Composite detection device and detection method for lining rubber layer in CFI pipeline of nuclear power plant

Abstract

The invention relates to the technical field of pipeline internal rubber lining layers, and discloses a composite detection device and method for a nuclear power plant CFI pipeline internal rubber lining layer, and the device comprises a front vehicle body which actively moves along the inner side of a pipeline, and the front end of the front vehicle body is provided with a high-definition camera; the rear vehicle body actively moves along the inner side of the pipeline; the composite probe group comprises a plurality of probes, a rotating assembly enabling the plurality of probes to circumferentially rotate on the inner side of the pipeline and a lifting assembly enabling the plurality of probes to radially move along the pipeline; the flexible shafts are used for connecting the front vehicle body and the rear vehicle body or connecting the composite probe group between the front vehicle body and the rear vehicle body; the flexible shaft is detachably connected with the front vehicle body, the rear vehicle body and the composite probe group; according to the invention, a novel vehicle body and probe group design scheme is adopted, and various combination modes are provided; the diversified design can be flexibly configured according to different detection scenes and requirements; the comprehensiveness and the accuracy of detection are ensured; through different combination modes, the application occasion of the equipment is expanded, and the maximum utilization is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of detecting the internal rubber lining layer of pipelines, and particularly relates to a composite detection device and a detection method for the internal rubber lining layer of CFI pipelines in nuclear power plants. Background Art

[0002] CFI pipelines are key cooling water transmission pipelines in nuclear power plants. Its main function is to transfer the heat of the equipment cooling water system (RRI) to the ultimate heat sink, generally the sea or a large water body. During the operation of a nuclear reactor, a large amount of heat is generated. This heat is carried out by the primary coolant, and then the heat is transferred to the secondary coolant in the steam generator to generate steam to drive the steam turbine for power generation. The equipment cooling water system (RRI) is used to cool the primary auxiliary equipment, etc., and the CFI pipeline is responsible for cooling the cooling water in the RRI system to ensure that the entire cooling cycle can proceed normally and ensure the normal operating temperature of the key equipment in the nuclear power plant.

[0003] CFI pipelines are usually made of metal materials such as carbon steel or stainless steel. The diameter of the pipeline varies according to the specific design flow rate and system requirements, generally ranging from dozens of centimeters to several meters. To prevent the internal corrosion of the pipeline, the pipeline lining is an important part. The lining material usually has good corrosion resistance, such as rubber, plastic or special anti-corrosion coatings, etc. The connection methods of the pipeline include welding, flange connection, etc. to ensure the sealing performance of the pipeline system and prevent the leakage of cooling water.

[0004] During the operation of CFI pipelines, they need to withstand a certain pressure to ensure the smooth flow of cooling water in the pipelines. At the same time, since it is connected to the cooling system, the water temperature in the pipeline will change with the operating conditions, generally in a lower temperature range, but in some abnormal situations, such as cooling system failures, the temperature may fluctuate.

[0005] The cooling water in CFI pipelines may contain various chemical substances such as dissolved oxygen, chloride ions, etc. These substances will cause corrosion to the pipeline and the lining. Moreover, due to the particularity of nuclear power plants, the pipeline may also be indirectly affected by radioactive substances, accelerating the aging and damage of materials. Therefore, the quality and integrity requirements for the pipeline lining are extremely high, and regular inspections and maintenance are required to ensure its normal operation. Summary of the Invention

[0006] The purpose of the present invention is to solve at least one of the above-mentioned existing technical problems, and provide a composite detection device and a detection method for the internal rubber lining layer of CFI pipelines in nuclear power plants.

[0007] To achieve the above purpose, the present invention provides the following technical solutions: A composite detection device for the internal rubber lining layer of CFI pipelines in nuclear power plants, comprising: The front vehicle body moves actively along the inner side of the pipeline, and a high-definition camera is provided at the front end; The rear vehicle body moves actively along the inner side of the pipeline; The composite probe group includes a plurality of probes, a rotating assembly for rotating the plurality of probes circumferentially inside the pipeline, and a lifting assembly for moving the plurality of probes radially along the pipeline; A plurality of flexible shafts are used to connect the front vehicle body and the rear vehicle body or connect the composite probe group between the front vehicle body and the rear vehicle body; the flexible shafts are detachably connected to the front vehicle body, the rear vehicle body, and the composite probe group.

