Vertical pipe fitting inspection equipment with laser navigation AGV as platform and inspection system

Abstract

The invention provides a vertical pipe fitting inspection device and inspection system with a laser navigation AGV as a platform, the vertical pipe fitting inspection device comprises a laser navigation automatic guide vehicle, a scanner position adjusting mechanism and a scanner, the laser navigation automatic guide vehicle is used as a carrying mobile platform and is used for carrying the scanner position adjusting mechanism and the scanner; the scanner position adjusting mechanism is fixedly connected to the upper part of the laser navigation automatic guide vehicle and is used for adjusting the position of the scanner; the scanner is arranged at the top of the scanner position adjusting mechanism, and a probe is arranged at the end of the scanner. The inspection equipment and the inspection system have the advantages that the automation of pipe displacement in the detection operation is realized, the loading capacity is higher, too much height space is not occupied, enough length margin is reserved for a scanner, and complicated pre-construction installation and post-construction finishing work are not needed.

Description

Technical Field

[0001] The present invention relates to the technical field of nondestructive testing of nuclear power plants, and in particular to a vertical pipe inspection device and an inspection system using a laser navigation AGV as a platform. Background Art

[0002] The reactor pressure vessel cover is an important primary nuclear component of a nuclear power plant. Its manufacturing and processing quality is directly related to the safety and life of the nuclear power plant. According to the US ASME specification and the French RSEM specification as well as my country's nuclear safety guidelines, it has been clearly required to conduct pre-service and in-service inspections on this equipment. During the in-service inspection period, the workplace has a large amount of radiation that is harmful to the human body, so the cover inspection equipment uses remotely controlled automated equipment.

[0003] The inspection equipment for reactor pressure vessel top cover vertical CRDM and other pipe fittings currently used in the industry mainly uses a combination of a linear track trolley and a robotic arm as the scanner mounting platform; there are also a few devices that use a QR code navigation trolley as the platform.

[0004] Since the vertical CRDM pipe opening to be tested above the reactor pressure vessel top cover is limited to the ground distance of the working area below, the height of the top cover inspection equipment platform determines the overall length of the scanning equipment carried - and the length of the scanning equipment determines the operating height to which the lifting mechanism such as the scanner lead screw can deliver the scanning probe. Therefore, the lower the platform height of the inspection equipment, the longer the length of the scanner can be, which is more beneficial to the accessibility of the scanning inspection position.

[0005] Secondly, the load capacity of the carrying platform also determines the number of probes and other accessories that the scanning equipment can load, as well as the reliability and safety of the scanning operation.

[0006] In addition, in the inspection of the reactor pressure vessel top cover in service, since the inspection equipment and multiple nuclear industry-grade cameras and other high-value equipment accompanying the operation are in a strong radiation environment, the duration of the operation has a significant impact on the life of the equipment. Therefore, if the operation efficiency can be improved and the operation period can be shortened, the equipment cost of the inspection operation can be greatly reduced.

[0007] Looking at the top cover inspection equipment of various types of platforms adopted in the current industry, the earlier and more widely used equipment is the one that combines a linear track trolley and a robotic arm as the carrying platform - it remotely observes through several cameras arranged on the ground of the operation site and the robotic arm to control the robotic arm, so that the scanner loaded on the robotic arm performs remote video centering on the pipe orifice to be measured. Its defects are that the pipe alignment efficiency depends on the experience and skills of the operator, the labor intensity is relatively high, the degree of automation is low, and the time consumption is relatively long; moreover, the load of the robotic arm is relatively limited, there are many restrictions on the carried scanner, and when there is a collision during the pipe alignment process, it is easy to lose power due to instantaneous overload, posing a safety hazard; in addition, the stacked structure of the trolley plus the robotic arm on the track makes it difficult to compress the height of the equipment platform, greatly limiting the length of the carried scanner.

[0008] For individual QR code navigation trolley platforms, although they have achieved some automation in the pipe alignment process during the inspection operation, and the trolley platform also has a relatively large load capacity compared to the robotic arm, they need to lay QR code plates and other work on the working site before the operation, and the laying conditions will also have a certain impact on the navigation accuracy and the levelness of the trolley platform, increasing the workload of construction, sorting, etc. before and after the inspection operation, and occupying a certain height space.

