Drive device for a curved roof, positioning checker, positioning and detection method

Abstract

The application discloses a driving device for a curved top cover, a positioning checker, a positioning and detecting method, and the driving device comprises a driving mechanism which comprises a driving frame, a driving assembly mounted on the driving frame, and a wedge block assembly on the bottom of the driving frame which is attached to a top surface; a flexible guide mechanism for moving the driving mechanism on the top surface along a checking channel, which comprises a winding frame, a chain wound on the winding frame, and a free end of the chain fixedly connected with a front end of the driving mechanism. By vertically arranging a laser emitter with a plane where the chain extends, the position calibration of the probe in the first channel and the second channel can be quickly realized, and the bending direction of the chain is limited, so that the projection of the running track of the driving mechanism on the bottom surface of the top cover extends along a straight line, the movement of the driving mechanism along the detecting channel is ensured, and the probe can keep attaching to the top cover while moving along the detecting channel.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of nuclear power detection equipment, and particularly relates to a driving device for a curved top cover, a positioning detector, and a positioning and detection method. BACKGROUND

[0002] The top cover of a reactor pressure vessel of a nuclear power station is a core device of a nuclear reactor. In order to ensure the safe operation of the nuclear power station, the surface and volume of the top cover base material need to be periodically detected. Since the top cover is spherical, and the CRDM penetrating member and the reactor measuring pipe penetrating member block, a plurality of belt-shaped detection areas are formed. At present, there is no device that can realize the accurate positioning and movement of a probe along the belt-shaped area while keeping the probe in close contact with the top cover. SUMMARY

[0003] The purpose of the present application is to provide a device that can make the detection probe move along the belt-shaped area while keeping the probe in close contact with the top cover, and the projection of the movement trajectory on the bottom surface of the top cover is a straight line.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: a driving device for a curved top cover, the top cover comprising a first bottom surface and a top surface in a curved shape on the first bottom surface, the top surface having a plurality of inspection channels, the projection of the inspection channels on the first bottom surface extending along a straight line, characterized in that the driving device comprises:

[0005] a driving mechanism comprising a driving frame, a driving assembly mounted on the driving frame, and a wedge assembly mounted on the bottom of the driving frame for keeping the driving frame parallel to the first bottom surface on the top cover;

[0006] a flexible guide mechanism for moving the driving mechanism along the inspection channels on the top surface, comprising a winding frame, and a chain wound on the winding frame, the free end of the chain being fixedly connected to the front end of the driving frame, the direction parallel to the upper end surface of the driving frame and perpendicular to the front-rear direction being the left-right direction.

[0007] In another embodiment, the driving assembly comprises a magnetic wheel rotatably connected to the driving frame, and a first driving motor driving the magnetic wheel to rotate, the magnetic wheel allowing the driving assembly to be always adsorbed on the top cover.

[0008] In another embodiment, the driving frame has a width in the left-right direction, the chain has a width in the left-right direction, the width of the driving frame and the width of the chain are both not greater than the width of the inspection channel, the driving frame is limited by the first channel and the second channel, and the movement of the driving frame along the length direction of the inspection channel is further ensured.

[0009] In another embodiment, the width of the driving frame and the chain is 0.5-2mm less than the width of the inspection channel, and the width of the driving frame and the chain can be slightly less than the width of the inspection channel to reduce the processing difficulty.

[0010] In another embodiment, the chain comprises a plurality of chain plates connected in sequence, a pin shaft arranged between two adjacent chain plates, and a connecting plate for connecting two adjacent pin shafts, the front and rear ends of the connecting plate are rotatably connected to the same side of the two adjacent pin shafts, and the connecting plate can further ensure that the chain does not bend in the left-right direction.

[0011] In another embodiment, a roller is rotatably connected to the ends of the pin shaft to prevent the chain plate from being worn, and the roller is located between the chain plate and the connecting plate on the same side of the chain plate.

[0012] In another embodiment, a connecting groove and a connecting head are formed on the chain plate, the connecting head of the chain plate is located in the connecting groove of the chain plate on the front side, and the pin shaft passes through the connecting head of the chain plate and the chain plate on the front side to rotatably connect the chain plate and the chain plate on the front side, and the cooperation of the connecting groove and the connecting head can further ensure that the chain does not bend in the left-right direction.