[0008] Further, both the front vehicle body and the rear vehicle body include a central support. A plurality of power legs rotatably installed are hinged outside the central support, and a power wheel and a first motor for driving the power wheel to rotate are installed on the power legs.

[0009] Further, a fixed support and an axially sliding support are respectively provided outside both ends of the central support; a support rod is hinged in the middle of the power leg, and the support rod and the power leg are both circumferentially evenly distributed and are alternately hinged to the fixed support and the sliding support.

[0010] Further, a propulsion ring is connected to the outside of the central support by threads. A rotating ring is rotatably installed on one side of the propulsion ring facing the sliding support, and a first spring is circumferentially evenly connected between the rotating ring and the sliding support.

[0011] Further, the composite probe group includes a probe bin, and core cylinders are rotatably penetrated through two opposite side walls of the probe bin; a thickness measuring probe, a hardness probe, and a measurement value acquisition device facing the hardness probe are provided in the probe bin.

[0012] Further, the rotating assembly includes a gear ring connected to the core cylinder, a first gear meshing with the gear ring, and a second motor for driving the first gear. The second motor is installed on one side wall of the probe bin.

[0013] Further, the lifting assembly includes a lifting frame for supporting the probe and the measurement value acquisition device, a rack connected to the lifting frame, a second gear meshing with the rack, and a third motor for driving the second gear.

[0014] Further, a centering adjustment assembly is provided outside the core cylinder; the centering adjustment assembly includes a first limiting ring and a second limiting ring sleeved outside the core cylinder at intervals. An active ring that moves axially is provided between the first limiting ring and the second limiting ring. A second spring is connected between the active ring and the first limiting ring; a plurality of centering legs are circumferentially evenly hinged to the active ring. A plurality of auxiliary rods are circumferentially evenly hinged to the second limiting ring. The end of the auxiliary rod is hinged to the middle of the centering leg, and a roller is rotatably installed at the end of the centering leg.

[0015] The present invention also provides the following technical solutions: A detection method for a composite detection device of the internal rubber lining layer of a CFI pipeline in a nuclear power plant. The detection method includes using the front vehicle body, the composite probe group, and the rear vehicle body in combination for detection, using the front vehicle body and the rear vehicle body in combination for detection, and using the front vehicle body alone for detection.

