An inspection drive mechanism and an inspection apparatus

Abstract

The application discloses a kind of inspection driving mechanism and inspection device, inspection driving mechanism includes: support frame, it includes oppositely arranged first clamp and second clamp, slide rail is connected between first clamp and second clamp, it is front-back direction parallel to the length direction of slide rail, it is left-right direction with front-back direction vertical in horizontal plane, when inspection, first clamp and second clamp are fixed on the object to be inspected;Moving trolley, it includes the trolley body installed on slide rail, the first driving part for driving trolley body moves on slide rail is installed on trolley body;Drag chain assembly, its front end portion can oscillate to left and / or right, rear end portion is installed on trolley body.It can be realized in the space of smaller pipe spacing flexible and accurate turning by drag chain assembly;Slide rail is overhead, which can avoid the ground obstacles encountered by inspection mechanism.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of nuclear power detection equipment, and particularly relates to an inspection driving mechanism and an inspection device. BACKGROUND

[0002] In a pressurized water reactor nuclear power plant, a control rod drive mechanism (CRDM) is installed on the top cover of a reactor pressure vessel and surrounded by an insulation layer. The control rod drive mechanism is a nuclear key equipment for realizing reactor startup, power regulation and shutdown, and is also an important part of the reactor loop pressure boundary. During the welding process of the omega weld of the control rod drive mechanism, welding defects such as incomplete penetration, incomplete fusion, pores and slag inclusion may occur. In the long-term operation, damages such as corrosion and cracks may occur. Therefore, it is necessary to regularly inspect the omega weld of the control rod drive mechanism. Currently, a robot trolley carrying a video inspection device is used for inspection. For example, the inspection device disclosed in the patent with the publication number CN111462929A. However, the wheeled robot trolley has the problems of difficult turning, being limited by ground obstacles and being unable to smoothly pass through when moving between the pipes of the control rod drive mechanism. SUMMARY

[0003] The purpose of the present application is to provide an inspection driving mechanism that can move flexibly and accurately between the pipes of the control rod drive mechanism.

[0004] To solve the above technical problems, the present application adopts the following technical scheme: an inspection driving mechanism, comprising:

[0005] A support frame comprising a first clamp and a second clamp arranged oppositely, a slide rail connected between the first clamp and the second clamp, the length direction of the slide rail being the front-rear direction, and the direction perpendicular to the front-rear direction in the horizontal plane being the left-right direction. During inspection, the first clamp and the second clamp are fixed on the object to be inspected.

[0006] A moving trolley comprising a trolley body installed on the slide rail, and a first driving part installed on the trolley body for driving the trolley body to move on the slide rail.

[0007] A drag chain assembly, the rear end of which is installed on the trolley body, and the front end of which can swing leftward and / or rightward.

[0008] In another embodiment, the tow chain assembly comprises a fixing frame fixed to the vehicle body, a chain having a rear end mounted on the fixing frame, and a second driving part. The chain comprises a plurality of chain plates connected to each other in sequence. Each chain plate is provided with buckles on left and right side surfaces thereof. The second driving part comprises a second driving motor mounted on the fixing frame, a middle section of a traction cable wound on an output shaft of the second driving motor, and two ends of the traction cable respectively fixed in the buckles on both sides of the chain plate. When the second driving motor rotates, one end of the traction cable is wound on the output shaft of the second driving motor, and the other end of the traction cable is released by the output shaft of the second driving motor, thereby driving the chain plate to swing.

[0009] In another embodiment, the second driving motor is located above the fixing frame. The tow chain assembly comprises reversing wheels respectively mounted on both sides of the fixing frame. The traction cable is wound out from the output shaft of the second driving motor, passes through the reversing wheels, and is inserted into the buckles.

[0010] In another embodiment, the fixing frame has two reversing wheels on the same side. The rotating axes of the two reversing wheels are perpendicular to each other and extend in a direction parallel to the horizontal plane.

[0011] In another embodiment, each chain plate is provided with rollers on left and right side surfaces thereof. The rotating axes of the rollers are arranged in an up-down direction.

[0012] In another embodiment, each chain plate has two rollers on the same side thereof. The two rollers are respectively located on the upper and lower sides of the traction cable on the same side thereof. The rotating shafts of the rollers are respectively located between the traction cable and the chain plate on the same side thereof.

[0013] In another embodiment, the vehicle body is sleeved on the slide rail. The first driving part comprises a first driving motor mounted on the vehicle body, a first driving wheel in transmission connection with the first driving motor, and a first pulley assembly connected between the first driving motor and the first driving wheel. When the first driving wheel rotates, the vehicle body is driven to move on the slide rail.

