Scanning device for detecting inner wall of pipeline of nuclear power plant

Abstract

The invention discloses a scanning device for detecting the inner wall of a nuclear power plant pipeline. The scanning device comprises at least two walking mechanisms, a supporting mechanism, an adjusting mechanism and a detecting mechanism. The walking mechanism abuts against the inner wall of the nuclear power plant pipeline and can move in the axial direction of the inner wall of the nuclear power plant pipeline. The supporting mechanism is connected to the walking mechanism, and the adjusting mechanism is connected to the supporting mechanism and used for adjusting the moving outer diameter of the walking mechanism. The detection mechanism is connected to the supporting mechanism and used for detecting the nuclear power plant pipeline. According to the scanning device for nuclear power plant pipeline inner wall detection, the moving outer diameter of the walking mechanism is adjusted through the adjusting mechanism, the detection requirements of different pipe diameters of the existing nuclear power plant pipeline inner wall can be met, self-adaptive adjustment can be achieved according to different nuclear power plant pipeline sizes, the application range is expanded, and adaptability is enhanced; and detection mechanisms commonly used in various nuclear power plants can be carried, and the detection mechanisms can comprehensively scan and detect the inner walls of the pipelines of the nuclear power plants.

Description

Technical Field

[0001] The invention relates to the field of nuclear power plant pipeline scanning and detection, and in particular to a scanning device for detecting the inner wall of a nuclear power plant pipeline. Background Art

[0002] In the nuclear power industry, cases of pipeline failure due to pipeline corrosion are common, so pipeline corrosion and prevention have always been an industrial issue. With the development of corrosion detection technology, auxiliary detection methods to improve detection efficiency, such as scanners and industrial intelligent scanning devices, have become an important way to improve detection speed and quality.

[0003] The visual inspection methods and internal inspection methods currently used by nuclear power plants for pipelines cannot detect internal corrosion of pipelines in a timely and comprehensive manner. Generally, the integrity of the inside of the pipeline can only be checked during overhaul. At present, nuclear power plants have carried out various robot application projects, including robot pipeline spraying and polishing. However, for internal corrosion detection and recording, the entire plant has not carried out corresponding work, especially for sewage pipe systems and fire water systems where corrosion is frequent. At the same time, the complexity and high risk of nuclear power plant pipeline detection have put forward high requirements for detection equipment, including reliability and safety in extreme environments such as high radiation, high temperature, and high pressure, high precision and sensitivity in detecting tiny cracks and corrosion, and versatility and adaptability to different pipe diameters, bending degrees, and materials. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a scanning device for detecting the inner wall of a nuclear power plant pipeline.

[0005] The technical solution adopted by the present invention to solve the technical problem is: constructing a scanning device for detecting the inner wall of a nuclear power plant pipeline, which includes at least two walking mechanisms, a supporting mechanism, an adjusting mechanism and a detecting mechanism; The walking mechanism abuts against the inner wall of the nuclear power plant pipeline and can move along the axial direction of the inner wall of the nuclear power plant pipeline; The supporting mechanism is connected to the traveling mechanism, the adjusting mechanism is connected to the supporting mechanism, and the adjusting mechanism is used to adjust the moving outer diameter of the traveling mechanism; The detection mechanism is connected to the support mechanism and is used to detect the pipeline of the nuclear power plant; The support mechanism comprises a base, at least one first connecting rod device and at least one second connecting rod device, and the adjustment mechanism comprises a movable slider; The two ends of the first connecting rod device are respectively connected to the base and the walking mechanism, and the two ends of the second connecting rod device are respectively connected to the moving slider and the walking mechanism; The walking mechanism comprises a walking body and a walking belt connected to the walking body, the walking body is hingedly connected to the first connecting rod device and the second connecting rod device, and the walking belt is used to abut against the inner wall of the nuclear power plant pipeline; The walking belt is provided with a magnetic piece.

[0006] In some embodiments, the number of the first link devices is two, the two first link devices are arranged in parallel, each of the first link devices includes a plurality of first link assemblies, the plurality of first link assemblies are evenly arranged along the circumferential direction of the base, each of the first link assemblies includes two first link bodies, and each of the first link bodies is hinged to the base; The number of the second connecting rod device is one, the second connecting rod device comprises a plurality of second connecting rod assemblies, the plurality of second connecting rod assemblies are evenly arranged along the circumferential direction of the base body, each of the second connecting rod assemblies comprises two second connecting rod bodies, and each of the second connecting rod bodies is hinged to the moving slider; In some embodiments, the number of the walking mechanisms is three, and the three walking mechanisms are evenly arranged along the circumferential direction of the base.

