Video inspection robot and method for first supporting plate of steam generator

Abstract

The invention discloses a video inspection robot and method for a first supporting plate of a steam generator, and the robot comprises a sub-video inspection robot which runs on the first supporting plate of the steam generator and inspects a heat transfer pipe; the mother wall-climbing robot comprises a shell, and one side of the shell is rotationally provided with a frame mechanism which is suitable for carrying the son video inspection robot and conveying the son video inspection robot to the first supporting plate of the steam generator; according to the video inspection robot disclosed by the invention, the whole set of robot can easily enter the inner wall of a steam generator coaming through a hand hole in a mode of combining the child robot and the mother robot, and the mother wall-climbing robot carries the child video inspection robot to climb to the first supporting plate along the inner wall of the steam generator coaming; and then the sub-video inspection robot runs on the first supporting plate to carry out video inspection operation, corresponding standard operation procedures can be completed autonomously, and the problem that the central pipe gallery of the first supporting plate of the steam generator cannot be inspected is solved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a video inspection robot and method for a first support plate of a steam generator. Background Art

[0002] Under the strategic guidance of the country's vigorous development of clean energy, the construction speed and installed capacity of my country's nuclear power units have grown rapidly, and the safety of nuclear power is particularly important. According to the operating feedback of pressurized water reactor nuclear power plants at home and abroad, video inspection of the steam generator is a routine work during each shutdown and maintenance. The steam generator of a pressurized water reactor nuclear power plant is a vertical structure, about 10 meters high, with thousands of U-shaped heat transfer tubes arranged inside. These heat transfer tubes are fixed or limited by tube sheets, manifolds, first support plates, second support plates, and ninth support plates from bottom to top; during operation, a lot of mud is deposited on the surface of these support plates, especially in the area from the tube sheet to the second support plate. Due to the particularity of the steam generator structure and the narrow inspection channel, video inspection of the tube sheet and manifold can only be carried out at present. Its main purpose is to verify the effect of high-pressure cleaning of the steam generator and whether there are foreign objects on the upper surface of the tube sheet. Video inspection of the tube sheet area generally uses an endoscopic circular probe or a flat video inspection belt to enter from the hand hole, and enter the tube room under the guidance of a guide tool or a robot carrier to complete video data acquisition.

[0003] Regarding the inspection of the first support plate, the inspection equipment needs to go from the hand hole (inner diameter 150mm) through a right-angle turn into the coaming hole (inner diameter 110mm), climb along the inner wall of the coaming for about 0.5 meters, and then pass through the 98mm slot to enter the upper surface of the first support plate before the inspection can be carried out. It is impossible to inspect the central pipe gallery of the first support plate of the steam generator manually. The equipment needs to be highly integrated and meet the stringent requirements of safe retrieval from the inside of the steam generator under emergency conditions.

[0004] At present, there is no report or application of video inspection equipment under similar structures. Therefore, it is necessary to develop an operating system that can complete the inspection of the central pipe gallery area of ​​the first support plate to facilitate the monitoring of the operation safety of the steam generator in a larger range. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a video inspection robot for the first support plate of a steam generator which adopts a parent-child structure, in which a mother wall-climbing robot carries a child video inspection robot which can stably climb from the hand hole position to the first support plate position, and the child video inspection robot performs video inspection operations on the heat transfer tubes on the first support plate, and can independently complete the corresponding standard operating procedures.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a video inspection robot for a first support plate of a steam generator, comprising:

[0007] A sub-video inspection robot, wherein the sub-video inspection robot moves on a first support plate of the steam generator and inspects the heat transfer tube;

[0008] A mother wall-climbing robot comprises a shell, one side of the shell is rotatably mounted with a frame mechanism suitable for carrying the sub-video inspection robot and delivering it to the first support plate of the steam generator, the shell is mounted with a traveling mechanism that climbs from the inner wall of the steam generator to the vicinity of the first support plate of the steam generator, and the shell is also mounted with an adsorption member adsorbed on the inner wall of the steam generator.

[0009] Further, in the video inspection robot for the first support plate of the steam generator, preferably, the sub-video inspection robot comprises a frame, and at least one set of video inspection mechanisms is mounted on the frame, and the video inspection mechanisms comprise a fixing block, a module adjustment block, an endoscope module, and a light source;

[0010] The fixing block is installed on one side of the frame, the module adjustment block is adjustably installed on the fixing block, the endoscope module is installed on the module adjustment block, and the light source is installed on one side of the fixing block.

[0011] Furthermore, in the video inspection robot for the first support plate of the steam generator, preferably, the sub-video inspection robot further includes wheel mechanisms installed on both sides of the frame and a control module installed in the frame;

[0012] The wheel mechanism includes a driving pulley, a driven pulley, a synchronous belt, a servo motor, and a reducer;

[0013] The driving pulley and the driven pulley are respectively installed at two ends of one side of the frame, the synchronous belt is wound on the driving pulley and the driven pulley, the servo motor is installed inside the frame, the reducer is installed at the output end of the servo motor, and the reducer is connected to the driving pulley.

[0014] Furthermore, in the video inspection robot for the first support plate of the steam generator, the frame mechanism preferably includes an adapter plate, a joint motor module, and a mounting plate;

[0015] The joint motor module is installed inside the shell, the adapter plate is installed on one side of the shell and rotated by the joint motor module, the mounting plate is installed on the adapter plate, and the sub-video inspection robot is mounted on the mounting plate.