[0013] In another embodiment, a receiving groove is formed on the chain plate above the connecting groove, which not only reduces the overall weight of the chain, but also accommodates the cables of the driving device, the positioning mechanism and the inspection mechanism, making wiring easier, and because the bending angle of the chain plate is limited, the cables can be prevented from being excessively bent and damaged.

[0014] In another embodiment, the wedge assembly comprises a wedge fixed to the bottom of the driving frame, a supporting leg installed below the wedge and always having a movement tendency of extending away from the driving frame, and an elastic member installed between the supporting leg and the wedge to always have a movement tendency of extending away from the driving frame.

[0015] In another embodiment, the supporting legs are respectively arranged on the left and right sides of the lower end surface of the wedge, and the maximum height difference of the supporting legs on the left and right sides after being stretched and contracted respectively is not less than the height difference of the upper end surface of the top cover in the width direction of each inspection channel, which can meet the height difference of the upper end surface of the top cover in all inspection channels.

[0016] In another embodiment, to reduce the stretching stroke of the supporting leg, the wedge has a plurality of arc-shaped surfaces, and each arc-shaped surface of the wedge matches the upper end surface of the top cover in one inspection channel.

[0017] The application also provides a positioning inspector for a curved roof, comprising the driving device mentioned above.

[0018] A positioning mechanism comprising a laser emitter and a camera, the laser emitter emits laser light in a direction perpendicular to the projection of the inspection channel on the first bottom surface.

[0019] An inspection mechanism for inspecting the roof and components on the roof for defects, comprising a probe mounted on the rear end of the driving mechanism for detection, the probe can move in a direction perpendicular to the driving frame in a plane parallel to the first bottom surface, the driving device cooperates with the inspection mechanism and the positioning mechanism to effectively and accurately complete the inspection of the roof.

[0020] In another embodiment, the inspection mechanism comprises an adjusting assembly for adjusting the position of the probe, the adjusting assembly comprises first side plates fixed to the left and right sides of the driving frame, first sliding rails arranged between the first side plates in the left-right direction, a first mounting shell slidingly connected to the first sliding rails, a second driving motor fixed in the first mounting shell and having an output shaft extending out of the first mounting shell, a probe frame, a driving gear mounted on the second driving motor, a rack mounted on the driving frame and engaged with the driving gear, the probe is mounted on the probe frame, the rack is located below the gear and arranged in the left-right direction, the second driving motor rotates to drive the gear to roll on the rack, thereby moving the first mounting shell on the first sliding rails, and finally driving the probe frame to move left and right, so that the probe frame can move in the first direction and the second direction, and the roof can be fully inspected.

[0021] In another embodiment, the probe frame comprises a first support arm fixed to the first mounting shell and having a part extending out of the driving frame, at least two second sliding blocks fixed to the first support arm and arranged symmetrically with each other, second sliding rails slidingly connected to the second sliding blocks respectively, and an extension piece fixed to the first support arm and connected to the probe, the extension piece drives the probe and the second sliding rails to move on the second sliding blocks, ensuring that the probe can always adhere to the surface of the roof.

[0022] In another embodiment, the position detector comprises a limiting assembly, which comprises a pressing piece mounted on the driving frame and located on the left and right sides of the first mounting shell, a trigger fixed on the first mounting shell, and a limiting switch fixed on the driving frame by the pressing piece, when the trigger located on the left side of the first mounting shell moves from right to left into the triggering range of the limiting switch located on the left side of the driving frame, the second driving motor stops working, and the first mounting shell reaches the left limit position, when the trigger located on the right side of the first mounting shell moves from left to right into the triggering range of the limiting switch located on the right side of the driving frame, the second driving motor stops working, and the first mounting shell reaches the right limit position, which can effectively prevent the first mounting shell from moving excessively and causing damage to various components.

[0023] In another embodiment, the probe comprises a probe body, a first probe mounting frame fixed between the second sliding rails, and a second probe mounting frame rotationally connected to the first probe mounting frame, wherein the rotation axis of the second probe mounting frame on the first probe mounting frame extends in the front-back direction, and the probe body is rotationally connected to the second probe mounting frame, and the rotation axis of the probe body on the second probe mounting frame extends in the left-right direction, and the two perpendicular rotation axes enable the probe body to adapt to the change in the curvature of the top end surface of the top cover, and the telescopic member can further ensure that the probe body always adheres to the surface of the top cover.