[0007] In some embodiments, the adjustment mechanism includes a positioning member, an elastic member, and a guide rod; The positioning member, the elastic member, the guide rod, the movable slider, and the base are coaxially arranged; The positioning member is mounted on the movable slider through a fastener, and the guide rod passes through the positioning member and is connected to the base; The first end of the elastic member is connected to the mounting end of the guide rod; the second end of the elastic member is connected to the positioning member.

[0008] In some embodiments, a locking hole is provided on the movable slider.

[0009] In some embodiments, the detection mechanism includes a detection mounting seat and a detection device connected to the detection mounting seat; The detection mounting seat is connected to an end of the base body away from the moving slider.

[0010] In some embodiments, the detection device includes a sensor, a camera, and an action detection component.

[0011] The implementation of the present invention has the following beneficial effects: the scanning device for detecting the inner wall of a nuclear power plant pipeline is used to adjust the moving outer diameter of the traveling mechanism through an adjusting mechanism, which can meet the existing nuclear power plant pipeline inner wall detection requirements of different pipe diameters, can be adaptively adjusted according to different nuclear power plant pipeline sizes, expand the application range, enhance adaptability, and can carry various types of detection mechanisms commonly used in nuclear power plants. In addition, the traveling mechanism is abutted against the inner wall of the nuclear power plant pipeline and can move along the axial direction of the nuclear power plant pipeline, so that the detection mechanism can comprehensively scan and detect the inner wall of the nuclear power plant pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1 It is a schematic diagram of the overall structure of a scanning device for detecting the inner wall of a nuclear power plant pipeline in some embodiments of the present invention; Figure 2 It is a schematic diagram of the component structure breakdown of a scanning device for detecting the inner wall of a nuclear power plant pipeline in some embodiments of the present invention. DETAILED DESCRIPTION

[0013] 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.

[0014] 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.

[0015] See also Figure 1 and Figure 2 , is a scanning device for detecting the inner wall of a nuclear power plant pipeline in some embodiments of the present invention, which includes at least two walking mechanisms 1, a supporting mechanism 2, an adjusting mechanism 3 and a detecting mechanism 4. The walking mechanism 1 abuts against the inner wall of the nuclear power plant pipeline and can move along the axial direction of the inner wall of the nuclear power plant pipeline; the supporting mechanism 2 is connected to the walking mechanism 1, and the adjusting mechanism 3 is connected to the supporting mechanism 2, and the adjusting mechanism 3 is used to adjust the moving outer diameter of the walking mechanism 1; the detecting mechanism 4 is connected to the supporting mechanism 2 and is used to detect the nuclear power plant pipeline. Among them, the moving outer diameter of the walking mechanism 1 is the maximum outer diameter formed by the walking mechanism 1.

[0016] It can be understood that the scanning device for detecting the inner wall of the nuclear power plant pipeline is used to adjust the moving outer diameter of the walking mechanism 1 through the adjustment mechanism 3, which can meet the existing nuclear power plant pipeline inner wall detection requirements of different pipe diameters, and can be adaptively adjusted according to the different nuclear power plant pipeline sizes, expand the application range, enhance adaptability, and can carry various types of nuclear power plant commonly used detection mechanisms 4. In addition, the walking mechanism 1 is abutted against the inner wall of the nuclear power plant pipeline and can move along the axial direction of the nuclear power plant pipeline, so that the detection mechanism 4 can comprehensively scan and detect the inner wall of the nuclear power plant pipeline.

[0017] The support mechanism 2 includes a base 21, at least one first link device 22 and at least one second link device 23, and the adjustment mechanism 3 includes a moving slider 31. The two ends of the first link device 22 are respectively connected to the base 21 and the walking mechanism 1, and the two ends of the second link device 23 are respectively connected to the moving slider 31 and the walking mechanism 1. Specifically, there are two first link devices 22, and the two first link devices 22 are arranged in parallel. Each first link device 22 includes a plurality of first link assemblies, and the plurality of first link assemblies are evenly arranged along the circumferential direction of the base 21. Each first link assembly includes two first link bodies 221, and each first link body 221 is hinged to the base 21. There is one second link device 23, and the second link device 23 includes a plurality of second link assemblies, and the plurality of second link assemblies are evenly arranged along the circumferential direction of the base 21. Each second link assembly includes two second link bodies 231, and each second link body 231 is hinged to the moving slider 31. The inclination angle between the first connecting rod body 221 and the base 21 is consistent with the inclination angle between the second connecting rod body 231 and the base 21. The larger the inclination angle, the larger the moving outer diameter of the walking mechanism 1. The opening angle between the first connecting rod body 221 and the second connecting rod body 231 increases or decreases according to the size of the inner wall of the nuclear power plant pipeline, so that the scanning device can be applied to nuclear power plant pipelines of different sizes, increasing its versatility.

