A video inspection robot and method for the first support plate of a steam generator

Abstract

This invention discloses a video inspection robot and method for the first support plate of a steam generator, comprising a sub-video inspection robot that travels on the first support plate of the steam generator and inspects the heat transfer tubes; and a mother wall-climbing robot, which includes a shell with a frame mechanism rotatably mounted on one side of the shell for carrying the sub-video inspection robot and delivering it to the first support plate of the steam generator. The video inspection robot of this invention, through the combination of the mother and sub-robots, allows the entire robot to easily enter the inner wall of the steam generator enclosure through a handhole. The mother wall-climbing robot carries the sub-video inspection robot and climbs along the inner wall of the steam generator enclosure to the first support plate. Then, the sub-video inspection robot travels on the first support plate to perform video inspection operations, autonomously completing the corresponding standard operating procedures, thus solving the problem of the inability to inspect the central pipe gallery of the first support plate of the steam generator.

Description

TECHNICAL FIELD

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

[0002] Under the strategic guidance of the state's vigorous development of clean energy, the construction speed and installed capacity of nuclear power units in China are rapidly increasing, and nuclear power safety is particularly important. According to the operation feedback of domestic and foreign pressurized water reactor nuclear power plants, internal video inspection of the steam generator is a routine work during each shutdown maintenance. The pressurized water reactor nuclear power steam generator is a vertical structure about 10 meters high, and is internally arranged with thousands of U-shaped heat transfer pipes, which are fixed or limited from bottom to top by the tube sheet, the flow divider, the first support plate, the second support plate, and up to the ninth support plate; During operation, there are more sludge 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 structure of the steam generator and the limitation of the narrow inspection channel, only the video inspection of the tube sheet and the flow divider can be carried out at present, and the 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. For the video inspection of the tube sheet area, an endoscope round probe or a flat video inspection belt is generally used to enter from the hand hole, and under the guidance of a guide tool or a robot carrier, the video data collection is completed in the inter-tube.

[0003] For the inspection of the first support plate, the inspection equipment needs to enter the first support plate upper surface through a 98mm slot after climbing about 0.5 meters along the inner wall of the surrounding plate from the hand hole (inner diameter 150mm) to the surrounding plate hole (inner diameter 110mm), which cannot be realized by manual inspection of the central pipe gallery of the first support plate of the steam generator. The equipment needs to be highly integrated, and at the same time meet the stringent requirements of safe retrieval from the inside of the steam generator under emergency conditions.

[0004] At present, there is no video inspection equipment reported or applied under similar structure. Therefore, it is necessary to develop a set of operation system which can complete the inspection of the first support plate central pipe gallery area, so as to facilitate the monitoring of the operation safety of the steam generator in a larger range. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a video inspection robot for a first support plate of a steam generator, which adopts a mother-daughter structure, a mother wall-climbing robot carries a daughter video inspection robot, and the daughter video inspection robot can stably climb from a hand hole position to a first support plate position, and the daughter video inspection robot can perform video inspection of heat transfer pipes on the first support plate, and can autonomously complete the corresponding standard operation process.

[0006] The technical solution adopted by the present application 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 which travels on the first support plate of the steam generator and inspects the heat transfer pipe;

[0008] A mother wall-climbing robot which comprises a shell, a frame mechanism mounted on one side of the shell and adapted to carry the sub-video inspection robot and send it to the first support plate of the steam generator, a traveling mechanism mounted on the shell and adapted to climb from the inner wall of the steam generator to the vicinity of the first support plate of the steam generator, and a suction member mounted on the shell and adapted to be suctioned to the inner wall of the steam generator.

[0009] Further, the video inspection robot for the first support plate of the steam generator, preferably the sub-video inspection robot, comprises a vehicle frame, at least one set of video inspection mechanisms mounted on the vehicle frame, the video inspection mechanisms comprising a fixed block, a module adjusting block, an endoscope module, and a light source.

[0010] The fixed block is mounted on one side of the vehicle frame, the module adjusting block is adjustably mounted on the fixed block, the endoscope module is mounted on the module adjusting block, and the light source is mounted on one side of the fixed block.

[0011] Further, the video inspection robot for the first support plate of the steam generator, preferably the sub-video inspection robot, further comprises a wheel mechanism mounted on both sides of the vehicle frame and a control module mounted in the vehicle frame.