[0009] In view of the above situation, the inventor of the present application has designed a vertical pipe fitting inspection device and inspection system with a laser navigation AGV as the platform, in order to overcome the above technical problems. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to overcome the defects that the equipment with a linear track trolley and a robotic arm combined as the carrying platform in the prior art has a pipe alignment efficiency that depends on the experience and skills of the operator, a relatively high labor intensity, a low degree of automation, and a relatively long time consumption, and to provide a vertical pipe fitting inspection device and inspection system with a laser navigation AGV as the platform.

[0011] The present invention solves the above technical problems through the following technical solutions:

[0012] The present invention provides a vertical pipe fitting inspection device with a laser navigation AGV as the platform, which is characterized in that the vertical pipe fitting inspection device includes a laser navigation automatic guided vehicle, a scanner position adjustment mechanism, and a scanner. The laser navigation automatic guided vehicle serves as a carrier mobile platform for carrying the scanner position adjustment mechanism and the scanner; the scanner position adjustment mechanism is fixedly connected to the upper part of the laser navigation automatic guided vehicle and is used to adjust the position of the scanner; the scanner is arranged on the top of the scanner position adjustment mechanism, and the end of the scanner has a probe.

[0013] According to an embodiment of the present invention, the laser navigation automatic guided vehicle has omnidirectional rollers, and laser ranging radars are arranged at the front and rear of the laser navigation automatic guided vehicle.

[0014] According to an embodiment of the present invention, the scanner position adjustment mechanism includes an XY-direction displacement fine adjustment mechanism, a rotation and pitch drive mechanism, and a scanner vertical lifting mechanism. The XY-direction displacement fine adjustment mechanism is fixed to the upper part of the laser navigation automatic guided vehicle and is used for finely adjusting the horizontal position of the probe at the end of the scanner so that the position of the probe is accurately centered with the pipe orifice of the vertical pipe to be measured. The rotation and pitch drive mechanism is connected to the XY-direction displacement fine adjustment mechanism and can realize the conversion of the horizontal and vertical postures of the carried scanner. The scanner vertical lifting mechanism is connected to the rotation and pitch drive mechanism and is used for adjusting the position of the scanner in the vertical direction.

[0015] According to an embodiment of the present invention, the XY-direction displacement fine adjustment mechanism includes an X-axis linear driver and a Y-axis linear driver. The X-axis linear driver includes an X-axis guide rail and an X-axis slider. The X-axis guide rail is arranged on the upper part of the laser navigation automatic guided vehicle, and the X-axis slider is movably connected to the X-axis guide rail so that the X-axis slider can slide on the X-axis guide rail. The Y-axis linear driver includes a Y-axis guide rail and a Y-axis slider. The Y-axis guide rail is arranged on the upper part of the X-axis slider, and the Y-axis slider is movably connected to the Y-axis guide rail so that the Y-axis slider can slide on the Y-axis guide rail.

[0016] According to an embodiment of the present invention, the rotation and pitch drive mechanism includes a rotation driver and a rotation bracket. The bottom of the rotation bracket is connected to the Y-axis slider of the Y-axis linear driver, and the rotation axis of the rotation bracket is connected to the scanner vertical lifting mechanism. The rotation driver is arranged on the rotation bracket and drives the scanner vertical lifting mechanism to rotate to realize the conversion of the horizontal and vertical postures of the scanner.

[0017] According to an embodiment of the present invention, the scanner vertical lifting mechanism includes a lifting driver and a lifting mechanism. The bottom of the lifting mechanism is connected to the rotation axis of the rotation bracket, and the top of the lifting mechanism is provided with the scanner. The lifting driver is arranged on the lifting mechanism and drives the lifting mechanism to lift and lower to adjust the position of the scanner in the vertical direction.

[0018] According to an embodiment of the present invention, a horizontal sensor is arranged at the bottom of the scanner vertical lifting mechanism to ensure the perpendicularity when the scanner performs centering operation on the vertical pipe to be measured.