[0024] The application also provides a positioning method for a position detector on a curved top cover, wherein the projections of the through-pieces on the first bottom surface can be divided into multiple groups in a first direction and also divided into multiple groups in a second direction, a first channel is formed between two adjacent groups of through-pieces distributed in the first direction, a second channel is formed between two adjacent groups of through-pieces distributed in the second direction, the inspection channel comprises the first channel and the second channel, the first direction and the second direction intersect and are both parallel to the first bottom surface, the position detector is the position detector described above, and the positioning method comprises the following steps:

[0025] a. fixing the winding frame on the flange of the top cover, wherein the rotation axis of the winding chain of the winding frame is parallel to the first bottom surface;

[0026] b. placing the driving mechanism on the top cover, so that the chain is arranged along the first channel;

[0027] c. mounting the laser emitter and the camera on the positioning mounting plate, so that the laser emitted by the laser emitter is emitted in the second direction, the camera is turned on, the driving mechanism is started to drive the probe to move forward, and the chain ensures that the driving mechanism moves forward along the first channel;

[0028] d. Through the camera, the positional relationship between the laser line and the corresponding mark point of the probe is observed until they coincide, that is, the position calibration in the first direction is completed, and the probe mark point is located on the probe;

[0029] e. The probe is driven to move in the second direction, and the position calibration of the current first channel in the second direction is completed;

[0030] f. The driving mechanism and the flexible guide mechanism are sequentially installed to the corresponding positions of other first channels, and steps a-e are repeated to realize the position calibration of all first channels;

[0031] g. Similarly, after rotating the installation positions of the laser emitter and the camera, as well as the driving mechanism and the flexible guide mechanism by an angle shown by the first channel and the second channel with the center of the top cover as the center and in the same direction, the position calibration of all second channels is completed by repeating steps a-e.

[0032] The application also provides a detection method based on the above positioning method, which comprises the following steps:

[0033] A. The winding frame is fixed to the flange of the top cover, and the rotating shaft of the winding chain is parallel to the first bottom surface;

[0034] B. The driving mechanism is arranged on the top cover, and the chain is arranged along the first channel;

[0035] C. The laser emitter and the camera are installed on the positioning installation plate, the laser of the laser emitter is emitted in the second direction, the camera is turned on, the driving mechanism is started to drive the probe to move forward, and the chain ensures that the driving mechanism moves forward along the first channel;

[0036] D. Through the camera, the positional relationship between the laser line and the corresponding mark point of the probe is observed until they coincide, that is, the position calibration in the first direction is completed;

[0037] E. The probe is driven to move in the second direction, and the position calibration of the current first channel in the second direction is completed. After the calibration of the current first channel in the second direction is completed, based on the calibration result, any point is taken as the starting point, and the driving frame and the adjusting assembly are used to sequentially drive the probe to move in the first direction and the second direction, so that the detection of all positions in the current first channel is completed. The driving frame and the adjusting assembly can drive the probe to move in a rectangular wave mode in the plane parallel to the first bottom surface;

[0038] F. The driving mechanism and the flexible guide mechanism are sequentially installed to the corresponding positions of other first channels, and steps A-E are repeated to complete the detection of all first channels;

[0039] G.Similarly, after rotating the mounting positions of the laser emitter and the camera and the driving mechanism and the flexible guide mechanism with the center of the top cover as the center and in the same direction by the angle shown by the first channel and the second channel, repeat the detection according to the above steps A-E, complete the position detection of all the second channels, and since the position reference objects are unified, the detection can be reproduced based on the same reference, and the defect position of the to-be-detected object can be accurately and quickly positioned again.

[0040] The present application has the advantages that: by vertically arranging the laser emitter and the plane where the chain extends, the position calibration in the first channel and the second channel of the probe can be quickly realized, and in combination with the feature that the bending direction of the chain is limited, the projection of the running track of the driving mechanism on the bottom surface of the top cover extends along a straight line, ensuring that it moves along the detection channel, and ensuring that the probe can always be attached to the top cover while moving along the detection channel, and the implementation is simple and effective; accurate positioning of the detection equipment in a complex curved surface environment of the top cover can be realized, and since the position reference objects are unified, the detection can be reproduced based on the same reference, and the defect position of the to-be-detected object can be accurately and quickly positioned again. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is a top view of the present application;

[0042] Figure 2 is a schematic view of the present application in the installed state;

[0043] Figure 3 is a structural schematic view of the chain, the driving mechanism and the inspection mechanism when connected;

[0044] Figure 4 is a structural schematic view of the wedge block assembly with a high-low bottom surface (the support feet are not compressed);