[0012] The wheel mechanism comprises a driving pulley, a driven pulley, a synchronous belt, a servo motor, and a speed reducer.

[0013] The driving pulley and the driven pulley are respectively mounted on both ends of one side of the vehicle frame, the synchronous belt is woundly mounted on the driving pulley and the driven pulley, the servo motor is mounted in the vehicle frame, the speed reducer is mounted on the output end of the servo motor, and the speed reducer is connected with the driving pulley.

[0014] Further, the video inspection robot for the first support plate of the steam generator, preferably the frame mechanism, comprises an adapter plate, a joint motor module, and a carrying plate.

[0015] The joint motor module is mounted in the shell, the adapter plate is mounted on one side of the shell and rotates through the joint motor module, the carrying plate is mounted on the adapter plate, and the sub-video inspection robot is carried on the carrying plate.

[0016] Further, the video inspection robot for the first support plate of the steam generator, preferably the frame mechanism, further comprises a limiting assembly for limiting the sub-video inspection robot.

[0017] The limiting assembly comprises a front end limiting boss, a front end slope, two rear end limiting bosses and a rear end slope;

[0018] The front end limiting boss is installed on the upper surface of the carrying plate, the front end slope is in the shape of an eight character and is arranged on the two sides of the front end limiting boss, the front end slope directly contacts the inner side of the synchronous belt, so that the sub video inspection robot passively adapts to a straight path, the two rear end limiting bosses are installed on the carrying plate, the rear end slope is in the shape of an inverted eight character and is arranged on the inner sides of the two rear end limiting bosses, the rear end slope laterally contacts the vehicle frame, and it is ensured that the sub video inspection robot can be completely withdrawn into the carrying plate;

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

[0020] Further, in the video inspection robot for the first support plate of the steam generator, preferably, the running mechanism comprises wheels, universal balls and a driving motor.

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

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

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

[0024] Further, in the video inspection robot for the first support plate of the steam generator, preferably, the suction accessory is a plurality of magnets, and the plurality of magnets are in a U-shaped structure and are installed on the shell.

[0025] Alternatively, the suction accessory is a vacuum suction accessory and is adsorbed on the steam generator.

[0026] The technical problem to be solved by the present application is to provide a method for video inspection of a steam generator, which adopts a sub-mother structure, a mother wall-climbing robot carries a sub video inspection robot, and the sub video inspection robot is stably climbed from a hand hole position to a first support plate position, the sub video inspection robot performs video inspection work on a heat transfer pipe on the first support plate, and the corresponding standard operation process can be autonomously completed.

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

[0028] S1, the mother wall-climbing robot first self-checks and resets; the child video inspection robot self-checks;

[0029] S2, the mother wall-climbing robot carries the child video inspection robot and then sends it into the steam generator, and is stably adsorbed on the inner wall of the steam generator through the suction accessory;

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

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

[0032] S5, the child video inspection robot moves on the first support plate, and video inspection is performed on the heat pipe gallery in the movement process, and is transmitted to the control system;

[0033] S6, when the video inspection work is completed, the child video inspection robot moves to the carrying plate, and the carrying plate is switched from the horizontal state to the 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 appears left deflection in the climbing state, the right wheel speed needs to be reduced;

[0036] If the mother wall-climbing robot appears right deflection in the climbing state, the left wheel speed needs to be reduced; in S4, when the mother wall-climbing robot slightly contacts the first support plate of the steam generator, the joint motor module current slightly increases and is fed back to the control system operated by the operator, and the operator can determine that the bottom of the carrying plate has contacted the upper surface of the first support plate of the steam generator.

[0037] The video inspection robot of the present application has the following beneficial effects: the video inspection robot of the present application is a multifunctional, high-integration inspection robot with mechanical and electrical control through the combination of mother and child robots, the whole robot can easily enter the inner wall of the steam generator through the hand hole, the mother wall-climbing robot carries the child video inspection robot and climbs to the first support plate along the inner wall of the steam generator, then the child video inspection robot drives on the first support plate to perform video inspection work, can autonomously complete the corresponding standard operation process, and solves the problem that the central pipe gallery of the first support plate of the steam generator cannot be inspected.