[0016] Furthermore, in the video inspection robot for the first support plate of the steam generator, preferably, the frame mechanism further includes a limiting component for limiting the position of the sub-video inspection robot;

[0017] The limiting assembly includes a front limiting boss, a front inclined surface, two rear limiting bosses and a rear inclined surface;

[0018] The front end limit boss is mounted on the upper surface of the carrying plate, the front end inclined surface is arranged in an eight-shaped structure on both sides of the front end limit boss, and the front end inclined surface is in direct contact with the inner side of the synchronous belt, so that the sub-video inspection robot passively adapts to the straight path; the two rear end limit bosses are mounted on the carrying plate, the rear end inclined surface is arranged in an inverted eight-shaped structure on the inner side of the two rear end limit bosses, and the rear end inclined surface is in side contact with the frame, ensuring that the sub-video inspection robot can be completely retracted into the carrying plate;

[0019] The two rear end limiting bosses are located above the synchronous belt, providing lateral limiting for the sub-video inspection robot to prevent the sub-video inspection robot from falling from the carrying plate.

[0020] Furthermore, in the video inspection robot for the first support plate of the steam generator, the travel mechanism preferably includes wheels, a universal ball, and a drive motor;

[0021] The wheels and the universal ball are respectively installed on two sides of the shell, the drive motor is installed in the shell, and the output end of the drive motor is connected to the wheels.

[0022] Furthermore, in the video inspection robot for the first support plate of the steam generator, preferably, two wheels are provided, and the two wheels are installed on both sides of the shell in a diagonal structure;

[0023] Two universal balls are provided, and the two universal balls are installed on both sides of the top of the shell in a diagonal structure.

[0024] Furthermore, in the video inspection robot for the first support plate of the steam generator, the adsorption member is preferably a plurality of magnets, and the plurality of magnets are in a U-shaped structure and are mounted on the shell;

[0025] Alternatively, the adsorbent is a vacuum adsorbent adsorbed on the steam generator.

[0026] The technical problem to be solved by the present invention is to provide a method for video inspection of a steam generator using a parent-child structure, in which a mother wall-climbing robot carries a child video inspection robot which can stably climb from a hand hole position to a first support plate position, and the child video inspection robot performs video inspection operations on the heat transfer tubes on the first support plate, and can independently complete the corresponding standard operating procedures.

[0027] A video inspection method for a first support plate of a steam generator comprises the following steps:

[0028] S1, the mother wall-climbing robot first performs self-check and reset; the child video inspection robot performs self-check;

[0029] S2, the mother wall-climbing robot carries the child video inspection robot and is sent into the steam generator, and is stably adsorbed on the inner wall of the steam generator enclosure through the adsorption component;

[0030] S3, after the mother wall-climbing robot climbs along the inner wall of the steam generator enclosure and exceeds the first support plate of the steam generator, the carrying plate switches from a vertical state to a horizontal state;

[0031] S4, the mother wall-climbing robot moves downward along the inner wall of the steam generator enclosure, and the joint motor module has an increased current, and it is determined that the child video inspection robot is transported to the first support plate operation area;

[0032] S5, the sub-video inspection robot moves on the first support plate, performs video inspection on the heat transfer tube gallery during the movement, and transmits the video to the control system;

[0033] S6, when the video inspection operation is completed, the sub-video inspection robot moves to the carrying plate, and the carrying plate switches from a horizontal state to a vertical state;

[0034] S7, then the mother wall-climbing robot carries the child video inspection robot and moves out of the steam generator.

[0035] Further, in the video inspection robot for the first support plate of the steam generator, preferably in S3, if the mother wall-climbing robot deflects to the left in the climbing state, the speed of the right wheel needs to be reduced;

[0036] If the mother wall-climbing robot deviates to the right side during the climbing state, the speed of the left wheel needs to be reduced; in S4, when the mother wall-climbing robot makes slight contact with the first support plate of the steam generator, the current of the joint motor module increases slightly and is fed back to the control system controlled by the operator, and the operator can determine that the bottom of the mounting plate has contacted the upper surface of the first support plate of the steam generator.

[0037] The implementation of the present invention has the following beneficial effects: the video inspection robot of the present invention is a multifunctional, highly integrated inspection robot integrating electromechanical control through the combination of a mother-and-child robot. The whole set of robots can easily enter the inner wall of the steam generator enclosure through the hand hole. The mother wall-climbing robot carries the child video inspection robot to climb along the inner wall of the steam generator enclosure to the first support plate, and then the child video inspection robot drives on the first support plate to perform video inspection operations. It can independently complete the corresponding standard operating procedures, solving the problem that the central pipeline corridor of the first support plate of the steam generator cannot be inspected.