[0045] Figure 5 is a structural schematic view of the wedge block assembly with a high-low bottom surface (the right support feet in the figure are compressed more upward under the action of the top surface);

[0046] Figure 6 is a structural schematic view of the wedge block assembly with a symmetric arc-shaped bottom surface (the support feet are not compressed);

[0047] Figure 7 is a structural schematic view of the wedge block assembly with a symmetric arc-shaped bottom surface (the left and right support feet in the figure are compressed upward under the action of the top surface);

[0048] Figure 8 is a partial view of A in the attached Figure 3

[0049] Figure 9 is a structural schematic view of the probe. ​DETAILED DESCRIPTION

[0050] The application will be described in detail below with reference to the embodiments shown in the drawings:

[0051] As Figures 1-2 shown, the pressure vessel top cover 0 includes a first bottom surface 02 and a curved top surface 01 on the first bottom surface 02, the top surface 01 has a plurality of inspection channels, the projection of the inspection channel on the first bottom surface 02 extends along a straight line. The projection of the through-penetration on the top cover on the first bottom surface can be divided into a plurality of groups along a first direction, and can also be divided into a plurality of groups along a second direction, the first channel Q is formed between the adjacent two groups of through-penetrations distributed along the first direction, the second channel P is formed between the adjacent two groups of through-penetrations distributed along the second direction, the inspection channel includes the first channel Q and the second channel P, the first direction and the second direction intersect and are both parallel to the first bottom surface 02, in this embodiment, the first direction and the second direction are perpendicular.

[0052] As Figures 1-3 shown, the positioning inspection device includes a driving device 1, a positioning mechanism 2 and an inspection mechanism 3, and a limiting assembly 4.

[0053] The driving device 1 includes a driving mechanism 11 and a flexible guide mechanism 12.

[0054] The driving mechanism 11 includes a driving frame 111 and a driving assembly 112 mounted on the driving frame 111, the bottom of the driving frame 111 has a wedge assembly for keeping the driving frame parallel to the first bottom surface on the top cover; the driving assembly 112 includes a magnetic wheel 1121 rotatably connected to the driving frame 111, a first driving motor 1122 for driving the magnetic wheel 1121 to rotate through a belt pulley assembly 1123; as Figures 4-7 shown, the wedge assembly 113 includes a wedge 1131 fixed to the bottom of the driving frame 111, a supporting leg 1132 installed below the wedge 1131 and always having a movement trend of extending away from the driving frame 111, and an elastic member 1133 installed between the supporting leg 1132 and the wedge 1131 to make the supporting leg 1132 always have a movement trend of extending away from the driving frame 111, the flexible guide mechanism 12 is fixedly connected to the front end of the driving frame 111, the direction parallel to the upper end surface of the driving frame 111 and perpendicular to the front-rear direction is the left-right direction.

[0055] The bottom end surface of the wedge block 1131 is provided with an expansion cavity 1134 in the shape of a wide top and a narrow bottom, which accommodates the support leg 1132. The upper end of the support leg 1132 is thicker and is completely located in the wider part of the expansion cavity 1134. The lower end of the support leg 1132 extends out of the expansion cavity 1134. The elastic member 1133 always has a tendency to move the support leg 1132 out of the expansion cavity 1134. The support legs 1132 are respectively arranged on the wedge block 1131 and located on the left and right sides of the bottom end surface of the wedge block 1131. The maximum height difference of the left and right support legs 1132 after expansion is not less than the height difference of the upper end surface of the top cover in the width direction of each inspection channel. In order to reduce the expansion stroke of the support leg, the wedge block 1131 has a plurality of wedge blocks 1131. The bottom end surface of each wedge block 1131 is in the shape of an arc surface. The arc surface of each wedge block 1131 is respectively matched with the upper end surface of the top cover in one inspection channel. The arc surfaces of the same inspection channel can share one wedge block 1131. Figure 4 The middle support leg is not compressed; Figure 5 The right side support leg is more compressed upward by the action of the top surface; Figure 6 The middle support leg is not compressed; Figure 7 The left and right side support legs are both compressed upward by the action of the top surface.