[0038] When the sub-video inspection robot slightly contacts with the first support plate, the joint motor module current slightly increases and is fed back to the control system, so that the operator can determine that the mother wall-climbing robot is in the correct working position, and can control the sub-video inspection robot to carry out video inspection work on the first support plate. BRIEF DESCRIPTION OF DRAWINGS

[0039] The application will be further described below in conjunction with the drawings and examples, wherein:

[0040] Figure 1 is a first perspective view of a video inspection robot for a first support plate of a steam generator according to the application;

[0041] Figure 2 is a first perspective view of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the application;

[0042] Figure 3 is a first perspective view 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 application;

[0043] Figure 4 is a first perspective view of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the application;

[0044] Figure 5 is a first perspective view of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the application;

[0045] Figure 6 is a first perspective view of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the application;

[0046] Figure 7 is a first perspective view of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the application;

[0047] Figure 8 is a first perspective view of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the application;

[0048] Figure 9 is a first perspective view of a first embodiment of a video inspection robot for a first support plate of a steam generator according to the application;

[0049] The reference signs in the schematic drawings are explained as follows:

[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, drive motor

[0055] 6. Suction accessory

[0056] 7. Frame; 71, fixed block; 72, module adjustment block; 73, endoscope module; 74, light source; 75, driving pulley; 76, driven pulley; 77, synchronous belt; 78, servo motor; 79, speed reducer

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

[0058] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, it should be understood that the orientations or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the orientations or positional relationships shown in the drawings, constructed and operated in a particular orientation, and are only for the convenience of describing the present technical solution, and should not be understood as indicating that the devices or elements referred to must have a particular orientation, therefore it should not be understood as a limitation on the present application.

[0059] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0060] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0061] Example 1: The technical solution adopted by the present invention to solve its technical problem is: by 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 travels on the first support plate of the steam generator and inspects the heat transfer tubes;

[0063] The female wall-climbing robot 2 includes a shell 3. A frame mechanism 4 is rotatably mounted on one side of the shell 3, which is suitable for carrying the sub-video inspection robot 1 and delivering it to the first support plate of the steam generator. A travel mechanism 5 is mounted on the shell 3 to climb from the inner wall of the steam generator to the vicinity of the first support plate of the steam generator. An adsorption component 6 is also mounted on the shell 3 to adhere to the inner wall of the steam generator.

[0064] In some embodiments, the video inspection robot is combined with the parent robot, and the overall size is 240mmx83mmx53mm, wherein the overall size of the video inspection robot is 90mmx83mmx50mm, and the video inspection robot is a multifunctional and high-integrated inspection robot with mechanical and electrical control. The whole robot can easily enter the inside of the steam generator through a 110mm fence hole to perform video inspection.

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

[0066] During wall climbing, the parent wall-climbing robot 2 is adsorbed on the wall of the steam generator by the adsorption accessory 6, so that the parent wall-climbing robot 2 can smoothly climb, and the parent wall-climbing robot is provided with safe and stable adsorption force.

[0067] By Figures 2 to 4 It is given that the video inspection robot 1 comprises a vehicle frame 7, at least one set of video inspection mechanism is installed on the vehicle frame 7, the video inspection mechanism comprises a fixed block 71, a module adjusting block 72, an endoscope module 73, and a light source 74; the fixed block 71 is installed on one side of the vehicle frame 7, the module adjusting block 72 is adjustably installed on the fixed block 71, the endoscope module 73 is installed on the module adjusting block 72, and the light source 74 is installed on one side of the fixed block 71.

[0068] Preferably, three sets of video inspection mechanisms are arranged on the video inspection robot, and the three sets of video inspection mechanisms are respectively installed on the left and right sides and the front of the vehicle frame 7, so that the three sets of video inspection mechanisms can observe a wider angle.

[0069] Optionally, the fixed block 71 is fixedly installed on one side of the vehicle frame 7, the module adjusting block 72 is adjustably installed on the fixed block 71 through a screw, and the endoscope module 73 is installed on the module adjusting block 72, wherein the module adjusting block 72 can adjust the angle of the endoscope module 73 by loosening the screw, so as to adjust the angle of shooting. And the steam generator inside is irradiated by the light source 74, so that the shooting is clearer, and small damage details are avoided.