[0016] Further, the combined use of the front vehicle body, the composite probe group, and the rear vehicle body for detection includes the following steps: S1. Install the detection vehicle body group in a full-functional combination of the front vehicle body, the composite probe group, and the rear vehicle body; S2. Start the detection vehicle body group and slowly lower the detection vehicle body group into the pipeline to be detected; S3. After the entire detection vehicle body group enters the pipeline, pause the progress of the detection vehicle body group and test whether each function is normal; S4. After confirming that each function is normal, detection can begin. During the progress of the detection vehicle body group, first perform visual detection on the situation inside the pipeline through the high-definition camera at the front end of the front vehicle body; S5. After visual detection finds an abnormality, use the probe to measure the suspicious point; or perform circumferential scanning on the internal rubber lining layer of the pipeline through the scanning function.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention adopts a new vehicle body and probe group design scheme, providing a combination mode of front vehicle body - detection probe - rear vehicle body, front vehicle body - rear vehicle body, and front vehicle body alone; this diversified design can be flexibly configured according to different detection scenarios and requirements; for example, in a pipeline with extremely small space, the front vehicle body alone mode can be adopted to reduce the equipment volume and facilitate operation; while for a long-distance pipeline that requires comprehensive and detailed detection, the combination mode of front vehicle body - detection probe - rear vehicle body can be selected to ensure the comprehensiveness and accuracy of detection; The present invention expands the application occasions of the equipment through different combination modes; whether in the detection of conventional industrial pipelines or in the detection of pipelines in some special environments, such as corrosive pipelines in chemical enterprises, high-temperature pipelines in the power industry, CFI pipelines in nuclear power plants, etc., a suitable equipment combination mode can be found to achieve maximum utilization, bringing great convenience to the pipeline detection work in various industries; The present invention can freely shuttle inside the rubber-lined pipeline in high places, narrow spaces, and long-distance and complex environments with elbows, realizing full-range detection; this characteristic not only improves the integrity of detection but also makes up for the technical shortcoming of detecting pipelines in special spaces in the industry, providing strong support for safety monitoring and maintenance in related fields; The present invention can move forward and backward freely within the pipeline. This flexible mobility allows the detection process to be adjusted at any time according to actual needs. For example, when a suspicious area is found, it can quickly return for a second inspection to ensure the accuracy of the test results. At the same time, for long-distance pipelines, segmented and accurate inspection can be carried out to avoid omissions that may occur due to a one-time inspection of too long a distance. This invention innovatively integrates multiple testing functions, including intelligent panoramic view, rubber lining thickness measurement, and rubber lining hardness measurement. When penetrating into pipelines tens of meters long, it can simultaneously obtain information on the appearance, thickness, and hardness of the rubber lining. This integrated design breaks the cumbersome traditional testing model of using multiple independent devices and performing testing in stages, greatly improving testing efficiency and reducing testing time and costs. The data measured by the present invention can be simultaneously displayed and stored on the host side, greatly enhancing real-time judgment and traceability. Operators can analyze the test data immediately and promptly identify problems with the pipeline rubber lining, such as wear, thinning, and abnormal hardness. At the same time, the stored data provides a detailed and reliable basis for subsequent maintenance, evaluation, and accident analysis, making it convenient to access historical data at any time and compare the conditions of pipelines at different times. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the fully functional combination state of the present invention.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the front vehicle body of the present invention.

[0020] Figure 3 It is a schematic diagram of the side structure of the front vehicle body of the present invention.

[0021] Figure 4 It is a schematic diagram of the combined state of the front vehicle body and the rear vehicle body of the present invention.

[0022] Figure 5 It is a schematic cross-sectional view of the front and rear vehicle bodies of the present invention.

[0023] Figure 6 It is a schematic diagram of the flexible shaft connection of the present invention.

[0024] Figure 7 It is a schematic diagram of the three-dimensional structure of the composite probe group and the flexible shaft of the present invention.

[0025] Figure 8 It is a schematic diagram of the internal structure of the composite probe group and the flexible shaft of the present invention.

[0026] Figure 9 Schematic diagram of the internal structure of the composite probe group of the present invention.

[0027] Figure 10Schematic diagram of the lifting assembly of the composite probe group of the present invention.

[0028] Figure 11 Schematic diagram of the system composition principle of the present invention.

[0029] Figure 12 Full-functional combination working flow chart of the present invention.

[0030] In the figure: 1, front vehicle body; 2, rear vehicle body; 3, composite probe group; 4, flexible shaft; 5, first joint; 6, second joint; 7, transmission cable; 101, high-definition camera; 102, fixed support; 103, sliding support; 104, power leg; 105, power wheel; 106, support rod; 107, rear center support; 108, front center support; 109, bevel gear set; 110, first motor; 111, propulsion ring; 112, rotating ring; 113, first spring; 114, guide post; 115, lighting lamp; 301, core cylinder; 302, probe bin; 303, centering adjustment assembly; 304, rotation assembly; 305, lifting assembly; 306, thickness measurement probe; 307, hardness probe; 308, measurement value acquisition device; 309, angular contact ball bearing; 310, connecting seat; 3031, first limit ring; 3032, second limit ring; 3033, movable ring; 3034, centering leg; 3035, auxiliary rod; 3036, roller; 3037, second spring; 3041, gear ring; 3042, first gear; 3043, second motor; 3051, lifting frame; 3052, guiding structure; 3053, rack; 3054, second gear; 3055, third motor; 501, first connecting piece; 601, positioning pin; 602, positioning bolt; 603, second connecting piece. Specific implementation mode

[0031] The present invention will be further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0032] Specific embodiments of the composite detection device and detection method for the internal rubber lining layer of the CFI pipeline in a nuclear power plant provided by the present invention: Please refer to Figures 1-12 , the composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant, including a front vehicle body 1, a rear vehicle body 2, a composite probe group 3 and a plurality of flexible shafts 4.