[0019] According to an embodiment of the present invention, the scanner is an ultrasonic scanner, and a pipe orifice centering camera is carried on the scanner.

[0020] According to an embodiment of the present invention, the vertical pipe fitting inspection device further includes a cable floor drag chain to protect the cable when the laser navigation automatic guided vehicle moves.

[0021] The present invention also provides a vertical pipe fitting inspection system based on a laser navigation AGV. The vertical pipe fitting inspection system is characterized in that it includes the vertical pipe fitting inspection device based on a laser navigation AGV as described above and a laser target, and the laser target is arranged within the shielding circle of the reactor pressure vessel.

[0022] The positive and progressive effects of the present invention are as follows:

[0023] The vertical pipe fitting inspection device and inspection system based on a laser navigation AGV of the present invention have at least the following advantages:

[0024] First, it realizes the automation of pipe movement during the vertical pipe fitting inspection operation on the top cover of the reactor pressure vessel, thereby reducing the labor intensity of the pipe operation operators and improving the operation efficiency.

[0025] Second, the present invention enables the platform to have a strong load capacity, thereby improving the reliability and safety of the equipment.

[0026] Third, it does not occupy too much height space, leaving enough length margin for the scanner, thereby enhancing the applicability of the mounted scanning equipment and facilitating installation and arrangement. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above-mentioned and other features, properties and advantages of the present invention will become more obvious through the following description in conjunction with the drawings and embodiments. In the drawings, the same reference numerals always represent the same features, where:

[0028] Figure 1 is a schematic layout diagram of the vertical pipe fitting inspection device based on a laser navigation AGV of the present invention within the shielding circle.

[0029] Figure 2A is a three-dimensional schematic diagram of the overall structure of the vertical pipe fitting inspection device based on a laser navigation AGV of the present invention after mounting the scanner.

[0030] Figure 2B is a three-dimensional schematic diagram of the structure of the vertical pipe fitting inspection device based on a laser navigation AGV of the present invention without mounting the scanner.

[0031] Figure 3 is a schematic diagram of the mounting of the horizontal sensor of the vertical pipe fitting inspection device based on a laser navigation AGV of the present invention..

[0032] Figure 4It is a schematic diagram of the positioning principle of the laser navigation automatic guided vehicle in the vertical pipe fitting inspection system with the laser navigation AGV as the platform in the present invention.

[0033] Figure 5 It is a schematic diagram of the scanning operation of the vertical pipe fitting inspection equipment with the laser navigation AGV as the platform in the present invention.

[0034] Figure 6 It is a schematic diagram before the scanner of the vertical pipe fitting inspection equipment with the laser navigation AGV as the platform exits the shielding ring door.

[0035] Figure 7 It is a schematic diagram after the scanner of the vertical pipe fitting inspection equipment with the laser navigation AGV as the platform exits the shielding ring door.

[0036]

Reference Signs

[0037] Laser navigation automatic guided vehicle 100

[0038] Laser ranging radar 110

[0039] Omnidirectional roller 120

[0040] Scanner position adjustment mechanism 200

[0041] XY-direction displacement fine adjustment mechanism 210

[0042] X-axis linear drive 211

[0043] X-axis guide rail 212

[0044] X-axis slider 213

[0045] Y-axis linear drive 214

[0046] Y-axis guide rail 215

[0047] Y-axis slider 216

[0048] Rotation and pitch drive mechanism 220

[0049] Rotation drive 221

[0050] Rotation bracket 222

[0051] Scanner vertical lifting mechanism 230

[0052] Lifting drive 231

[0053] Lifting mechanism 232

[0054] Scanner vertical mounting interface 233

[0055] Horizontal sensor 234

[0056] Scanner 300

[0057] Cable floor drag chain 400

[0058] Laser target 500

[0059] Vertical pipe fitting to be measured 600

[0060] Reactor pressure vessel top head 700

[0061] Shielding ring 800

[0062] Shielding ring door 810 Detailed implementation manners

[0063] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention will be given in conjunction with the accompanying drawings.