[0038] When the sub-video inspection robot makes slight contact with the first support plate, the current of the joint motor module increases slightly and is fed back to the control system. The operator can then determine that the mother wall-climbing robot is in the correct working position and can operate the sub-video inspection robot to perform video inspection operations on the first support plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0040] Figure 1 It is a schematic diagram of the structure of a video inspection robot for a first support plate of a steam generator from a first viewing angle according to the present invention;

[0041] Figure 2 1 is a schematic structural diagram of a video inspection robot for a first support plate of a steam generator according to a first embodiment of the present invention from a first viewing angle;

[0042] Figure 3 It is a structural schematic diagram of a first viewing angle of a mother wall-climbing robot of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the present invention;

[0043] Figure 4 It is a schematic diagram of the internal structure of a sub-video inspection robot and a mother wall-climbing robot of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the present invention;

[0044] Figure 5 It is a structural schematic diagram of a wheel mechanism of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the present invention;

[0045] Figure 6 This is a schematic diagram of a state in which a mother wall-climbing robot carrying a child video inspection robot enters from a hand hole in a first embodiment of a video inspection robot for a first support plate of a steam generator according to the present invention;

[0046] Figure 7 It is a schematic diagram of a wall climbing state of a mother wall climbing robot carrying a child video inspection robot in a first embodiment of a video inspection robot for a first support plate of a steam generator according to the present invention;

[0047] Figure 8 It is a schematic diagram of a flipping state of a mother wall-climbing robot carrying a child video inspection robot in a first embodiment of a video inspection robot for a first support plate of a steam generator according to the present invention;

[0048] Fig. 9 This is a schematic diagram of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the present invention, and is a state in which the video inspection robot is traveling on the first support plate.

[0049] Explanation of the symbols in the schematic diagram:

[0050] 1. Sub-video inspection robot;

[0051] 2. Mother wall-climbing robot;

[0052] 3. Shell;

[0053] 4. Frame mechanism; 43. Adapter plate; 44. Joint motor module; 45. Mounting plate;

[0054] 5. Traveling mechanism; 51. Wheel; 52. Universal ball; 53. Driving motor;

[0055] 6. Adsorption parts;

[0056] 7. Frame; 71. Fixing block; 72. Module adjustment block; 73. Endoscope module; 74. Light source; 75. Driving pulley; 76. Driven pulley; 77. Synchronous belt; 78. Servo motor; 79. Reducer;

[0057] 8. Control module; 81. Lithium battery module. DETAILED DESCRIPTION

[0058] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0059] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0060] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0061] Embodiment 1: The technical solution adopted by the present invention to solve the technical problem is: Figures 1 to 5 The present invention discloses a video inspection robot for a first support plate of a steam generator, comprising:

[0062] Sub-video inspection robot 1, sub-video inspection robot 1 drives on the first support plate of the steam generator and inspects the heat transfer tube;

[0063] The mother wall-climbing robot 2 includes a shell 3, one side of the shell 3 is rotatably mounted with a frame mechanism 4 suitable for carrying the sub-video inspection robot 1 and delivering it to the first support plate of the steam generator, the shell 3 is mounted with a traveling mechanism 5 that climbs from the inner wall of the steam generator to the vicinity of the first support plate of the steam generator, and the shell 3 is also mounted with an adsorption member 6 that is adsorbed on the inner wall of the steam generator.

[0064] In some embodiments, the video inspection robot is a combination of a mother-and-child robot, with an overall size of 240mm×83mm×53mm, of which the sub-video inspection robot has an overall size of 90mm×83mm×50mm. It is a multifunctional, highly integrated inspection robot that integrates electromechanical control. The entire set of robots can easily enter the steam generator through a 110mm enclosure hole for video inspection.

[0065] Preferably, the mother wall-climbing robot 2 carries the sub-video inspection robot 1 to climb along the inner wall of the steam generator to the first support plate, and the sub-video inspection robot 1 travels to the first support plate to perform video inspection operations, thereby solving the problem that the central pipe gallery of the first support plate of the steam generator cannot be inspected.

[0066] During the wall climbing process, the mother wall-climbing robot 2 is adsorbed on the wall of the steam generator through the adsorption member 6, so that the mother wall-climbing robot 2 can climb smoothly, providing a safe and stable adsorption force for the mother wall-climbing robot.

[0067] Depend on Figures 2 to 4 It is given that the sub-video inspection robot 1 includes a frame 7, on which at least one set of video inspection mechanisms is installed, and the video inspection mechanisms include a fixed block 71, a module adjustment block 72, an endoscope module 73, and a light source 74; the fixed block 71 is installed on one side of the frame 7, the module adjustment block 72 is adjustably installed on the fixed block 71, the endoscope module 73 is installed on the module adjustment block 72, and the light source 74 is installed on one side of the fixed block 71.

[0068] Preferably, the sub-video inspection robot is provided with three sets of video inspection mechanisms, which are respectively installed on the left and right sides and the front of the frame 7. The three sets of video inspection mechanisms can observe a wider angle.

[0069] Alternatively, the fixing block 71 is fixedly mounted on one side of the vehicle frame 7, the module adjustment block 72 is adjustably mounted on the fixing block 71 by screws, and the endoscope module 73 is mounted on the module adjustment block 72, wherein the module adjustment block 72 can adjust the angle of the endoscope module 73 by loosening the screws, thereby adjusting the shooting angle. The interior of the steam generator is illuminated by the light source 74, so that the shooting is clearer and minor damage details are avoided from being missed.

[0070] In some embodiments, the screws, bolts, pins, fixing pins, etc. used in this solution are not limited thereto. The light source 74 of this solution is an LED lamp, which is not limited here either.

[0071] In some embodiments, the frame 7 is composed of an upper frame plate and a lower frame plate to form the outer shape of the sub-video inspection robot 1.