[0070] In some embodiments, the screws, bolts, pins, and fixed pins used in the present scheme are not limited. The light source 74 of the present scheme adopts an LED lamp, which is also not limited.

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

[0072] By Figures 4 to 5The sub-video inspection robot 1 further comprises two side wheel mechanisms mounted on the frame 7 and a control module 8 mounted 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 at 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 in the frame 7, and the reducer 79 is mounted at the output end of the servo motor 78 and connected with the driving pulley 75.

[0073] Preferably, the driving pulley 75 is fixedly connected with the output shaft of the reducer 79 through a top pin, the driving pulley 75 transmits motion to the driven pulley 76 through the synchronous belt 77, and the front and rear motion of the sub-video inspection robot 1 is realized. The synchronous pulley and the synchronous belt 77 are used as the track structure in the sub-video inspection robot 1, which can ensure stable walking on the first support plate with 21mm array distribution holes, thereby improving the stability of video inspection.

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

[0075] Preferably, the motor driver, the expansion board and the single-chip microcomputer are fixed with each other through a pin and a female connector, the single-chip microcomputer has an independent wireless communication module, and the operator can realize the functions of planar motion, video inspection and power monitoring 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 inside of the frame 7. The mechanical self-locking switch is responsible for power supply and power-off of the sub-video inspection robot; the battery module provides power for the servo motor 78, and the power socket charges the battery module.

[0077] Optionally, the motor driver can be directly connected with an external wire, the external wire directly supplies power for the servo motor 78, and the external wire can also be used for video signal transmission.

[0078] By Figures 3 to 4 The frame mechanism 4 comprises a conversion plate 43, a joint motor module 44 and a mounting plate 45; the joint motor module 44 is mounted in the inside of the shell 3, the conversion plate 43 is mounted on one side of the shell 3 and rotates through the joint motor module 44, and the mounting plate 45 is mounted on the conversion 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 mounted on the mounting plate 45, the mother wall-climbing robot 2 climbs to the first support plate inside the steam generator, then the mounting plate 45 is rotated from the vertical state to the horizontal state, and the bottom surface of the mounting plate 45 contacts the upper surface of the first support plate, so that the sub-video inspection robot 1 moves on the first support plate to perform the video inspection work.

[0080] In some embodiments, due to the absence of light source inside the steam generator and the extremely narrow space, it is difficult to accurately determine where to switch the sub-video inspection robot 1 from the vertical state to the horizontal state (during the climbing of the mother wall-climbing robot 2 along the inner wall of the steam generator, the front end and the lateral endoscope module 73 of the sub-video inspection robot 1 can only determine the approximate position of the whole robot, if the switching is too early, the robot will interfere with the first support plate, and then the mother wall-climbing robot 2 will be tilted and fall). Therefore, in the control system, a joint motor module 44 current monitoring measure is provided, that is, the operator first operates the mother wall-climbing robot 2 to climb along the inner wall of the coaming beyond the safe distance of the first support plate, then switches the sub-video inspection robot 1 from the vertical state to the 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 slightly contacts the first support plate, the current of the joint motor module 44 slightly increases and is fed back to the control system, so that the operator can determine that the mother wall-climbing robot 2 is in the correct working position, and can control the sub-video inspection robot 1 to move out of the mounting plate 45, and then carry out the video inspection work on the first support plate.

[0081] The frame mechanism 4 further comprises a limiting assembly for limiting the sub-video inspection robot 1;

[0082] 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;

[0083] The front end limiting boss 46 is installed on the upper surface of the mounting plate 45, the front end inclined surface 47 is formed in an eight-character shape on the two sides of the front end limiting boss 46, the front end inclined surface 47 directly contacts 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 limiting bosses 48 are installed on the mounting plate 45, and the rear end inclined surface 49 is formed in an inverted eight-character structure on the inner side of the two rear end limiting bosses 48, the rear end inclined surface 49 contacts the side of the vehicle frame 7, so as to ensure that the sub-video inspection robot 1 can be completely withdrawn into the mounting plate 45; the two rear end limiting bosses 48 are located above the synchronous belt 77, which provides lateral limiting for the sub-video inspection robot 1, preventing the sub-video inspection robot 1 from falling off the mounting plate 45.