[0056] The width L1 of the driving frame 111 is not greater than the width L01 of the first channel and the width L02 of the second channel. When the width L1 of the driving frame 111 is less than the width L01 of the first channel and the width L02 of the second channel, 0

[0057] The flexible guide mechanism 12 is used to move the driving mechanism 11 along the inspection channel on the top surface 01. It includes a winding frame 121 and a chain 122 wound on the winding frame 121. The free end of the chain 122 is fixedly connected with the front end of the driving frame 111. The direction parallel to the upper end surface of the driving frame 111 and perpendicular to the front and back direction is the left and right direction. The end fixed to the winding shaft 1211 of the winding frame 121 is the fixed end of the chain 122, and the other end is the free end of the chain 122. Figure 8As shown, the chain 122 comprises a plurality of chain plates 123 connected in rotation, pin shafts 124 passing through adjacent two chain plates 123, and connecting plates 126 connecting adjacent two pin shafts 124 in front and back, the front and back ends of the connecting plates 126 being connected in rotation with the same side ends of the adjacent two pin shafts 124, respectively. The pin shafts 124 are connected in rotation with the rollers 125 preventing the chain plates 123 from being abraded at both ends thereof, the rollers 125 being located between the chain plates 123 and the connecting plates 126 on the same side of the rollers 125. The chain plates 123 are formed with connecting grooves 1231 and connecting heads 1232, the connecting heads 1232 of the chain plates 123 being located in the connecting grooves 1231 of the chain plates 123 in front of the chain plates 123, the pin shafts 124 passing through the connecting heads 1232 of the chain plates 123 and the chain plates 123 in front of the chain plates 123 to connect the chain plates 123 and the chain plates 123 in front of the chain plates 123 in rotation. The chain plates 123 above the connecting grooves 1231 are formed with receiving grooves 1233 penetrating along the length direction of the chain 122, which not only reduces the overall weight of the chain 122, but also accommodates the cables of the driving device, the positioning mechanism and the inspection mechanism, making the wiring easier, and preventing the cables from being excessively bent and damaged due to the limitation of the bending angle of the chain plates. The width L2 of the chain 122 is not greater than the width L01 of the first channel and the width L02 of the second channel, when the width L2 of the chain 122 is less than the width L01 of the first channel and the width L02 of the second channel, 0 < L01-L2 ≤ 2mm, 0 < L02-L2 ≤ 2mm, and the widths of the three are the same, which is the best, at this time, the first channel and the second channel can best limit the chain 122, further ensuring the movement of the chain 122 along the length direction of the inspection channel.

[0058] The positioning mechanism 2 comprises a laser emitter 21 and a camera 22, and a positioning mounting plate 23, the emission direction of the laser emitted by the laser emitter 21 being perpendicular to the projection of the inspection channel on the first bottom surface 02.

[0059] The inspection mechanism 3 is used for inspecting the top cover 0 and the components on the top cover 0 for defects, which comprises a probe 31 mounted on the rear end of the driving mechanism 11 for detection, an adjusting assembly 32 for driving the probe 31 to adjust the position, the adjusting assembly 32 comprising a first slide rail 33 fixed on the driving frame 111 and arranged in the left-right direction, a first mounting shell 34 slidably connected to the first slide rail 33, a second driving motor 35 fixed in the first mounting shell 34 and with an output shaft extending out of the first mounting shell 34 and a probe frame 36, a driving gear 37 mounted on the second driving motor 35, a rack 38 mounted on the driving frame 111 and engaged with the driving gear 37, the probe 31 being mounted on the probe frame 36, the rack 38 being located below the gear and arranged in the left-right direction, the second driving motor 35 being rotated to drive the gear to roll on the rack 38, thereby moving the first mounting shell 34 on the first slide rail 33 and finally driving the probe frame 36 to move left and right. The probe frame 36 comprises a first support arm 361 fixed on the sliding block and having a part extending out of the driving frame 111, at least two second sliding blocks 362 fixed on the first support arm 361 and symmetrically arranged with each other, second slide rails 363 respectively slidably connected to the second sliding blocks 362, an extension piece 364 fixed on the first support arm 361 and connected with the probe 31, the extension piece 364 driving the probe 31 and the second slide rails 363 to move on the second sliding blocks 362, i.e. in a direction perpendicular to the driving frame 111 in a plane parallel to the first bottom surface 02, the extension piece 364 can be a cylinder, a hydraulic cylinder or a spring which can always make the probe 31 adhere to the surface of the top cover. As shown in Figure 9 the probe comprises a probe body 311, a first probe mounting frame 312 fixed between the second slide rails 363, a second probe mounting frame 313 rotatably connected to the first probe mounting frame 312, a coupling agent connector 314 mounted on the probe body 311 and used for providing coupling agent to the probe body 311, the rotation shaft of the second probe mounting frame 313 on the first probe mounting frame 312 extending in the front-rear direction, the probe body 311 being rotatably connected to the second probe mounting frame 313, the rotation shaft of the probe body 311 on the second probe mounting frame 313 extending in the left-right direction, the two perpendicular rotation axes enabling the probe body 311 to adapt to the change of the arc-shaped end surface of the top cover and further ensuring that the probe body 311 always adheres to the surface of the top cover in cooperation with the extension piece 364.