[0072] Depend on Figures 4 to 5It is shown that the sub-video inspection robot 1 also includes wheel mechanisms on both sides installed on the frame 7 and a control module 8 installed inside the frame 7; the wheel mechanism includes a driving pulley 75, a driven pulley 76, a synchronous belt 77, a servo motor 78, and a reducer 79; the driving pulley 75 and the driven pulley 76 are respectively installed at both ends of one side of the frame 7, the synchronous belt 77 is wound and installed on the driving pulley 75 and the driven pulley 76, the servo motor 78 is installed inside the frame 7, the reducer 79 is installed at the output end of the servo motor 78, and the reducer 79 is connected to the driving pulley 75.

[0073] Preferably, the driving pulley 75 is fixedly connected to the output shaft of the reducer 79 by a top screw, and the driving pulley 75 transmits the motion to the driven pulley 76 through the synchronous belt 77, so as to realize the forward and backward motion of the sub-video inspection robot 1. The sub-video inspection robot 1 uses the synchronous pulley and the synchronous belt 77 as the track structure, which can ensure smooth walking on the first support plate with 21mm array holes, thereby improving the stability of video inspection.

[0074] The control module 8 includes a motor driver, an expansion board, a single-chip microcomputer, a lithium battery module 81, and a Wifi module which are electrically connected to each other and installed in the frame 7. A mechanical self-locking switch and a power socket are installed on one side of the frame 7.

[0075] Preferably, the motor driver, the expansion board, and the single-chip microcomputer are fixed to each other through pin and socket headers, and the single-chip microcomputer has an independent wireless communication module. The operator can realize the plane motion, video inspection, and power monitoring functions of the sub-video inspection robot 1 through the control system.

[0076] The mechanical self-locking switch and the power socket are fixed to the side of the frame 7 by nuts, and the battery module is fixed to the rear side of the frame 7. The mechanical self-locking switch is responsible for powering on and off the sub-video inspection robot; the battery module provides power to the servo motor 78, and the power socket charges the battery module.

[0077] Alternatively, the motor driver can be directly connected to an external wire, and the external wire directly powers the servo motor 78, and the external wire can also be used for video signal transmission at the same time.

[0078] Depend on Figure 3 to Figure 4 It is shown that the frame mechanism 4 includes an adapter plate 43, a joint motor module 44, and a mounting plate 45; the joint motor module 44 is installed inside the shell 3, the adapter plate 43 is installed on one side of the shell 3 and rotated by the joint motor module 44, the mounting plate 45 is installed on the adapter plate 43, and the sub-video inspection robot 1 is mounted on the mounting plate 45.

[0079] Preferably, the sub-video inspection robot 1 is carried on a carrying plate 45, the mother wall-climbing robot 2 climbs to the first support plate inside the steam generator, and then the carrying plate 45 is rotated from a vertical state to a horizontal state, and the bottom surface of the carrying plate 45 contacts the upper surface of the first support plate, thereby allowing the sub-video inspection robot 1 to move on the first support plate to perform video inspection operations.

[0080] In some embodiments, since there is no light source inside the steam generator and the space is extremely small, it is difficult to accurately determine where to switch the sub-video inspection robot 1 from a vertical state to a horizontal state (during the process of the mother wall-climbing robot 2 climbing along the inner wall of the steam generator, the front end of the sub-video inspection robot 1 and the lateral endoscope module 73 can only determine the approximate position of the entire robot. If the switch is too early, the robot will interfere with the first support plate, which will cause the mother wall-climbing robot 2 to tilt up and fall). Therefore, a joint motor module 44 current monitoring measure is provided in the control system, that is, the operator first operates the mother wall-climbing robot 2 to climb along the inner wall of the enclosure and exceeds the safety distance of the first support plate, and then switches the sub-video inspection robot 1 from a vertical state to a horizontal state, and then operates the mother wall-climbing robot 2 to move downward along the inner wall of the steam generator. When the robot comes into slight contact with the first support plate, the current of the joint motor module 44 slightly increases and is fed back to the control system, and the operator can determine that the mother wall-climbing robot 2 is in the correct working position, and can operate the sub-video inspection robot 1 to move out of the mounting plate 45, and then carry out the video inspection operation on the first support plate.

[0081] The framework mechanism 4 also includes a limiting component for limiting the position of the sub-video inspection robot 1;

[0082] The limiting assembly includes a front limiting boss 46, a front inclined surface 47, two rear limiting bosses 48 and a rear inclined surface 49;

[0083] The front end limit boss 46 is installed on the upper surface of the mounting plate 45, and the front end inclined surface 47 is opened in the shape of an eight on both sides of the front end limit boss 46. The front end inclined surface 47 is in direct contact with the inner side of the synchronous belt 77, causing the sub-video inspection robot 1 to passively adapt to the straight path; the two rear end limit bosses 48 are installed on the mounting plate 45, and the rear end inclined surface 49 is opened in the shape of an inverted eight on the inner side of the two rear end limit bosses 48. The rear end inclined surface 49 is in side contact with the frame 7 to ensure that the sub-video inspection robot 1 can be completely retracted into the mounting plate 45; the two rear end limit bosses 48 are located above the synchronous belt 77, providing lateral limitation for the sub-video inspection robot 1 to prevent the sub-video inspection robot 1 from falling off the mounting plate 45.

