping device, respectively, and the telescopic pole is used to change the direction of travel of the flexible steel strip by pulling the clamping device to rotate.

6. The slit inspection robot for nuclear power steam generators according to claim 1, characterized in that, The slit inspection robot for nuclear power steam generators also includes a recovery device; The recycling device includes a worktable, a rotary table, a limiting component, a guide component, and a second drive motor; The rotary table and the guide are both mounted on the worktable. The guide is used to guide the flexible steel strip. The limiting member is located on one side of the rotary table and is used to limit the flexible steel strip. The second drive motor is connected to the rotary table. Under the action of the second drive motor, the rotary table can rotate to drive the flexible steel strip to retract.

7. The slit inspection robot for nuclear power steam generators according to claim 6, characterized in that, The recycling device also includes a linear translation component and a third drive motor; The linear translation component is located at the bottom of the rotary table. The third drive motor is connected to the linear translation component. Under the action of the third drive motor, the linear translation component can drive the rotary table to move horizontally in a direction perpendicular to the flexible steel belt, so as to adjust the position of the rotation center.

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