[0060] The limiting assembly 4 comprises a pressing sheet 41 mounted on the driving frame and located on the left and right sides of the first mounting shell 34, a trigger 42 fixed on the first mounting shell 34, and a limiting switch 43 fixed on the driving frame 111 by the pressing sheet 41. When the trigger 42 on the left side of the first mounting shell 34 moves from right to left into the triggering range of the limiting switch 43 on the left side of the driving frame 111, the second driving motor 35 stops working, and the first mounting shell 34 reaches the left limit position. When the trigger 42 on the right side of the first mounting shell 34 moves from left to right into the triggering range of the limiting switch on the right side of the driving frame 111, the second driving motor 35 stops working, and the first mounting shell 34 reaches the right limit position.

[0061] A positioning method for a positioning inspector on a curved roof, the positioning method comprising the following steps:

[0062] a. fixing a winding frame on the roof flange, the winding frame winding a chain, and the rotating shaft of the chain being parallel to the first bottom surface;

[0063] b. placing a driving mechanism on the roof, and arranging the chain along a first channel;

[0064] c. installing a positioning mounting plate on the roof, installing a laser emitter and a camera on the positioning mounting plate, making the laser O of the laser emitter emit along a second direction, turning on the camera, starting the driving mechanism to drive the probe to move forward, and the chain ensuring the driving mechanism to move forward along the first channel;

[0065] d. observing the positional relationship between the laser line and the corresponding mark point of the probe through the camera until the two coincide, that is, the position calibration in the first direction is completed, and the mark point of the probe is located on the probe;

[0066] e. driving the probe to move along a second channel again, and the position calibration of the current first channel in the second direction is completed;

[0067] f. sequentially installing the driving mechanism and the flexible guide mechanism to the corresponding positions of other first channels, repeating steps A-E, and realizing the position calibration of all first channels;

[0068] g. similarly, rotating the installation positions of the laser emitter and the camera and the driving mechanism and the flexible guide mechanism 90° with the center of the roof as the center and in the same direction, repeating the calibration according to the above steps a-e, and completing the position calibration of all second channels.

[0069] A detection method based on the above positioning method, comprising the following steps:

[0070] A. fixing a winding frame on the roof flange, the winding frame winding a chain, and the rotating shaft of the chain being parallel to the first bottom surface;

[0071] B. Put the driving mechanism on the top cover, and make the chain move along the first channel;

[0072] C. Install the laser emitter and the camera on the positioning installation plate, make the laser of the laser emitter emit along the second direction, turn on the camera, start the driving mechanism to drive the probe to move forward, and the chain ensures the driving mechanism to move forward along the first channel;

[0073] D. Observe the positional relationship between the laser line and the corresponding mark point of the probe through the camera until they coincide, that is, the position calibration in the first direction is completed, and meanwhile, the detection in the first direction in the first channel is completed;

[0074] E. Drive the probe to move along the second channel, and then the position calibration of the current first channel in the second direction is completed, and meanwhile, the detection in the second direction in the first channel is completed;

[0075] F. Install the driving mechanism and the flexible guide mechanism to the corresponding positions of other first channels in turn, and repeat steps A-E, so that the detection of all first channels is completed;

[0076] G. Similarly, rotate the installation positions of the laser emitter and the camera and the driving mechanism and the flexible guide mechanism 90° with the center of the top cover as the center and in the same direction, and then repeat the detection according to steps A-E, so that the position detection of all second channels is completed.

[0077] The above embodiments are only for illustrating the technical concept and characteristics of the present application, the purpose is to let the person familiar with this technology 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 according to the spirit of the present application are covered by the protection scope of the present application.