[0084] In some embodiments, when the sub-video inspection robot 1 slightly deviates during the process of retreating to the mounting plate 45, the front end inclined surface structure directly contacts 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 contacts the side of the vehicle frame 7, ensuring that the sub-video inspection robot 1 can completely retreat into the mounting plate 45.

[0085] During the movement of the mother wall-climbing robot 2 carrying the sub-video wall-climbing robot 1 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 mounting plate 45, as shown in FIG. 6. Figure 3 .

[0086] The running mechanism 5 includes wheels 51, universal balls 52, and drive motors 53. The wheels 51 and the universal balls 52 are respectively installed on both sides of the shell 3, and the drive motors 53 are installed in the shell 3, and the output ends of the drive motors 53 are connected with the wheels 51.

[0087] Preferably, the mother wall-climbing robot 2 adopts multi-point support (two wheels 51 and two universal balls 52), which ensures that the mother wall-climbing robot 2 can walk straight during the process of walking on the adsorbed wall surface with a certain curvature, and does not interfere with other structures inside the steam generator.

[0088] Alternatively, the wheels 51 adopt polyurethane hubs, which are directly connected with the output ends of the drive motors 53 through screws and are fixed with the universal balls 52 on the shell 3, thereby realizing the basic movement of the mother wall-climbing robot 2 on the inner wall of the steam generator.

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

[0090] Specifically, the wheels 51 and the universal balls 52 are both provided in two, 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, and are installed in a diagonal structure on both sides. The two universal balls 52 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, and are also installed in a diagonal structure.

[0091] Furthermore, the left front end is installed with a wheel 51, and the left rear end is installed with a universal ball 52. The right rear end is installed with a wheel 51, and the right front end is installed with a universal ball 52.

[0092] The adsorption accessory 6 is a plurality of magnets, which are installed in a U-shaped structure on the shell 3. Alternatively, the adsorption accessory 6 is a vacuum adsorption accessory, which is adsorbed on the steam generator.

[0093] Preferably, the suction accessory 6 adopts high-performance magnets and adopts array permanent magnet suction technology, which is stable and reliable, and can avoid the robot falling in an emergency power failure.

[0094] And because the wall is a magnetic material, there are protruding obstacles such as welds, and for small curvature radius steam generator containment wall, the camber surface will cause negative pressure suction to have gaps, leading to leakage problems, so from the suction reliability, the permanent magnet suction mode is selected, and the optimal arrangement and suction distance are optimized to meet the actual requirements.

[0095] Alternatively, the suction accessory 6 can adopt a flexible vacuum chuck, which can be deformed, thereby avoiding negative pressure suction leakage.

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

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

[0098] Preferably, after the mother wall climbing robot 2 is powered on and receives the self-check reset instruction, the joint motor module 44 is turned on, the adapter plate 43 drives the mounting plate 45 to rotate, and the mounting plate 45 is stopped rotating in the vertical direction to complete the reset; when the child video inspection robot 1 is powered on, the embedded control module 8 circuit signal on-off judgment detects the functions of the lithium battery module 81, the endoscope module 73, the light source 74, the servo motor 78, and other electronic components.

[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 containment wall through the suction accessory 6.

[0100] Preferably, the mother wall climbing robot 2 carrying the child video inspection robot 1 is sent into the steam generator by the operator holding the hand hole provided on the side wall of the steam generator, and when the mother wall climbing robot 2 is stably adsorbed on the inner wall of the steam generator containment wall through the suction accessory 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, the mother wall climbing robot 2 climbs along the inner wall of the steam generator containment wall and exceeds the first support plate of the steam generator, and the mounting plate 45 is switched from the vertical state to the horizontal state.

[0102] Preferably, by driving the motor 53 to rotate forward, the wheels 51 on both sides are driven to rotate, so that the mother wall-climbing robot 2 moves upward along the inner wall of the steam generator coaming. When the mother wall-climbing robot 2 climbs over the first support plate by a safe distance, the joint motor module 44 drives the adapter plate 43 to rotate, so that the mounting plate 45 is switched from the vertical state to the horizontal state. Please refer to the accompanying drawings Figure 7 and the accompanying drawings Figure 8 .