[0014] In another embodiment, the first driving wheel is provided with traveling protrusions on a peripheral surface thereof. The slide rail is provided with traveling holes matching the traveling protrusions and arranged in sequence in a front-rear direction. During rotation of the first driving wheel, when one traveling protrusion is inserted into one traveling hole, the next traveling protrusion is inserted into the next traveling hole corresponding thereto, thereby driving the vehicle body to move on the slide rail.

[0015] Another embodiment, the vehicle body comprises a base, a plurality of pairs of mounting blocks formed on the base, a blocking rod mounted between the mounting blocks, each pair of mounting blocks and blocking rod and the base form a fitting space, the slide rail is arranged in the fitting space.

[0016] Another embodiment, the mounting blocks and the blocking rod are mounted on the left side of the base, the first driving wheel is mounted on the right side of the base, a first through hole is formed on the base, the peripheral surface of the first driving wheel passes through the first through hole, and the travel stud can pass into the travel hole.

[0017] Another embodiment, the left side of the vehicle body is provided with guide wheels above and below the slide rail.

[0018] Another embodiment, a second through hole is formed on the base, a driven wheel is arranged in the second through hole, the driven wheel extends out of the base and the peripheral surface of the driven wheel is attached to the side surface of the slide rail.

[0019] Another embodiment, the first clamp and the second clamp are symmetrically arranged, the first clamp comprises a plurality of U-shaped support frames, a mounting frame connected between the support frames, a pad fixed to one end of the end of the support frame, and the other end of the pad is attached to the surface of the object to be inspected.

[0020] Another embodiment, the mounting frame of the second clamp is fixedly connected with the slide rail, the mounting frame of the first clamp is sleeved on the slide rail, and a third driving part for driving the first clamp to move on the slide rail and locking the position of the first clamp on the slide rail is arranged on the mounting frame of the first clamp.

[0021] Another embodiment, a rack is arranged on the upper end surface of the end of the slide rail connected with the first clamp, the third driving part comprises a driving gear rotatably connected to the mounting frame of the first clamp and engaged with the rack, a third driving motor fixedly mounted on the mounting frame of the first clamp, and a transition gear connected between the third driving motor and the driving gear.

[0022] Another embodiment, a limiting blocking rod is arranged on the lower end surface of the slide rail, and a limiting block for preventing the first clamp from falling off the slide rail is arranged on the bottom edge of the mounting frame of the first clamp and in the movement path of the limiting blocking rod.

[0023] In another implementation, the limiting block is rotatably arranged on the bottom edge of the mounting frame of the first clamping hoop, and a through sliding groove is formed in the limiting block, and the limiting block has at least two states of unlocking and locking during rotation, when the limiting block is in the unlocking state, the sliding groove is opposite to the position of the limiting stop rod, and the limiting stop rod can slide out of the sliding groove, when the limiting block is in the locking state, the sliding groove is arranged in a position different from the limiting stop rod, and the limiting block is arranged on the moving path of the limiting stop rod.

[0024] The application also provides an inspection device, which comprises an inspection driving mechanism and a flexible probe installed on the inspection driving mechanism, and the inspection driving mechanism is the inspection driving mechanism described above.

[0025] The application has the beneficial effect that the flexible and accurate turning in the space with small pipe spacing can be realized through the drag chain assembly, and the sliding rail is aerial, so that the inspection mechanism can avoid ground obstacles. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic diagram of the principle of the existing wheeled robot car for inspecting the control rod driving mechanism omega weld;

[0027] Figure 2 is a perspective view of the application;

[0028] Figure 3 is a perspective view of the drag chain assembly and the moving trolley in the application;

[0029] Figure 4 is a perspective view of the drag chain assembly and the moving trolley in the application from another angle. DETAILED DESCRIPTION

[0030] The application will be described in detail below in combination with the embodiments shown in the drawings:

[0031] The inspection device is used for the control rod driving mechanism omega weld, the control rod driving mechanism is tubular and uniformly distributed, and the distance between the pipes is small, as shown in Figures 2-4 The inspection device comprises an inspection driving mechanism and a flexible probe 4 installed on the inspection driving mechanism.

[0032] The inspection driving mechanism comprises a support frame 1, a moving trolley 2 and a drag chain assembly 3.