[0064] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Preferred embodiments of the present invention will now be described in detail, and examples thereof are shown in the accompanying drawings. In all possible cases, the same reference numerals will be used throughout the drawings to represent the same or similar parts. In addition, although the terms used in the present invention are selected from well-known and commonly used terms, some of the terms mentioned in the specification of the present invention may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts of the description herein. In addition, it is required to understand the present invention not only through the actual terms used, but also through the meaning implied by each term.

[0065] As Figures 1 to 7 shown, the present invention provides a vertical pipe fitting inspection device based on a laser navigation AGV platform. The vertical pipe fitting inspection device includes a laser navigation automatic guided vehicle 100 (i.e., laser navigation AGV), a scanner position adjustment mechanism 200 and a scanner 300.

[0066] The laser navigation automatic guided vehicle 100 (i.e., laser navigation AGV) serves as a carrier mobile platform for carrying the scanner position adjustment mechanism 200 and the scanner 300.

[0067] The scanner position adjustment mechanism 200 is fixedly connected to the upper part of the laser navigation automatic guided vehicle 100 (i.e., laser navigation AGV) and is used to adjust the position of the scanner 300.

[0068] The scanner 300 is arranged on the top of the scanner position adjustment mechanism 200, and the end of the scanner 300 has a probe.

[0069] Automated Guided Vehicle (AGV for short), the laser navigation automated guided vehicle 100 can move automatically according to the programming made in advance according to the inspection operation regulations, and reach the approximate directly below of the vertical pipe fitting 600 to be measured on the reactor pressure vessel head cover 700. Next, the probe at the end of the scanner 300 carried by the scanner position adjustment mechanism 200 is accurately centered with the pipe orifice to be measured. The fine adjustment of the accurate centering position is realized by the movement of the scanner position adjustment mechanism 200 in the X and Y axis directions.

[0070] The laser navigation automated guided vehicle 100 is the lowermost transport and moving platform, and the probe at the end of the scanner 300 is used for the inspection operation of the vertical pipe fitting. The scanner 300 is preferably a non-destructive testing device such as an ultrasonic scanner or an eddy current scanner.

[0071] The vertical pipe fitting inspection device with a laser navigation AGV as the platform of the present invention realizes the automation of the pipe movement in the inspection operation of the vertical pipe fitting on the reactor pressure vessel head cover 700, thereby reducing the labor intensity of the pipe operation operators and improving the operation efficiency. The vertical pipe fitting inspection device of the present invention has a strong load capacity, improving the reliability and safety of the device; the present invention does not occupy too much height space, leaving enough length margin for the scanner 300, thereby enhancing the applicability of the carried scanning device and other purposes, and being convenient for installation and arrangement.

[0072] As Figure 2B and Figure 3 shown, as a preferred embodiment of the vertical pipe fitting inspection device with a laser navigation AGV as the platform of the present invention, the laser navigation automated guided vehicle 100 has omnidirectional rollers 120, and laser ranging radars 110 are arranged at the front and rear of the laser navigation automated guided vehicle 100.

[0073] Since the omnidirectional rollers 120 can roll in any direction, the omnidirectional movement of the laser navigation automated guided vehicle 100 can be realized, greatly improving the flexibility of the vertical pipe fitting inspection device with the laser navigation automated guided vehicle 100 as the platform of the present invention.

[0074] The laser ranging radar 110 locates the position of the laser navigation automated guided vehicle 100 in the environment by emitting and receiving laser beams, so that the laser navigation automated guided vehicle 100 can accurately move below the vertical pipe fitting 600 to be measured.

[0075] As Figure 2A and Figure 2B shown, as a preferred embodiment of the vertical pipe fitting inspection device with a laser navigation AGV as the platform of the present invention, the scanner position adjustment mechanism 200 includes an XY-direction displacement fine adjustment mechanism 210, a rotary pitching drive mechanism 220, and a scanner vertical lifting mechanism 230.

[0076] The XY-direction displacement fine-tuning mechanism 210 is fixed to the upper part of the laser navigation automatic guided vehicle 100 and is used to finely adjust the horizontal position of the probe at the end of the scanner 300, so that the position of the probe is accurately centered with the pipe orifice of the vertical pipe fitting 600 to be measured.