[0103] In S3, if the mother wall-climbing robot 2 appears to be deflected to the left in the climbing state, the rotation speed of the right wheel 51 needs to be reduced; if the mother wall-climbing robot 2 appears to be deflected to the right 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 appears to be deflected to the left or right, the differential principle is used to make the vehicle body turn around in place, that is, in the upward climbing state, the right wheel 51 rotates faster, and then the mother wall-climbing robot 2 is deflected to the left; the left wheel 51 rotates faster, and then the mother wall-climbing robot 2 is deflected to the right.

[0105] Since the mother wall-climbing robot 2 is provided with one wheel 51 on each side, when the rotation speeds of the left and right wheels 51 are different, the mother wall-climbing robot 2 will be deflected to the side with the faster rotation speed, and the rotation speed difference between the two wheels 51 can also be used to adjust the direction and make a turn.

[0106] In S4, the mother wall-climbing robot 2 moves downward along the inner wall of the steam generator coaming, and the joint motor module 44 appears to have an increased current, so that it is determined that the sub-video inspection robot 1 is transported to the first support plate operation area.

[0107] In S4, when the mother wall-climbing robot 2 slightly contacts 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 operated by the operator, so that 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 coaming until the control system operated by the operator monitors that the joint motor module 44 appears to have a slight current increase, so that it is determined that the mother wall-climbing robot 2 transports the sub-video inspection robot 1 to the first support plate operation area.

[0109] Preferably, a telecommunication transmission device or a physical transmission button can also be installed at the position where the mother wall-climbing robot 2 contacts the first support plate. After the physical transmission button contacts the first support plate, the physical transmission button is dislocated, so that a signal is transmitted to the control system. Please refer to the accompanying drawings Figure 8 .

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

[0111] Preferably, the embedded control module 8 in the sub-video inspection robot 1 controls the servo motor 78 to rotate forward, the driving pulley 75 drives the driven pulley 76 to rotate through the synchronous belt 77, and the sub-video inspection robot 1 moves forward on the first support plate, during which the endoscope module 73 and the light source 74 work together to transmit the video signal of the heat pipe gallery to the control system operated by the operator through the Wifi module of the control module 8, please refer to the accompanying drawings. Figure 9 .

[0112] S6, when the video inspection work is completed, the sub-video inspection robot 1 moves to the mounting plate 45, and the mounting plate 45 is switched from the horizontal state to the vertical state.

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

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

[0115] Preferably, by starting the driving motor 53 to rotate reversely, the wheels 51 on both sides are driven, so that the mother wall-climbing robot 2 moves downward along the inner wall of the steam generator coaming to the hand hole of the steam generator, and the sub-video inspection robot 1 and the mother wall-climbing robot 2 are taken out from the inner wall of the steam generator coaming by the operator, and the whole work flow is completed.

[0116] When the mother wall-climbing robot 2 or the sub-video inspection robot 1 is powered off or cannot be controlled, the rope or cable arranged at the tail end of the robot is manually pulled, so that the emergency recovery work of the video inspection robot is completed.

[0117] The mother wall-climbing robot 2 and the sub-video inspection robot 1 have the beneficial effects that the video inspection robot of the application is a multifunctional and high-integrated inspection robot with mechanical and electrical control in the form of a mother-daughter robot combination, the whole robot can easily enter the inner wall of the steam generator coaming 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 coaming to the first support plate, then the sub-video inspection robot 1 performs video inspection work on the first support plate, can automatically complete the corresponding standard work flow, and solves the problem that the first support plate center pipe gallery of the steam generator cannot be inspected.

[0118] When the sub-video inspection robot 1 slightly contacts the first support plate, the joint motor module 44 current 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 control the sub-video inspection robot 1 to carry out video inspection work 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 mainly consists of a precision lifting module, a hand hole delivery module and a vehicle body bearing platform.