[0033] The support frame 1 comprises oppositely arranged first and second clamping hoops 11 and 12, a sliding rail 13 connected between the first and second clamping hoops 11 and 12, the length direction of the sliding rail 13 is the front-back direction, and the direction perpendicular to the front-back direction in the horizontal plane is the left-right direction, and the first and second clamping hoops 11 and 12 are fixed on the object to be inspected during inspection.

[0034] The mobile trolley 2 comprises a trolley body 21 mounted on the slide rail 13, a first driving part 22 mounted on the trolley body 21 for driving the trolley body 21 to move on the slide rail 13, and a second driving part 33 mounted on the trolley body 21 for driving the chain assembly 3 to swing leftward and / or rightward.

[0035] The chain assembly 3 is mounted on the trolley body 21 at its rear end and can swing leftward and / or rightward at its front end. The chain assembly 3 comprises a fixing frame 31 fixed on the trolley body 21, a chain 32 mounted on the fixing frame 31 at its rear end, and the second driving part 33. The chain 32 comprises a plurality of chain links 321 connected with each other in sequence, each chain link 321 is provided with buckles 322 on its left and right sides, and the second driving part 33 comprises a second driving motor 331 mounted on the fixing frame 31, a middle section of a traction cable 332 wound on an output shaft of the second driving motor 331, and two end sections of the traction cable 332 respectively penetrating the buckles 322 on the left and right sides of the chain links 321. The two end sections of the traction cable 332 are fixed on the chain link 321 at the front end. When the second driving motor 331 rotates, one end section of the traction cable 332 is wound on the output shaft of the second driving motor 331, and the other end section is released by the output shaft of the second driving motor 331, so as to swing the chain link 321. The second driving motor 331 is located above the fixing frame 31. The chain assembly 3 comprises reversing wheels 34 mounted on the fixing frame 31 at its left and right sides. The traction cable 332 is wound out from the output shaft of the second driving motor 331, penetrates the reversing wheels 34, and then penetrates the buckles 322. The fixing frame 31 has two reversing wheels 34 at the same side, the rotating axes of the two reversing wheels 34 are perpendicular to each other and extend in a direction parallel to the horizontal plane. Each chain link 321 is provided with two rollers 323 on its left and right sides, and the rotating axes of the rollers 323 extend in the up-down direction. Each chain link 321 has two rollers 323 at the same side, and the two rollers 323 are located on the upper and lower sides of the traction cable 332 at the same side. The rotating shafts 3231 of the rollers 323 are respectively located between the traction cable 332 and the chain link 321 at the same side.

[0036] Specifically, the vehicle body 21 is sleeved on the slide rail 13, the first driving part 22 includes a first driving motor 221 mounted on the vehicle body 21, a first driving wheel 222 in transmission connection with the first driving motor 221, and a first belt pulley assembly 223 connected between the first driving motor 221 and the first driving wheel 222, when the first driving wheel 222 rotates, the vehicle body 21 is driven to move on the slide rail 13. The first driving wheel 222 is provided with a plurality of travel protrusions 2221 on the circumferential surface, and the slide rail 13 is provided with a plurality of travel holes 131 distributed in sequence along the front and back directions and matched with the travel protrusions 2221, during the rotation of the first driving wheel 222, when one of the travel protrusions 2221 penetrates into one of the travel holes 131, the next travel protrusion 2221 will penetrate into the next travel hole 131 corresponding to it, thereby driving the vehicle body 21 to move on the slide rail 13. The vehicle body 21 includes a base 211, a plurality of pairs of mounting blocks 212 formed on the base 211, and a blocking rod 213 mounted between the pairs of mounting blocks 212, a sleeving space is formed between each pair of mounting blocks 212, the blocking rod 213 and the base 211, and the slide rail 13 penetrates into the sleeving space. The mounting blocks 212 and the blocking rod 213 are mounted on the left side of the base 211, the first driving wheel 222 is mounted on the right side of the base 211, the base 211 is formed with a first through hole 2111, the circumferential surface of the first driving wheel 222 penetrates through the first through hole 2111, so that the travel protrusions 2221 can penetrate into the travel holes 131. The left side surface of the vehicle body 21 is provided with a guide wheel 214 above and below the slide rail 13. The base 211 is provided with a second through hole 2112, and a driven wheel 2113 is arranged in the second through hole 2112, the driven wheel 2113 extends out of the base 211 and the circumferential surface thereof is attached to the side surface of the slide rail 13.