[0077] The rotation and pitching drive mechanism 220 is connected to the XY-direction displacement fine-tuning mechanism 210 and can realize the conversion of the horizontal and vertical postures of the carried scanner 300.

[0078] The scanner vertical lifting mechanism 230 is connected to the rotation and pitching drive mechanism 220 and is used to adjust the position of the scanner 300 in the vertical direction.

[0079] Preferably, the upper part of the laser navigation automatic guided vehicle 100 is fixedly connected with the scanner position adjustment mechanism 200 by bolts. The scanner position adjustment mechanism 200 is an integral device and can be divided into an XY-direction displacement fine-tuning mechanism 210, a rotation and pitching drive mechanism 220, and a scanner vertical lifting mechanism 230 according to functions.

[0080] Preferably, the scanner 300 is connected to the scanner vertical lifting mechanism 230 through a dovetail groove interface mechanism. Figure 2B The shown scanner vertical mounting interface 233 is a dovetail groove interface mechanism for connecting and mounting the scanner 300; after the scanner 300 is mounted, it is in the Figure 2A shown state.

[0081] As Figure 2A 、 Figure 2B and Figure 3 shown, as a preferred embodiment of the vertical pipe fitting inspection device of the present invention with a laser navigation AGV as the platform, the XY-direction displacement fine-tuning mechanism 210 includes an X-axis linear driver 211 and a Y-axis linear driver 214.

[0082] The X-axis linear driver 211 includes an X-axis guide rail 212 and an X-axis slider 213. The X-axis guide rail 212 is arranged on the upper part of the laser navigation automatic guided vehicle 100, and the X-axis slider 213 is movably connected to the X-axis guide rail 212, so that the X-axis slider 213 can slide on the X-axis guide rail 212.

[0083] The Y-axis linear driver 214 includes a Y-axis guide rail 215 and a Y-axis slider 216. The Y-axis guide rail 215 is arranged on the upper part of the X-axis slider 213, and the Y-axis slider 216 is movably connected to the Y-axis guide rail 215, so that the Y-axis slider 216 can slide on the Y-axis guide rail 215.

[0084] The XY-direction displacement fine-tuning mechanism 210 realizes the accurate centering of the probe at the end of the scanner 300 with the pipe orifice of the vertical pipe fitting 600 to be measured.

[0085] AsFigure 2A , Figure 2B and Figure 3 As shown in ,

[0086] , as a preferred embodiment of the vertical pipe fitting inspection device of the present invention with a laser navigation AGV as the platform, the rotary pitching drive mechanism 220 includes a rotary driver 221 and a rotary bracket 222. The bottom of the rotary bracket 222 is connected to the XY-direction displacement fine-tuning mechanism 210; the rotary driver 221 is connected to the scanner vertical lifting mechanism 230 to drive the scanner vertical lifting mechanism 230 to rotate, realizing the conversion of the horizontal and vertical postures of the scanner 300.

[0086] The pitching drive mechanism realizes the conversion of the horizontal and vertical postures of the carried scanner 300, enabling the scanner 300 to conveniently enter and exit the entrance of the operation site.

[0087] When the detection operation is completed or it is necessary to replace the scanner 300 carried by the laser navigation automatic guided vehicle 100 midway, as Figure 6 shown, first move the rotary pitching drive mechanism 220 to the horizontal position, and control the laser navigation automatic guided vehicle 100 to transport the carried scanner 300 to the shielding ring door 810. As Figure 7 shown, then the scanner vertical lifting mechanism 230 transports the scanner 300 out of the door, as far away as possible from the shielding ring door 810 with radiation hazards, and then the staff can approach to disassemble and assemble the scanner 300.

[0088] As Figure 2A , Figure 2B shown, as a preferred embodiment of the vertical pipe fitting inspection device of the present invention with a laser navigation AGV as the platform, the scanner vertical lifting mechanism 230 includes a lifting driver 231 and a lifting mechanism 232. The bottom of the lifting mechanism 232 is connected to the rotating shaft of the rotary bracket 222, and the top of the lifting mechanism 232 is provided with the scanner 300; the lifting driver 231 is arranged on the lifting mechanism 232 to drive the lifting mechanism 232 to lift and lower, adjusting the position of the scanner 300 in the vertical direction.