[0084] In some embodiments, when the sub-video inspection robot 1 is slightly offset during the process of returning to the mounting plate 45, the front end inclined surface structure comes into direct contact with the inner side of the synchronous belt 77, causing the sub-video inspection robot 1 to passively adapt to the straight path; the rear end inclined surface structure comes into side contact with the frame 7 to ensure that the sub-video inspection robot 1 can be completely returned to the mounting plate 45.

[0085] When the mother wall-climbing robot 2 carries the sub-video wall-climbing person 1 and moves on the inner wall of the steam generator enclosure, the rear-end limiting boss structure provides lateral limiting for the sub-video inspection robot 1, which can effectively prevent the sub-video inspection robot 1 from falling off the carrying plate 45. Figure 3 .

[0086] The travel mechanism 5 includes a wheel 51 , a universal ball 52 , and a drive motor 53 ; the wheel 51 and the universal ball 52 are respectively mounted on both sides of the housing 3 , the drive motor 53 is mounted in the housing 3 , and the output end of the drive motor 53 is connected to the wheel 51 .

[0087] Preferably, the mother wall-climbing robot 2 adopts multi-point support (two wheels 51 and two universal balls 52) to ensure that the mother wall-climbing robot 2 walks in a straight line when walking on an adsorption wall with a certain curvature and does not interfere with other internal structures of the steam generator.

[0088] Alternatively, the wheel 51 may be a polyurethane hub, which is directly connected to the output end of the drive motor 53 via screws and cooperates with the universal ball 52 fixed to the shell 3 to achieve basic movement of the mother wall-climbing robot 2 on the inner wall of the steam generator.

[0089] Two wheels 51 are provided, and the two wheels 51 are installed on both sides of the housing 3 in a diagonal structure; two universal balls 52 are provided, and the two universal balls 52 are installed on both sides of the top of the housing 3 in a diagonal structure.

[0090] Specifically, two wheels 51 and two universal balls 52 are provided, and the two wheels 51 are respectively installed with a front end on the left side and a rear end on the right side, or a rear end on the left side and a front end on the right side. The two wheels 51 are respectively installed on both sides and are installed in a diagonal structure; and the two universal balls 52 are respectively installed at the front end on the left side and the rear end on the right side, or the rear end on the left side and the front end on the right side, and the two universal balls 52 are also installed in a diagonal structure.

[0091] Furthermore, the wheel 51 is installed at the front end on the left side, and the universal ball 52 is installed at the rear end on the left side; the wheel 51 is installed at the rear end on the right side, and the universal ball 52 is installed at the front end on the right side.

[0092] The adsorbent 6 is a plurality of magnets in a U-shaped structure and mounted on the housing 3; or, the adsorbent 6 is a vacuum adsorbent adsorbed on the steam generator.

[0093] Preferably, the adsorption member 6 adopts a high-performance magnet and an array-type permanent magnetic adsorption technology, which is stable and reliable and can prevent the robot from falling in the event of an emergency power failure.

[0094] And because the wall is made of magnetic conductive material, there are protruding obstacles such as welds, and for the steam generator enclosure wall with a small curvature radius, the curved surface will cause gaps in the negative pressure adsorption, leading to leakage problems. Therefore, permanent magnetic adsorption is selected from the perspective of adsorption reliability, and the best arrangement method and adsorption distance are optimized and designed to meet actual requirements.

[0095] Alternatively, the adsorption member 6 may be a flexible vacuum suction cup, which is deformable, thereby also avoiding leakage due to negative pressure adsorption.

[0096] Depend on Figures 6 to 9 A video inspection method for a first support plate of a steam generator is provided, comprising the following steps:

[0097] S1, the mother wall-climbing robot 2 first performs self-check and reset; the child video inspection robot 1 performs self-check.

[0098] Preferably, after the mother wall-climbing robot 2 is powered on and receives the self-test reset command, the joint motor module 44 rotates forward, drives the mounting plate 45 to rotate through the adapter plate 43, returns to the vertical direction and stops rotating, completing the reset; when the sub-video inspection robot 1 is powered on, the functions of electronic components such as the lithium battery module 81, the endoscope module 73, the light source 74, and the servo motor 78 are detected through the on-off judgment of the circuit signal of the embedded control module 8.

[0099] S2, the mother wall-climbing robot 2 carries the child video inspection robot 1 and is sent into the steam generator, and is stably adsorbed on the inner wall of the steam generator enclosure through the adsorption component 6.

[0100] Preferably, the mother wall-climbing robot 2 carries the sub-video inspection robot 1 and is held by an operator through a hand hole provided on the side wall of the steam generator and is sent into the steam generator. When the mother wall-climbing robot 2 is stably adsorbed on the inner wall of the steam generator enclosure through the adsorption member 6 and the wheels 51 are in full contact with the inner wall of the steam generator, please refer to the attached Figure 6 .

[0101] S3, after the mother wall-climbing robot 2 climbs along the inner wall of the steam generator enclosure and exceeds the first support plate of the steam generator, the carrying plate 45 switches from a vertical state to a horizontal state.

[0102] Preferably, the driving motor 53 rotates forward to drive the wheels 51 on both sides to rotate, so that the mother wall-climbing robot 2 moves upward along the inner wall of the steam generator enclosure. When the mother wall-climbing robot 2 climbs beyond the first support plate safety distance, the joint motor module 44 drives the adapter plate 43 to rotate, thereby driving the carrying plate 45 to switch from a vertical state to a horizontal state. Please refer to the attached Figure 7 and attached Figure 8 .