[0037] Specifically, the first and second clamps 11 and 12 of the support frame 1 are symmetrically arranged, the first clamp 11 comprises a plurality of U-shaped support frames 111, a mounting frame 112 connected between the support frames 111, a pad 113 fixed at one end of the support frame 111, and the other end of the pad 113 abutting the surface of the object to be inspected. The mounting frame 112 of the second clamp 12 is fixedly connected with the slide rail 13, the mounting frame 112 of the first clamp 11 is sleeved on the slide rail 13, and a third driving part 113 for driving the first clamp 11 to move on the slide rail 13 and locking the position of the first clamp 11 on the slide rail 13 is arranged on the mounting frame 112 of the first clamp 11. The upper end surface of the end of the slide rail 13 connected with the first clamp 11 is provided with a rack 132, the third driving part 113 comprises a driving gear 1131 rotatably connected to the mounting frame 112 of the first clamp 11 and engaged with the rack 132, a third driving motor 1132 fixedly installed on the mounting frame 112 of the first clamp 11, and a transition gear 1133 connected between the third driving motor 1132 and the driving gear 1131. The lower end surface of the slide rail 13 is provided with a limiting stopper 213, and the bottom edge of the mounting frame 112 of the first clamp 11 is provided with a limiting block 1121 for preventing the first clamp 11 from falling off the slide rail 13 in the moving path of the limiting stopper 213. The limiting block 1121 is rotatably arranged on the bottom edge of the mounting frame 112 of the first clamp 11, and a through sliding groove 1122 is formed in the limiting block 1121, and the limiting block 1121 has at least two states of unlocking and locking in the rotating process. When the limiting block 1121 is in the unlocking state, the sliding groove 1122 is opposite to the limiting stopper 213, and the limiting stopper 213 can slide out of the sliding groove 1122, and when the limiting block 1121 is in the locking state, the sliding groove 1122 is arranged in dislocation with the limiting stopper 213, and the limiting block 1121 is arranged on the moving path of the limiting stopper 213.

[0038] The working principle of the present application is as follows:

[0039] Firstly, the inspection device is sent into the inspection space, then the support frame 111 of the first clamp 11 is respectively attached to the control rod body and the control rod driving device, the second clamp 12 is oppositely arranged, the first clamp 11 and the second clamp 12 are respectively installed on the two outermost control rods, the third driving motor 1132 is started to move the first clamp 11 on the slide rail 13 and reduce the distance with the second clamp 12, the first clamp 11 and the second clamp 12 clamp the control rod from both sides, so that the inspection device is fixed on the control rod and the slide rail 13 is suspended between the first clamp 11 and the second clamp 12, and the erection of the first clamp 11 and the second clamp 12 is completed; then the first driving motor 221 is started to drive the first driving wheel 222 to rotate through the first pulley assembly 223, when the first driving wheel 222 rotates, one of the travel pins 2221 penetrates into one of the travel holes 131, and the next travel pin 2221 will penetrate into the next travel hole 131 corresponding thereto, so as to drive the vehicle body 21 to move on the slide rail 13, in the moving process of the vehicle body 21, the tow chain assembly 3 can be adjusted synchronously, that is, the second driving motor 331 drives the traction cable 332 to be wound and unwound, so that the chain plate 321 swings left or right by 90° as needed, and the installation positions are switched in turn, so that the inspection of all angles of the Ω weld of all control rod drivers can be realized.

[0040] The above embodiments are only for illustrating the technical concept and characteristics of the present application, the purpose is to enable the person 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 according to the spirit of the present application should be covered within the protection scope of the present application.

Claims

1. An inspection drive mechanism, characterized by, It includes: Support frame, including first and second clamps, a slide rail connected between the first and second clamps, the length of the slide rail is the front-back direction, the direction perpendicular to the front-back direction in the horizontal plane is the left-right direction, the first and second clamps are fixed on the object to be inspected during inspection; Moving trolley, including a trolley body mounted on the slide rail, a first drive mounted on the trolley body for driving the trolley body to move on the slide rail; Drag chain assembly, the rear end is mounted on the trolley body, and the front end can swing left and / or right; The first and second clamps are symmetrically arranged, the first clamp includes a plurality of U-shaped support frames, a mounting frame connected between the support frames, a pad fixed to one end of the support frame, and the other end of the pad is in contact with the surface of the object to be inspected; A limiting stopper is provided on the lower end surface of the slide rail, and a limiting block is provided on the bottom edge of the mounting frame of the first clamp and in the movement path of the limiting stopper to prevent the first clamp from falling off the slide rail; The limiting block is rotatably provided on the bottom edge of the mounting frame of the first clamp, and a through slot is formed therein, and at least two states of unlocking and locking are provided during rotation, when the limiting block is in the unlocking state, the slot is opposite to the limiting stopper, and the limiting stopper can slide out of the slot, when the limiting block is in the locking state, the slot is arranged opposite to the limiting stopper, and the limiting block is arranged in the movement path of the limiting stopper.