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

[0121] The lifting module frame is wrapped on the outermost side, and a blind groove is formed on the back side for wiring. The first lifting frame and the second lifting frame are sequentially nested and installed inside the lifting module frame. The first lifting frame and the inner wall of the lifting module frame are both installed with copper sheets to reduce the relative friction between the lifting frames. The spline shaft is vertically installed at the center of the lifting module frame and connected with the inner wall of the lifting module frame through a bearing seat. The lower end of the spline shaft is connected with the driving motor and the planetary reducer, and the upper end is installed with a manual emergency knob. The first lead screw and the second lead screw are trapezoidal ball screws with self-locking characteristics and are installed on both sides of the spline shaft. The lower end of the second lead screw is fixedly connected with the first lifting frame, and a synchronous pulley is coaxially installed on the second lead screw. The synchronous pulley is connected with the synchronous pulley of the spline shaft through a synchronous belt, and the screw nut of the second lead screw is fixedly connected with the bottom of the second lifting frame. The lower end of the first lead screw is connected with the lifting module frame through a bearing seat, and a synchronous pulley is coaxially installed on the upper end of the first lead screw. The synchronous pulley is connected with the synchronous pulley of the spline shaft through a synchronous belt, and the screw nut of the first lead screw is fixedly connected with the bottom of the second lifting frame.

[0122] When the inspection robot needs to be lifted, the driving motor drives the spline shaft to rotate at a constant speed through the planetary reducer, and the rotation speed is transmitted to the first lead screw and the second lead screw through the synchronous belt, so that the first lifting frame and the second lifting frame can be lifted synchronously under the driving of the single motor. During the entire lifting process, the running speed of the lifting module can be adjusted in real time through the speed control knob of the control panel. In case of emergency such as power failure or control hardware failure, 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 realize the emergency treatment of the auxiliary delivery device. By using the motor to drive the two-stage nested precision lifting module, the technical requirements for 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, a through hole is formed in the circumferential direction of the baffle, which is connected with the hand hole flange during inspection work, and is used for assisting the positioning and installation of the delivery device. After the precise lifting module is delivered, the circular baffle is pasted on the end face of the hand hole, and is fixed and connected by using a bolt. The outer side of the baffle is a rectangular hollow shell structure, the upper end face of which is provided with a level meter, which is used for ensuring the vertical installation of the precise lifting module; the inside of the shell structure can be wired, and a safety rope and a pull rope sensor are arranged; the other end of the safety rope is hung on the circular ring at the end of the hand hole delivery module through a convenient lock; before inspection work, the robot is placed on the vehicle body carrying platform, and the lock is hung on the end of the robot; the two sides of the inner side of the baffle are provided with guide baffles, and a right-angle guide groove is formed at the end of the baffle; when the precise lifting module is delivered, the guide pins installed on the two sides thereof slide along the guide groove, so that the precise lifting module can pass through the hand hole and be placed inside the coaming through the right-angle bend. When the guide pin slides to the end of the guide groove, the tension nut at the upper end of the plug pin can be manually tightened to prevent the lifting device from rotating around the guide pin, so as to fix the module.

[0124] The vehicle body carrying platform is installed on the upper part of the precise lifting module, and is mainly used for carrying the robot mobile body and lifting the robot mobile body to the first support plate. The vehicle body carrying platform is designed as a trapezoidal structure, and the two side support plates are hollowed out to realize light weight. The vehicle body carrying platform is wrapped with a rubber strip with a rounded corner to prevent wear and tear of the steam generator components. The bottom plate of the vehicle body carrying platform is provided with a fixed positioning boss, which is convenient for positioning when the robot is placed on the vehicle body carrying platform, and prevents the robot from falling during lifting.

[0125] It can be understood that the above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present application; it should be pointed out that for ordinary skilled persons in the art, the above technical features can be freely combined without departing from the concept of the present application, and a number of modifications and improvements can be made, which all belong to the protection scope of the present application; therefore, any equivalent transformation and modification within the scope of the claims of the present application shall belong to the scope of the claims of the present application.

Claims

1. A video inspection robot for a first support plate of a steam generator, characterized by, The utility model relates to a steam generator video inspection robot, which comprises a sub-video inspection robot (1) running on the first support plate of a steam generator and inspecting heat transfer pipes, and a mother wall-climbing robot (2) comprising a shell (3) having a frame mechanism (4) on one side thereof for carrying the sub-video inspection robot (1) and sending it to the first support plate of the steam generator, a running mechanism (5) installed on the shell (3) for climbing from the inner wall of the steam generator to the vicinity of the first support plate of the steam generator, and a suction device (6) installed on the shell (3) for being adsorbed on the inner wall of the steam generator. The frame mechanism (4) comprises an adapter plate (43), a joint motor module (44), and a carrying 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 rotates through the joint motor module (44), and the carrying plate (45) is installed on the adapter plate (43) and carries the sub-video inspection robot (1). When the mother wall-climbing robot (2) climbs along the inner wall of the steam generator to a safe distance above the first support plate, the carrying plate (45) is switched from a vertical state to a horizontal state, and then the mother wall-climbing robot (2) is operated to move downward along the inner wall of the steam generator. When the mother wall-climbing robot (2) slightly contacts 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 operated by the operator, so that the operator can determine that the bottom of the carrying plate (45) has contacted the upper surface of the first support plate of the steam generator.