Claims

1. A drive device for a positioning inspector of a curved roof, the roof comprising a first base surface and a roof surface curved on the first base surface, the roof surface having a plurality of inspection passages, projections of the inspection passages on the first base surface extending along a straight line, characterized in that, The driving device comprises: a driving mechanism, which comprises a driving frame, a driving assembly mounted on the driving frame, a wedge assembly mounted on the bottom of the driving frame for keeping the driving frame parallel to the first bottom surface, the wedge assembly comprising a wedge fixed to the bottom of the driving frame, a supporting leg mounted below the wedge and always having a movement tendency of extending away from the driving frame, and an elastic member mounted between the supporting leg and the wedge for always keeping the supporting leg having a movement tendency of extending away from the driving frame; a flexible guiding mechanism for moving the driving mechanism along the inspection channel on the top surface, which comprises a winding frame and a chain wound on the winding frame, the free end of the chain being fixedly connected with the front end of the driving frame, and the direction parallel to the upper end surface of the driving frame and perpendicular to the front-rear direction being the left-right direction; the size of the driving frame in the left-right direction is the width of the driving frame, and the width of the driving frame is 0.5-2 mm smaller than the width of the inspection channel; the chain comprises a plurality of chain links connected with each other in rotation, a pin shaft penetrating through adjacent two chain links, and a connecting piece for connecting two adjacent pin shafts in front and back, the front and back ends of the connecting piece being rotatably connected with the same side ends of the two adjacent pin shafts, respectively; and the driving assembly comprises a magnetic wheel rotatably connected with the driving frame and a first driving motor for driving the magnetic wheel to rotate.

2. The drive apparatus for the positioning checker of a curved roof according to claim 1, characterized in that: rollers are rotatably connected with the two ends of the pin shaft for preventing the chain link from abrading the top cover, and the rollers are located between the chain link and the connecting piece on the same side of the chain link.

3. The drive apparatus for the positioning checker of a curved roof according to claim 1, characterized in that: a connecting groove and a connecting head are formed on the chain link, the connecting head of the chain link is located in the connecting groove of the chain link on the front side of the chain link, and the pin shaft penetrates through the connecting head of the chain link and the chain link on the front side to rotatably connect the chain link with the chain link on the front side.

4. The drive apparatus for the positioning checker of a curved roof according to claim 3, characterized in that: a receiving groove penetrating through the chain link in the length direction of the chain is formed on the chain link above the connecting groove.

5. The drive apparatus for the positioning checker of a curved roof according to claim 1, characterized in that: the supporting legs are respectively arranged on the wedge and located on the left and right sides of the lower end surface of the wedge, and the maximum height difference of the supporting legs on the left and right sides after being respectively stretched and contracted is not less than the height difference of the upper end surface of the top cover in the width direction of each inspection channel.

6. The drive apparatus for the positioning checker of a curved roof according to claim 1, characterized in that: the wedge has a plurality of arc-shaped lower end surfaces, and each arc-shaped lower end surface of the wedge is matched with the upper end surface of the top cover in each inspection channel.

7. A positioning checker for a curved roof cap, comprising: it comprises: the driving device as claimed in any one of claims 1-6; a positioning mechanism, which comprises a laser emitter and a camera, the emission direction of the laser emitted by the laser emitter being perpendicular to the projection of the inspection channel on the first bottom surface; an inspection mechanism for inspecting the defects of the top cover and the components on the top cover, which comprises a probe mounted on the rear end of the driving mechanism for detection, and the probe can move in a direction perpendicular to the driving frame in a plane parallel to the first bottom surface.

8. The location checker for use on a curved roof canopy according to claim 7, wherein: The inspection mechanism comprises an adjusting assembly for driving the probe to adjust position, the adjusting assembly comprises first side plates fixed to the left and right sides of the driving frame, first slide rails arranged between the first side plates in the left-right direction, a first mounting shell slidably connected to the first slide rails, a second driving motor fixed in the first mounting shell and having an output shaft extending out of the first mounting shell, a probe frame, a driving gear mounted on the second driving motor, a rack mounted on the driving frame and engaged with the driving gear, the probe is mounted on the probe frame, the rack is arranged below the gear in the left-right direction, the second driving motor rotates to drive the gear to roll on the rack, thereby driving the first mounting shell to move on the first slide rails, and finally driving the probe frame to move left and right.

9. The location checker for use on a curved roof canopy according to claim 8, wherein: The probe frame comprises a first support arm fixed to the first mounting shell and having a part extending out of the driving frame, at least two second slide blocks fixed to the first support arm and arranged symmetrically with each other, second slide rails respectively slidably connected to the second slide blocks, and an extension member fixed to the first support arm and connected with the probe, the extension member drives the probe and the second slide rails to move on the second slide blocks.