[0089] The lifting mechanism 232 can adopt a lead screw lifting structure or a hydraulic lifting structure. Since the lead screw movement control accuracy is high, a lead screw lifting structure is preferably adopted. When the lifting mechanism 232 rises, the probe of the scanner 300 can be sent into the measured pipe orifice. As Figure 5 shown, then the scanner 300 starts to automatically scan in the measured vertical pipe fitting according to the program; after the vertical pipe fitting scanning operation is completed, the lifting mechanism 232 descends to withdraw the probe of the scanner 300 from the orifice of the measured vertical pipe fitting.

[0090] As Figure 3As shown, as a specific embodiment of the vertical pipe fitting inspection device of the present invention with a laser navigation AGV as the platform, a horizontal sensor 234 is provided at the bottom of the scanner vertical lifting mechanism 230 to ensure the perpendicularity when the scanner 300 performs centering operation on the measured vertical pipe fitting.

[0091] The horizontal sensor 234 can preferably adopt a biaxial horizontal position sensor.

[0092] As a specific embodiment of the vertical pipe fitting inspection device of the present invention with a laser navigation AGV as the platform, the scanner 300 is an ultrasonic scanner, and a pipe orifice centering camera is mounted on the scanner 300.

[0093] During use, through the observation by the pipe orifice centering camera mounted on the scanner 300, the XY-direction displacement fine-tuning mechanism 210 is remotely controlled to accurately position the probe of the scanner 300 and the orifice of the vertical pipe fitting 600 to be measured. When the axes of the two are basically the same, the scanner vertical lifting mechanism 230 rises to send the probe of the mounted scanner 300 into the measured pipe orifice, and the pipe operation is completed.

[0094] As Figure 2A As shown, as a specific embodiment of the vertical pipe fitting inspection device of the present invention with a laser navigation AGV as the platform, the vertical pipe fitting inspection device further includes a cable floor drag chain 400 to protect the cable when the laser navigation automatic guided vehicle 100 moves.

[0095] The vertical pipe fitting inspection device of the present invention with a laser navigation AGV as the platform is a detection device for the vertical pipe fittings of the reactor pressure vessel head 700 that adopts a better mounting platform. It not only has the automation of pipe alignment during the detection operation, has a strong load capacity, but also does not occupy too much height space, leaving enough length margin for the scanner 300, and does not require complicated pre-work installation and post-work arrangement.

[0096] The present invention realizes the automation of pipe alignment during the detection operation, which can reduce the labor intensity of the pipe alignment operation personnel and improve the operation efficiency; the strong load capacity can improve the reliability and safety of the equipment; it does not occupy too much height space and leaves enough length margin for the scanner 300, which can achieve the purpose of enhancing the applicability of the equipment, and the installation and arrangement are convenient.

[0097] As Figure 4 As shown, the present invention also provides a vertical pipe fitting inspection system with a laser navigation AGV as the platform, including the vertical pipe fitting inspection device with a laser navigation AGV as the platform as described above and a laser target 500, and the laser target 500 is arranged within the shielding ring 800 of the reactor pressure vessel.

[0098] The positioning of the laser navigation automatic guided vehicle 100 uses laser ranging: the position coordinates of the vehicle are obtained in real time with a laser target, and according to the pre-compiled system path planning, the vehicle automatically travels to each established scanning position in sequence according to the compiled instructions. The laser navigation automatic guided vehicle 100 moves to the orifice of the vertical pipe fitting 600 to be measured for preliminary positioning, and the precise centering of the orifice is completed by the XY-direction displacement fine-tuning mechanism 210 on the laser navigation automatic guided vehicle 100.

[0099] The following is a specific embodiment of using the vertical pipe fitting inspection device and inspection system based on a laser navigation AGV of the present invention to inspect vertical pipe fittings:

[0100] As Figure 1 shown, it is a layout schematic of the vertical pipe fitting inspection device based on a laser navigation AGV of the present invention within the shielding ring 800 during the top cover inspection operation.