2. The video inspection robot for a first support plate of a steam generator according to claim 1, wherein The sub-video inspection robot (1) comprises a vehicle frame (7) having at least one set of video inspection mechanism installed thereon, the video inspection mechanism comprising a fixed block (71), a module adjusting block (72), an endoscope module (73), and a light source (74). The fixed block (71) is installed on one side of the vehicle frame (7), the module adjusting block (72) is adjustably installed on the fixed block (71), the endoscope module (73) is installed on the module adjusting block (72), and the light source (74) is installed on one side of the fixed block (71).

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

4. The video inspection robot for a first support plate of a steam generator of claim 3, wherein, The frame mechanism (4) further comprises a limiting assembly for limiting 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 limiting boss (46) is installed on the upper surface of the mounting plate (45), the front end inclined surface (47) is in the shape of an eight-character and is formed on the two sides of the front end limiting 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) is passively adapted to a straight path; the two rear end limiting bosses (48) are installed on the mounting plate (45), the rear end inclined surface (49) is in the shape of an inverted eight-character and is formed on the inner sides of the two rear end limiting bosses (48), the rear end inclined surface (49) is in lateral contact with the vehicle frame (7), so 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) and provide lateral limiting for the sub-video inspection robot (1), so as to prevent the sub-video inspection robot (1) from falling off the mounting plate (45).

5. The video inspection robot for a first support plate of a steam generator of claim 1, wherein, The traveling mechanism (5) comprises a wheel (51), a universal ball (52) and a driving motor (53); The wheel (51) and the universal ball (52) are respectively installed on the two sides of the shell (3), and the driving motor (53) is installed in the shell (3) and connected with the wheel (51).

6. A video inspection robot for a first support plate of a steam generator as defined in claim 5, wherein The wheel (51) is provided with two, which are installed on the two sides of the shell (3) in a diagonal structure; The universal ball (52) is provided with two, which are installed on the two sides of the top of the shell (3) in a diagonal structure.

7. The video inspection robot for a first support plate of a steam generator of claim 1, wherein, The suction accessory (6) is a plurality of magnets, which are in a U-shaped structure and installed on the shell (3); Alternatively, the suction accessory (6) is a vacuum suction accessory and is adsorbed on a steam generator.

8. A method for video inspection of a first support plate of a steam generator, using a robot for video inspection of a first support plate of a steam generator according to any one of claims 1-7, characterized in that, The method comprises the following steps: S1, the mother wall climbing robot (2) is first self-checked and reset, and the sub-video inspection robot (1) is self-checked; S2, after the mother wall climbing robot (2) carries the sub-video inspection robot (1), it is sent into the steam generator and is stably adsorbed on the inner wall of the steam generator coaming by the suction accessory (6); S3, after the mother wall climbing robot (2) climbs along the inner wall of the steam generator coaming and exceeds the first support plate of the steam generator, the mounting plate (45) is switched 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 coaming, the joint motor module (44) appears current increase, and it is determined that the sub-video inspection robot (1) is transported to the first support plate working area; S5, the sub-video inspection robot (1) moves on the first support plate, and video inspection is performed on the heat transfer pipe gallery during the movement, and the video is transmitted to the control system; S6, when the video inspection operation is completed, the sub-video inspection robot (1) is moved to the mounting plate (45), and the mounting plate (45) is switched from the horizontal state to the vertical state; S7, then the mother wall-climbing robot (2) carries the sub-video inspection robot (1) to move out of the steam generator.

9. A method for video inspection of a first support plate of a steam generator according to claim 8, characterized in that, In the S3, if the mother wall-climbing robot (2) appears to deflect 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) appears to deflect to the right side in the climbing state, the rotation speed of the left wheel (51) needs to be reduced.

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