[0103] In S3, if the mother wall-climbing robot 2 deviates to the left side in the climbing state, the rotation speed of the right wheel 51 needs to be reduced; if the mother wall-climbing robot 2 deviates to the right side in the climbing state, the rotation speed of the left wheel 51 needs to be reduced.

[0104] Preferably, if the mother wall-climbing robot 2 deviates to the left or right, the differential principle is used to make the vehicle body turn in place, that is, in the upward climbing state, if the right wheel 51 rotates faster, the mother wall-climbing robot 2 deviates to the left, and if the left wheel 51 rotates faster, the mother wall-climbing robot 2 deviates to the right.

[0105] Since the mother wall-climbing robot 2 has a wheel 51 installed on each side, when the rotation speeds of the left or right wheels 51 are different, the mother wall-climbing robot 2 will deviate to the side with a faster rotation speed of the wheel 51. At the same time, the rotation speed difference of the wheels 51 on both sides can also be used to adjust the direction and turn around.

[0106] S4, the mother wall-climbing robot 2 moves downward along the inner wall of the steam generator enclosure, and the current of the joint motor module 44 increases, and it is determined that the sub-video inspection robot 1 is transported to the first support plate operating area.

[0107] In S4, when the mother wall-climbing robot 2 makes slight contact with the first support plate of the steam generator, the current of the joint motor module 44 increases slightly and is fed back to the control system controlled by the operator, and the operator can determine that the bottom of the mounting plate 45 has contacted the upper surface of the first support plate of the steam generator.

[0108] Preferably, the driving motor 53 is reversed, and the mother wall-climbing robot 2 moves downward along the inner wall of the steam generator enclosure until the control system operated by the operator monitors a slight increase in current in the joint motor module 44, and determines that the mother wall-climbing robot 2 transports the sub-video inspection robot 1 to the first support plate operating area.

[0109] It is also possible to preferably install an electrical signal transmission device, a physical transmission button, etc. at the place where the mother wall-climbing robot 2 touches the first support plate. After the physical transmission button touches the first support plate, the physical transmission button is dislocated, thereby transmitting the signal to the control system. Please refer to the attached Figure 8 .

[0110] S5, the sub-video inspection robot 1 moves on the first support plate, performs video inspection on the heat transfer pipe gallery during the movement, and transmits the video to the control system.

[0111] Preferably, the sub-video inspection robot 1 has a built-in embedded control module 8 to control the servo motor 78 to rotate forward, and the active pulley 75 drives the driven pulley 76 to rotate through the synchronous belt 77, driving the sub-video inspection robot 1 to move forward on the first support plate. During the movement, the endoscope module 73 and the light source 74 work together to remotely transmit the video signal of the heat transfer pipe gallery to the control system controlled by the operator through the Wifi module of the control module 8. Please refer to the attached Fig. 9 .

[0112] S6, when the video inspection operation is completed, the sub-video inspection robot 1 moves to the carrying plate 45, and the carrying plate 45 switches from a horizontal state to a vertical state.

[0113] Preferably, when the video inspection operation is completed, the built-in embedded control module 8 of the sub-video inspection robot 1 controls the servo motor 78 to reverse, and the active pulley 75 drives the driven pulley 76 to rotate through the synchronous belt 77, thereby driving the sub-video inspection robot 1 to move backward on the first support plate to the mounting plate 45, and the joint motor module 44 of the mother wall-climbing robot 2 drives the adapter plate 43, thereby driving the mounting plate 45 to switch from a horizontal state to a vertical state.

[0114] S7, then the mother wall-climbing robot 2 carries the child video inspection robot 1 and moves out of the steam generator.

[0115] Preferably, by starting the driving motor 53 to reverse and drive the wheels 51 on both sides, the mother wall-climbing robot 2 can move downward along the inner wall of the steam generator enclosure to the hand hole of the steam generator, and the operator removes the sub-video inspection robot 1 and the mother wall-climbing robot 2 from the inner wall of the steam generator enclosure, and the operation process of the whole machine is completed.

[0116] When the mother wall-climbing robot 2 or the child video inspection robot 1 is powered off or out of control, the emergency recovery of the video inspection robot can be completed by manual pulling through the rope or cable set at the end of the robot.

[0117] Beneficial effects obtained by the sub-video inspection robot 1, the mother wall-climbing robot 2, etc.: The video inspection robot of the present invention is a multifunctional, highly integrated inspection robot integrating electromechanical control through the combination of a sub-and-mother robot. The whole set of robots can easily enter the inner wall of the steam generator enclosure through the hand hole. The mother wall-climbing robot 2 carries the sub-video inspection robot 1 to climb along the inner wall of the steam generator enclosure to the first support plate, and then the sub-video inspection robot 1 drives on the first support plate to perform video inspection operations, and can independently complete the corresponding standard operating procedures, solving the problem that the central pipeline corridor of the first support plate of the steam generator cannot be inspected.

[0118] When the sub-video inspection robot 1 comes into slight contact with the first support plate, the current of the joint motor module 44 increases slightly and is fed back to the control system. The operator can then determine that the mother wall-climbing robot 2 is in the correct working position and can manipulate the sub-video inspection robot 1 to perform video inspection operations on the first support plate.

[0119] In the second embodiment, the mother wall-climbing robot 2 can be replaced by an auxiliary delivery device, which is mainly composed of a precision lifting module, a hand hole delivery module, and a vehicle body carrying platform.