[0101] As Figure 2A and Figure 2B shown, it is an overall composition schematic of the vertical pipe fitting inspection device based on a laser navigation AGV of the present invention, which is respectively composed of a laser navigation automatic guided vehicle 100 (i.e., laser navigation AGV), an XY-direction displacement fine-tuning mechanism 210, a rotary pitching drive mechanism 220, a scanner vertical lifting mechanism 230, a cable floor drag chain 400, and a scanner 300.

[0102] As Figure 3 shown, a horizontal sensor 234 is provided at the bottom of the scanner vertical lifting mechanism 230, which can ensure the perpendicularity when the scanner 300 performs centering operation on the pipe to be measured.

[0103] As Figure 4 shown, the positioning of the laser navigation automatic guided vehicle 100 uses laser ranging: the position coordinates of the laser navigation automatic guided vehicle 100 are obtained in real time with a laser target, and according to the pre-compiled system path planning, the laser navigation automatic guided vehicle 100 automatically travels to each established scanning position in sequence according to the compiled instructions. When the laser navigation automatic guided vehicle 100 reaches the position through movement, the preliminary positioning of the orifice of the vertical pipe fitting 600 to be measured by the scanner 300 is completed, and the precise centering of the orifice is completed by the XY-direction displacement fine-tuning mechanism 210 on the laser navigation automatic guided vehicle 100.

[0104] As Figure 5As shown in the figure, the detection operation process is as follows: The laser navigation automatic guided vehicle 100 moves to below the pipe orifice to be measured, the vertical lifting mechanism 230 of the scanner rises, so that the probe at the top of the scanner 300 approaches the pipe orifice to be measured, observes through the pipe orifice centering camera carried by the scanner 300, remotely controls the XY-direction displacement fine-tuning mechanism 210 to precisely position the probe of the scanner 300 and the pipe orifice to be measured. When the axes of the two are basically aligned, the vertical lifting mechanism 230 of the scanner rises to send the probe of the carried scanner 300 into the pipe orifice of the vertical pipe fitting to be measured, and the pipe operation is completed.

[0105] After that, the scanner 300 starts to automatically scan in the vertical pipe fitting to be measured according to the program. After the scanning operation of the vertical pipe fitting is completed, the vertical lifting mechanism 230 of the scanner descends to withdraw the probe of the scanner 300 from the pipe orifice of the vertical pipe fitting to be measured. The laser navigation automatic guided vehicle 100 automatically runs to the next pipe orifice to be measured according to the programmed plan, and repeats the above process until all the detection operations of the pipes to be measured are completed.

[0106] As Figure 6 shown, when the detection operation is completed or the scanner 300 carried by the laser navigation automatic guided vehicle 100 needs to be replaced midway, first move the rotation drive mechanism of the laser navigation automatic guided vehicle 100 to the horizontal position.

[0107] After that, as Figure 7 shown, control the laser navigation automatic guided vehicle 100 to transport the carried scanner 300 to the shielding ring door 810 opening. The vertical lifting mechanism 230 of the scanner on the platform then transports the scanner 300 out of the door, as far as possible away from the shielding ring door 810 opening with radiation hazards, and then the staff can approach to disassemble and assemble the scanner 300.

[0108] In summary, the vertical pipe fitting inspection equipment and inspection system based on the laser navigation AGV of the present invention have the following many advantages:

[0109] First, it realizes the automation of the pipe movement during the detection operation of the vertical pipe fittings on the reactor pressure vessel head 700, thereby reducing the labor intensity of the pipe operation operators and improving the operation efficiency.

[0110] Second, the present invention enables the platform to have a strong load capacity, thereby improving the reliability and safety of the equipment.

[0111] Third, it does not occupy too much height space, leaving enough length margin for the scanner 300, thereby enhancing the applicability of the carried scanning equipment and facilitating installation and arrangement.

[0112] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely examples, and the protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A vertical pipe fitting inspection device based on a laser navigation AGV platform, characterized in that, The vertical pipe inspection equipment includes a laser navigation automatic guided vehicle, a scanner position adjustment mechanism, and a scanner. The laser navigation automatic guided vehicle serves as a carrier mobile platform for carrying the scanner position adjustment mechanism and the scanner. The scanner position adjustment mechanism is fixedly connected to the upper part of the laser navigation automatic guided vehicle and is used to adjust the position of the scanner. The scanner is arranged at the top of the scanner position adjustment mechanism, and the end of the scanner is provided with a probe.