[0018] The walking mechanism 1 includes a walking body 11 and a walking belt 12 connected to the walking body 11. The walking body 11 is hingedly connected to the first connecting rod device 22 and the second connecting rod device 23. The walking belt 12 is used to abut against the inner wall of the nuclear power plant pipeline. In this embodiment, the number of the walking mechanisms 1 is three, and the three walking mechanisms 1 are evenly arranged along the circumferential direction of the base 21, which can increase the stability of the scanning device, better fit the inner wall of the nuclear power plant pipeline, and ensure that the detection mechanism 4 runs stably on the inner wall of the nuclear power plant pipeline. The walking belt 12 is preferably a crawler.

[0019] In addition, a travel drive motor is provided in the travel body 11, and the travel drive motor is used to drive the travel belt 12 to move, providing driving force for the scanning device to move along the inner wall of the pipeline, so that the scanning device can move along the axial direction of the inner wall of the nuclear power plant pipeline.

[0020] Furthermore, a magnetic part is provided on the walking belt 12. It can be understood that the walking belt 12 can be abutted against the inner wall of the nuclear power plant pipeline by pressure or magnetic attraction and can move along the axial direction of the nuclear power plant pipeline. This helps to improve the inner wall adsorption force of the scanning device, and at the same time increases the mobility of the scanning device on the inner wall of the nuclear power plant pipeline, so that scanning operations at high places can be realized.

[0021] The adjustment mechanism 3 includes a positioning member 32, an elastic member 33 and a guide rod 34. The positioning member 32, the elastic member 33, the guide rod 34, the movable slider 31 and the base 21 are coaxially arranged; the positioning member 32 is installed on the movable slider 31 through a fastener, the guide rod 34 is passed through the positioning member 32 and connected to the base 21; the first end of the elastic member 33 is connected to the mounting end of the guide rod 34; the second end of the elastic member 33 is connected to the positioning member 32. Specifically, the positioning member 32 is a positioning bearing, the positioning member 32 provides support and guidance for the guide rod 34, the guide rod 34 is passed through the positioning member 32 and is threadedly connected to the base 21, the fastener can be a bolt, and the elastic member 33 can be a spring. The initial distance between the moving slider 31 and the base 21 can be adjusted by twisting the guide rod 34, thereby adjusting the initial moving outer diameter of the walking mechanism 1. When the scanning device enters the pipeline for operation, due to the tension of the elastic member 33, the opening angles of the first connecting rod body 221 and the second connecting rod body 231 can be automatically adjusted according to the inner wall size of the nuclear power plant pipeline, ensuring that the walking belt 12 abuts against the inner wall of the nuclear power plant pipeline, increasing its self-adjustment ability in the nuclear power plant pipeline, and can adapt to more nuclear power plant pipelines with different outer diameters through variable diameter pipelines. The coaxial arrangement between the positioning member 32, the elastic member 33, the guide rod 34, the moving slider 31, and the base 21 ensures the operating stability of the scanning device.

[0022] More specifically, since the guide rod 34 is inserted through the positioning member 32 and is threadedly connected to the base 21, and the positioning member 32 is installed on the moving slider 31 through a fastener, the force of the elastic member 33 in the initial state is constant, and the initial distance between the moving slider 31 and the base 21 is adjusted by twisting the guide rod 34, so that the distance between the moving slider 31 and the base 21 increases or decreases. When the distance between the moving slider 31 and the base 21 increases, the initial moving outer diameter of the traveling mechanism 1 decreases, and when the distance between the moving slider 31 and the base 21 decreases, the initial moving outer diameter of the traveling mechanism 1 increases, and can be adjusted according to the size of the pipeline. During the initial adjustment, the initial moving outer diameter of the walking mechanism 1 can be adjusted to a size slightly larger than the maximum size of the pipeline. At this time, when the scanning device is placed as a whole on the inner wall of the pipeline for operation, due to the elastic tension of the elastic member 33, there is always a tendency for the distance between the moving slider 31 and the base 21 to decrease. At this time, the first connecting rod body 221 and the second connecting rod body 231 have different opening angles relative to the base 21 in pipelines of different sizes. The first connecting rod body 221 and the second connecting rod body 231 always have a tendency to increase their opening angles relative to the base 21, so that the moving outer diameter of the walking mechanism 1 always has a tendency to increase, so as to ensure that the walking belt 12 abuts against the inner wall of the nuclear power plant pipeline. That is, through the setting of the adjustment mechanism 3, the scanning device can adapt to more nuclear power plant pipelines of different outer diameters through the variable diameter pipeline.