[0120] The precision lifting module adopts a two-stage nested screw drive solution driven by a single motor. The precision lifting module includes a lifting module frame, a first-stage lifting frame, a second-stage lifting frame, a guide pin, a tensioning nut, a drive motor, a planetary reducer, a spline shaft, an emergency knob, a first-stage screw and a second-stage screw.

[0121] The lifting module frame is wrapped on the outermost side, and a blind groove is opened on its rear side for easy wiring; the first-level lifting frame and the second-level lifting frame are nested and installed in the lifting module frame in sequence, and copper sheets are installed on the inner wall of the first-level lifting frame and the lifting module frame to reduce the relative friction between the lifting frames. The spline shaft is installed vertically at the center of the lifting module frame as a whole, connected to the inner wall of the lifting module frame through a bearing seat, its lower end is connected to the drive motor and the planetary reducer, and a manual emergency knob is installed on the upper end. The first-level screw and the second-level screw use trapezoidal ball screws with self-locking characteristics, which are installed on both sides of the spline shaft respectively, wherein the lower end of the second-level screw is fixedly connected to the first-level lifting frame, and a synchronous pulley is coaxially installed on it, which is connected to the spline shaft synchronous pulley through a synchronous belt, and its screw nut is fixedly connected to the bottom of the second-level lifting frame; the lower end of the first-level screw is connected to the lifting module frame through a bearing seat, and a synchronous pulley is coaxially installed on the upper end, which is connected to the spline shaft synchronous pulley through a synchronous belt, and its screw nut is fixedly connected to the bottom of the second-level lifting frame.

[0122] When the inspection robot needs to be lifted, the drive motor drives the spline shaft to rotate at a constant speed through the planetary reducer, and transmits the speed to the primary and secondary screws through the synchronous belt at the same time, so that the synchronous lifting of the first and second stage lifting frames can be achieved under the drive of a single motor. During the entire lifting process, the operating speed of the lifting module can be adjusted in real time through the control panel speed knob. In emergency situations such as unexpected power outages or control hardware failures, the staff can adjust the height of the precision lifting module by manually rotating the emergency knob on the upper end of the spline shaft to achieve emergency handling of the auxiliary delivery device. By using a motor to drive the secondary nested precision lifting module, the technical requirements of delivering the robot to the first support plate through the auxiliary delivery device are met.

[0123] The middle part of the hand hole delivery module is a circular positioning baffle with through holes around it, which is used to connect with the hand hole flange during inspection operation and to assist in positioning and installation of the delivery device. After the precision lifting module is delivered, the circular baffle is placed on the end face of the hand hole and fixed with bolts. The outer side of the baffle is a rectangular hollow shell structure, on the upper end of which a level is installed to ensure the vertical installation of the precision lifting module; the shell structure can be wired inside, and a safety rope and a pull rope sensor are configured at the same time. The other end of the safety rope is hung on the ring at the end of the hand hole delivery module through a convenient lock buckle. Before the inspection operation, the robot is placed on the vehicle body load-bearing platform and the lock buckle is hung on the end of the robot; guide baffles are arranged on both sides of the inner side of the baffle, and a right-angle guide groove is opened at the end of the baffle. When the precision lifting module is delivered, the guide pins installed on both sides slide along the guide groove, so that the precision lifting module can pass through the hand hole and be placed on the inner side of the enclosure through a right-angle bend. When the guide pin slides to the end of the guide groove, the tensioning nut on the upper end of the pin can be manually tightened to prevent the lifting device from rotating around the guide pin, thereby fixing the module.

[0124] The vehicle body bearing platform is installed on the top of the precision lifting module. It is mainly used to carry the robot mobile body and lift the robot mobile body to the first support plate. The overall design of the vehicle body bearing platform is a trapezoidal structure, and the support plates on both sides are hollowed out to achieve lightweight. The vehicle body bearing platform is wrapped with rounded rubber strips to prevent wear on steam generator components. A fixed positioning boss is provided on the bottom plate of the vehicle body bearing platform to facilitate the positioning of the robot when it is placed on the vehicle body bearing platform, and to prevent the robot from falling during the lifting process.

[0125] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A video inspection robot for the first support plate of a steam generator, characterized in that: include: A sub-video inspection robot (1), wherein the sub-video inspection robot (1) travels on a first support plate of the steam generator and inspects the heat transfer tube; A mother wall-climbing robot (2), the mother wall-climbing robot (2) comprising a shell (3), one side of the shell (3) being rotatably mounted with a frame mechanism (4) suitable for carrying the sub-video inspection robot (1) and delivering it to the first support plate of the steam generator, the shell (3) being mounted with a travel mechanism (5) for climbing from the inner wall of the steam generator to the vicinity of the first support plate of the steam generator, and the shell (3) being also mounted with an adsorption member (6) adsorbed on the inner wall of the steam generator.

2. A video inspection robot for a first support plate of a steam generator according to claim 1, characterized in that: The sub-video inspection robot (1) comprises a frame (7), on which at least one set of video inspection mechanisms is mounted, and the video inspection mechanisms comprise a fixing block (71), a module adjustment block (72), an endoscope module (73), and a light source (74); The fixing block (71) is mounted on one side of the vehicle frame (7), the module adjustment block (72) is adjustably mounted on the fixing block (71), the endoscope module (73) is mounted on the module adjustment block (72), and the light source (74) is mounted on one side of the fixing block (71).