2. The vertical pipe fitting inspection device based on the laser navigation AGV as claimed in claim 1, wherein The laser navigation automatic guided vehicle has omnidirectional rollers, and laser ranging radars are arranged at the front and rear of the laser navigation automatic guided vehicle.

3. The vertical pipe fitting inspection device with a laser navigation AGV as the platform according to claim 1, characterized in that The scanner position adjustment mechanism includes an XY-direction displacement fine adjustment mechanism, a rotation and pitching drive mechanism, and a scanner vertical lifting mechanism. The XY-direction displacement fine adjustment mechanism is fixed to the upper part of the laser navigation automatic guided vehicle and is used to finely adjust the horizontal position of the probe at the end of the scanner, so that the position of the probe is accurately centered with the pipe orifice of the vertical pipe to be measured. The rotation and pitching drive mechanism is connected to the XY-direction displacement fine adjustment mechanism and can realize the conversion of the horizontal and vertical postures of the carried scanner. The scanner vertical lifting mechanism is connected to the rotation and pitching drive mechanism and is used to adjust the position of the scanner in the vertical direction.

4. The vertical pipe fitting inspection device based on the laser navigation AGV as claimed in claim 3, wherein The XY-direction displacement fine adjustment mechanism includes an X-axis linear driver and a Y-axis linear driver. The X-axis linear driver includes an X-axis guide rail and an X-axis slider. The X-axis guide rail is arranged on the upper part of the laser navigation automatic guided vehicle, and the X-axis slider is movably connected to the X-axis guide rail, so that the X-axis slider can slide on the X-axis guide rail. The Y-axis linear driver includes a Y-axis guide rail and a Y-axis slider. The Y-axis guide rail is arranged on the upper part of the X-axis slider, and the Y-axis slider is movably connected to the Y-axis guide rail, so that the Y-axis slider can slide on the Y-axis guide rail.

5. The vertical pipe fitting inspection device based on a laser navigation AGV as claimed in claim 4, wherein, The rotation and pitching drive mechanism includes a rotation driver and a rotation bracket. The bottom of the rotation bracket is connected to the Y-axis slider of the Y-axis linear driver, and the rotation axis of the rotation bracket is connected to the scanner vertical lifting mechanism; the rotation driver is arranged on the rotation bracket and drives the scanner vertical lifting mechanism to rotate, realizing the conversion of the horizontal and vertical postures of the scanner.

6. The vertical pipe fitting inspection device based on the laser navigation AGV as claimed in claim 5, wherein, The scanner vertical lifting mechanism includes a lifting driver and a lifting mechanism. The bottom of the lifting mechanism is connected to the rotation axis of the rotation bracket, and the top of the lifting mechanism is provided with the scanner; the lifting driver is arranged on the lifting mechanism and drives the lifting mechanism to lift and lower, adjusting the position of the scanner in the vertical direction.

7. The vertical pipe fitting inspection device based on a laser navigation AGV as claimed in claim 3, characterized in that, A horizontal sensor is arranged at the bottom of the scanner vertical lifting mechanism to ensure the perpendicularity when the scanner performs centering operation on the vertical pipe to be measured.

8. The vertical pipe fitting inspection device based on the laser navigation AGV as claimed in claim 1, wherein, The scanner is an ultrasonic scanner, and a pipe orifice centering camera is carried on the scanner.

9. The vertical pipe fitting inspection device based on the laser navigation AGV as claimed in claim 1, wherein, The vertical pipe inspection equipment further includes a cable floor drag chain to protect the cable when the laser navigation automatic guided vehicle moves.

10. A vertical pipe fitting inspection system based on a laser navigation AGV platform, characterized in that, The vertical pipe fitting inspection system includes the vertical pipe fitting inspection equipment and the laser target based on the laser navigation AGV as described in any one of claims 1-9, and the laser target is arranged in the shielding circle of the reactor pressure vessel.

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