2. The inspection drive mechanism of claim 1, wherein: The drag chain assembly includes a fixed frame fixed to the trolley body, a chain mounted on the fixed frame, and a second drive, the chain includes a plurality of chain plates connected in sequence, a buckle is provided on the left and right side surfaces of each chain plate, the second drive includes a second drive motor mounted on the fixed frame, a middle section is wound on the output shaft of the second drive motor, and the two ends are respectively provided in the buckles on the two sides of the chain plate, the two ends of the traction cable are respectively fixed on the chain plate at the front end, when the second drive motor rotates, one end of the traction cable is wound on the output shaft of the second drive motor, and the other end is released by the output shaft of the second drive motor, thereby driving the chain plate to swing.

3. An inspection drive mechanism according to claim 2, wherein: The second drive motor is located above the fixed frame, the drag chain assembly includes a reversing wheel mounted on each side of the fixed frame, and the traction cable passes through the reversing wheel after being wound out of the output shaft of the second drive motor and enters each buckle.

4. An inspection drive mechanism according to claim 3, wherein: The same side of the fixed frame has two reversing wheels, the rotation axes of the two reversing wheels are perpendicular and extend in the direction parallel to the horizontal plane.

5. The inspection drive mechanism of claim 2, wherein: Rollers are provided on the left and right side surfaces of each chain plate, and the rotation axes of the rollers are arranged in the up-down direction.

6. An inspection drive mechanism according to claim 5, wherein: The same side of each chain plate has two rollers, and the two rollers are located on the upper and lower sides of the traction cable on the same side, and the rotation shafts of the rollers are located between the traction cable and the chain plate on the same side.

7. The inspection drive mechanism of claim 1, wherein: The vehicle body is sleeved on the slide rail, the first driving part comprises a first driving motor mounted on the vehicle body, a first driving wheel in transmission connection with the first driving motor, and a first pulley assembly connected between the first driving motor and the first driving wheel, when the first driving wheel rotates, the vehicle body is driven to move on the slide rail.

8. An inspection drive mechanism according to claim 7, wherein: The first driving wheel is provided with traveling protrusions on the circumferential surface, the slide rail is sequentially provided with traveling holes matched with the traveling protrusions in the front and back directions, when one of the traveling protrusions penetrates into one of the traveling holes, the next traveling protrusion will penetrate into the next traveling hole corresponding to it, thereby driving the vehicle body to move on the slide rail.

9. An inspection drive mechanism according to claim 8, wherein: The vehicle body comprises a base, a plurality of pairs of mounting blocks formed on the base, and a blocking rod mounted between the pairs of mounting blocks, a sleeving space is formed between each pair of mounting blocks, the blocking rod and the base, and the slide rail is arranged in the sleeving space.

10. An inspection drive mechanism according to claim 9, wherein: The mounting blocks and the blocking rod are mounted on the left side of the base, the first driving wheel is mounted on the right side of the base, the base is provided with a first through hole, the circumferential surface of the first driving wheel penetrates through the first through hole, and the traveling protrusions can penetrate into the traveling holes.

11. The inspection drive mechanism of claim 9, wherein: The left side surface of the vehicle body is provided with guide wheels above and below the slide rail.

12. The inspection drive mechanism of claim 9, wherein: The base is provided with a second through hole, a driven wheel is arranged in the second through hole, the driven wheel extends out of the base and the circumferential surface of the driven wheel is attached to the side surface of the slide rail.

13. The inspection drive mechanism of claim 1, wherein: The mounting frame of the second clamp is fixedly connected with the slide rail, the mounting frame of the first clamp is sleeved on the slide rail, and a third driving part for driving the first clamp to move on the slide rail and locking the position of the first clamp on the slide rail is arranged on the mounting frame of the first clamp.

14. The inspection drive mechanism of claim 13, wherein: The upper end surface of the end portion of the slide rail connected with the first clamp is provided with a rack, the third driving part comprises a driving gear rotatably connected to the mounting frame of the first clamp and engaged with the rack, a third driving motor fixedly mounted on the mounting frame of the first clamp, and a transition gear connected between the third driving motor and the driving gear.

15. An inspection device comprising an inspection drive mechanism and a flexible probe mounted on the inspection drive mechanism, characterized by: The inspection driving mechanism is any one of the inspection driving mechanisms in claims 1-14.

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