3. A video inspection robot for a first support plate of a steam generator according to claim 2, characterized in that: The sub-video inspection robot (1) further comprises wheel mechanisms installed on both sides of the frame (7) and a control module (8) installed in the frame (7); The wheel mechanism comprises a driving pulley (75), a driven pulley (76), a synchronous belt (77), a servo motor (78), and a reducer (79); The driving pulley (75) and the driven pulley (76) are respectively mounted on two ends of one side of the frame (7); the synchronous belt (77) is wound around the driving pulley (75) and the driven pulley (76); the servo motor (78) is mounted inside the frame (7); the reducer (79) is mounted on the output end of the servo motor (78), and the reducer (79) is connected to the driving pulley (75).

4. A video inspection robot for a first support plate of a steam generator according to claim 3, characterized in that: The frame mechanism (4) comprises an adapter plate (43), a joint motor module (44), and a mounting plate (45); The joint motor module (44) is installed inside the shell (3), the adapter plate (43) is installed on one side of the shell (3) and rotated by the joint motor module (44), the mounting plate (45) is installed on the adapter plate (43), and the sub-video inspection robot (1) is mounted on the mounting plate (45).

5. According to the video inspection robot for the first support plate of the steam generator according to claim 4, the frame mechanism (4) further comprises a limiting component for limiting the position of the sub-video inspection robot (1); The limiting assembly comprises a front-end limiting boss (46), a front-end inclined surface (47), two rear-end limiting bosses (48) and a rear-end inclined surface (49); The front end limit boss (46) is mounted on the upper surface of the mounting plate (45), and the front end inclined surface (47) is arranged in an "eight" shape on both sides of the front end limit boss (46). The front end inclined surface (47) is in direct contact with the inner side of the synchronous belt (77), so that the sub-video inspection robot (1) passively adapts to the straight path; the two rear end limit bosses (48) are mounted on the mounting plate (45), and the rear end inclined surface (49) is arranged in an "eight" shape on the inner side of the two rear end limit bosses (48). The rear end inclined surface (49) is in lateral contact with the frame (7), so as to ensure that the sub-video inspection robot (1) can be completely retracted into the mounting plate (45); The two rear end limiting bosses (48) are located above the synchronous belt (77) to provide lateral limiting for the sub-video inspection robot (1) to prevent the sub-video inspection robot (1) from falling off the carrying plate (45).

6. The video inspection robot for the first support plate of a steam generator according to claim 1, characterized in that: The travel mechanism (5) comprises a wheel (51), a universal ball (52), and a drive motor (53); The wheel (51) and the universal ball (52) are respectively mounted on two sides of the housing (3); the drive motor (53) is mounted in the housing (3); and the output end of the drive motor (53) is connected to the wheel (51).

7. The video inspection robot for the first support plate of a steam generator according to claim 6, wherein two wheels (51) are provided, and the two wheels (51) are installed on both sides of the housing (3) in a diagonal structure; Two universal balls (52) are provided, and the two universal balls (52) are installed on both sides of the top of the housing (3) in a diagonal structure.

8. The video inspection robot for the first support plate of a steam generator according to claim 1, characterized in that: The adsorption member (6) is a plurality of magnets, and the plurality of magnets are in a U-shaped structure and are mounted on the housing (3); Alternatively, the adsorbent (6) is a vacuum adsorbent adsorbed on the steam generator.

9. A video inspection method for a first support plate of a steam generator, using a video inspection robot for a first support plate of a steam generator according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1, the mother wall-climbing robot (2) first performs self-checking and resetting; the daughter video inspection robot (1) performs self-checking; S2, the mother wall-climbing robot (2) carries the child video inspection robot (1) and is sent into the steam generator, and is stably adsorbed on the inner wall of the steam generator enclosure by the adsorption member (6); S3, after the mother wall-climbing robot (2) climbs along the inner wall of the steam generator enclosure and exceeds the first support plate of the steam generator, the carrying plate (45) switches from a vertical state to a horizontal state; S4, the mother wall-climbing robot (2) moves downward along the inner wall of the steam generator enclosure, the joint motor module (44) has an increased current, and it is determined that the child video inspection robot (1) is transported to the first support plate operation area; S5, the sub-video inspection robot (1) moves on the first support plate, performs video inspection on the heat transfer pipe gallery during the movement, and transmits the video to the control system; S6, when the video inspection operation is completed, the sub-video inspection robot (1) moves to the carrying plate (45), and the carrying plate (45) switches from a horizontal state to a vertical state; S7, then the mother wall-climbing robot (2) carries the child video inspection robot (1) and moves out of the steam generator.

10. A video inspection method for a first support plate of a steam generator according to claim 9, characterized in that: In S3, if the mother wall-climbing robot (2) deflects to the left side in the climbing state, the rotation speed of the right wheel (51) needs to be reduced; If the mother wall-climbing robot (2) deviates to the right side in the climbing state, the rotation speed of the left wheel (51) needs to be reduced; In S4, when the mother wall-climbing robot (2) comes into slight contact with the first support plate of the steam generator, the current of the joint motor module (44) slightly increases and is fed back to the control system controlled by the operator, so that the operator can determine that the bottom of the mounting plate (45) has come into contact with the upper surface of the first support plate of the steam generator.

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