10. The location checker for use on a curved roof canopy according to claim 9, wherein: The positioning inspector comprises a limiting assembly, the limiting assembly comprises pressing pieces mounted on the driving frame and located on the left and right sides of the first mounting shell, triggers fixed to the first mounting shell, and limit switches fixed on the driving frame by the pressing pieces, when the trigger on the left side of the first mounting shell moves from right to left into the triggering range of the limit switch on the left side of the driving frame, the second driving motor stops working, and the first mounting shell reaches the left limit position, when the trigger on the right side of the first mounting shell moves from left to right into the triggering range of the limit switch on the right side of the driving frame, the second driving motor stops working, and the first mounting shell reaches the right limit position.

11. The location checker for use on a curved roof canopy according to claim 9, wherein: The probe comprises a probe body, a first probe mounting frame fixed between the second slide rails, and a second probe mounting frame rotatably connected to the first probe mounting frame, the rotation shaft of the second probe mounting frame on the first probe mounting frame extends in the front-back direction, and the probe body is rotatably connected to the second probe mounting frame, and the rotation shaft of the probe body on the second probe mounting frame extends in the left-right direction.

12. A positioning method for a positioning inspector on a curved roof, projections of through members on a first bottom surface of the roof can be divided into groups along a first direction and can also be divided into groups along a second direction, a first passage is formed between two adjacent groups of through members distributed along the first direction, a second passage is formed between two adjacent groups of through members distributed along the second direction, the inspection passage includes the first passage and the second passage, the first direction and the second direction intersect and are both parallel to the first bottom surface, characterized in that, The positioning method is the positioning method of claim 7, and the positioning method comprises the following steps: a. fixing the winding frame to the flange of the top cover, and arranging the rotation shaft of the winding frame winding the chain to be parallel to the first bottom surface; b. arranging the driving mechanism on the top cover, and arranging the chain along the first channel; c. mounting the laser emitter and the camera on the positioning mounting plate, arranging the laser of the laser emitter to emit in the second direction, turning on the camera, starting the driving mechanism to drive the probe to move forward, and ensuring the driving mechanism to move forward along the first channel by the chain. d. Through the camera to observe the position relationship between the laser line and the corresponding mark point of the probe, until the two coincide, that is, the position calibration in the first direction is completed, and the probe mark point is located on the probe; e. Drive the probe to move in the second direction again, and the position calibration of the current first channel in the second direction is completed; f. Install the driving mechanism and the flexible guide mechanism to the corresponding positions of other first channels in turn, repeat steps a-e, and realize the position calibration of all first channels; g. Similarly, after rotating the installation positions of the laser emitter and the camera, and the driving mechanism and the flexible guide mechanism by the angle between the first channel and the second channel with the center of the top cover as the center, repeat the calibration according to the above steps a-e, and complete the position calibration of all second channels.

13. A detection method based on the positioning method as claimed in claim 12, characterized in that: It includes the following steps: A. Fix the winding frame on the top cover flange, and the rotating shaft of the winding chain is parallel to the first bottom surface; B. Place the driving mechanism on the top cover, and arrange the chain along the first channel; C. Install the laser emitter and the camera on the positioning mounting plate, so that the laser of the laser emitter emits in the second direction, turn on the camera, start the driving mechanism to drive the probe to move forward, and the chain ensures that the driving mechanism moves forward along the first channel; D. Through the camera to observe the position relationship between the laser line and the corresponding mark point of the probe, until the two coincide, that is, the position calibration in the first direction is completed; E. Drive the probe to move in the second direction again, and the position calibration of the current first channel in the second direction is completed, and after completing the calibration of the current first channel in the second direction, based on the calibration result, take any point as the starting point, and use the driving frame and the adjusting assembly to drive the probe to move in the first direction and the second direction in turn, so as to complete the detection of all positions in the current first channel; F. Install the driving mechanism and the flexible guide mechanism to the corresponding positions of other first channels in turn, repeat steps A-E, and complete the detection of all first channels; G. Similarly, after rotating the installation positions of the laser emitter and the camera, and the driving mechanism and the flexible guide mechanism by the angle between the first channel and the second channel with the center of the top cover as the center, repeat the detection according to the above steps A-E, and complete the position detection of all second channels.

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