[0023] The movable slider 31 is provided with a locking hole 311, on which a screw can be installed to fix the position between the movable slider 31 and the guide rod 34, and also lock the moving outer diameter of the walking mechanism 1. According to the actual application, the elastic member 33 can be used for automatic adjustment or the locking hole 311 can be used for manual adjustment by installing a screw.

[0024] The detection mechanism 4 includes a detection mounting seat 41 and a detection device connected to the detection mounting seat 41. The detection mounting seat 41 is connected to an end of the base 21 away from the movable slider 31. The detection device includes a sensor, a camera and an action detection component. For example, the detection device can use the action detection component to detect defects such as micro cracks and corrosion degree on the inner wall of the nuclear power plant pipeline, and can also use sensors to detect the temperature, pressure and radiation of the inner wall of the nuclear power plant pipeline, and can also use a camera to take pictures of the inner wall of the nuclear power plant pipeline.

[0025] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, 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 scope covered by the claims of the present invention.

Claims

1. A scanning device for detecting the inner wall of a nuclear power plant pipeline, characterized in that: It comprises at least two walking mechanisms (1), a supporting mechanism (2), an adjusting mechanism (3) and a detecting mechanism (4); The walking mechanism (1) abuts against the inner wall of a nuclear power plant pipeline and can move along the axial direction of the inner wall of the nuclear power plant pipeline; The supporting mechanism (2) is connected to the walking mechanism (1), the adjusting mechanism (3) is connected to the supporting mechanism (2), and the adjusting mechanism (3) is used to adjust the moving outer diameter of the walking mechanism (1); The detection mechanism (4) is connected to the support mechanism (2) and is used to detect the pipeline of the nuclear power plant; The support mechanism (2) comprises a base (21), at least one first connecting rod device (22) and at least one second connecting rod device (23); the adjustment mechanism (3) comprises a movable slider (31); The two ends of the first connecting rod device (22) are respectively connected to the base (21) and the walking mechanism (1), and the two ends of the second connecting rod device (23) are respectively connected to the moving slider (31) and the walking mechanism (1); The walking mechanism (1) comprises a walking body (11) and a walking belt (12) connected to the walking body (11); the walking body (11) is hingedly connected to the first connecting rod device (22) and the second connecting rod device (23); the walking belt (12) is used to abut against the inner wall of the nuclear power plant pipeline; The walking belt (12) is provided with a magnetic piece.

2. The scanning device for detecting the inner wall of a nuclear power plant pipeline according to claim 1, characterized in that: The number of the first connecting rod devices (22) is two, the two first connecting rod devices (22) are arranged in parallel, each of the first connecting rod devices (22) comprises a plurality of first connecting rod assemblies, the plurality of first connecting rod assemblies are evenly arranged along the circumferential direction of the base (21), each of the first connecting rod assemblies comprises two first connecting rod bodies (221), and each of the first connecting rod bodies (221) is hinged to the base (21); The number of the second connecting rod device (23) is one, and the second connecting rod device (23) comprises a plurality of second connecting rod assemblies, the plurality of second connecting rod assemblies are evenly arranged along the circumferential direction of the base body (21), each of the second connecting rod assemblies comprises two second connecting rod bodies (231), and each of the second connecting rod bodies (231) is hinged to the movable slider (31).

3. The scanning device for detecting the inner wall of a nuclear power plant pipeline according to claim 1, characterized in that: The number of the running mechanisms (1) is three, and the three running mechanisms (1) are evenly arranged along the circumferential direction of the base body (21).

4. The scanning device for detecting the inner wall of a nuclear power plant pipeline according to claim 1, characterized in that: The adjustment mechanism (3) comprises a positioning member (32), an elastic member (33) and a guide rod (34); The positioning member (32), the elastic member (33), the guide rod (34), the movable slider (31), and the base (21) are coaxially arranged; The positioning member (32) is mounted on the movable slider (31) via a fastener, and the guide rod (34) passes through the positioning member (32) and is connected to the base (21); The first end of the elastic member (33) is connected to the mounting end of the guide rod (34); and the second end of the elastic member (33) is connected to the positioning member (32).

5. The scanning device for detecting the inner wall of a nuclear power plant pipeline according to claim 4, characterized in that: The movable slider (31) is provided with a locking hole (311).

6. The scanning device for detecting the inner wall of a nuclear power plant pipeline according to claim 4, characterized in that: The detection mechanism (4) comprises a detection mounting seat (41) and a detection device connected to the detection mounting seat (41); The detection mounting seat (41) is connected to an end of the base body (21) away from the movable slider (31).

7. The scanning device for detecting the inner wall of a nuclear power plant pipeline according to claim 6, characterized in that: The detection device includes a sensor, a camera and an action detection component.

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