[0033] The front vehicle body 1 moves actively along the inner side of the pipeline and has a panoramic high-definition camera 101 at the front end; the rear vehicle body 2 moves actively along the inner side of the pipeline.

[0034] Both the front vehicle body 1 and the rear vehicle body 2 include a central support. The central support includes a cylindrical front central support 108 and a cylindrical rear central support 107. The front end of the front central support 108 of the front vehicle body 1 is equipped with a high-definition camera 101 and a lighting lamp 115.

[0035] Several rotatably mounted power legs 104 are hinged to the outside of the central support. A power wheel 105 and a first motor 110 for driving the power wheel 105 to rotate are installed on the power leg 104. The power wheel 105 is installed at the end of the power leg 104, and the first motor 110 is installed inside the power leg 104. A set of bevel gear sets 109 is provided between the output end of the first motor 110 and the axle of the power wheel 105. The bevel gear set 109 includes two meshing bevel gears, and the two bevel gears are respectively connected to the output shafts of the power wheel 105 and the first motor 110.

[0036] The first motor 110 rotates the power wheel 105 through the bevel gear set 109, and the power wheel 105 rolls along the inner wall of the pipeline to realize the active movement of the front vehicle body 1 and the rear vehicle body 2 along the inner side of the pipeline.

[0037] Fixed supports 102 and axially sliding sliding supports 103 are respectively provided on the outer sides of both ends of the central support; both the fixed support 102 and the sliding support 103 are annular structures. The fixed support 102 is located outside the front central support 108, and the sliding support 103 axially slides outside the rear central support 107.

[0038] A support rod 106 is hinged to the middle of the power leg 104. The number of the support rods 106 and the power legs 104 is the same and they correspond one by one. The support rods 106 and the power legs 104 are both circumferentially evenly distributed and are alternately hinged to the fixed support 102 and the sliding support 103; that is, adjacent support rods 106 are respectively hinged to the fixed support 102 and the sliding support 103, and adjacent power legs 104 are respectively hinged to the fixed support 102 and the sliding support 103. The end of the support rod 106 is hinged to the middle of the power leg 104.

[0039] The sliding support 103 axially moves along the outside of the central support, causing the power wheel 105 to expand or contract, and thus can adapt to pipelines with different inner diameters. A propulsion ring 111 is connected to the outside of the rear central support 107 of the central support by a thread. An annular groove is provided on the side of the propulsion ring 111 facing the sliding support 103, and a rotating ring 112 is rotatably installed in the annular groove. A number of first springs 113 are circumferentially evenly connected between the rotating ring 112 and the sliding support 103.

[0040] Rotating propulsion ring 111. When the propulsion ring 111 axially moves along the outside of the rear center support 107 by means of threads, the sliding support 103 is axially moved along the outside of the rear center support 107 by the first spring 113, thereby adjusting the opening angle of the power leg 104, and enabling the power wheel 105 to move along the inner side of the rubber lining layer of pipes with different inner diameters. The variable-diameter parts of the front vehicle body 1 and the rear vehicle body 2 adopt the principle of a small and compact crank-slider, so as to generate a relatively large positive pressure on the inner wall of the pipe diameter; to generate a relatively large driving force to drive the vehicle body and the probe to move freely inside the rubber lining layer of the complex pipe.

[0041] Using the first spring 113 to support the sliding support 103 can make the power wheel 105 elastically press against the inner wall of the pipe rubber lining layer, cope with the surface irregular changes of the inner wall of the pipe, and enable the power wheel 105 to move along the inner wall of the pipe stably at all times.

[0042] A number of guide posts 114 are connected to the side of the rotating ring 112 facing the sliding support 103. The guide posts 114 are evenly distributed in a circle. The guide posts 114 slide through the sliding support 103. The guide posts 114 are cylindrical structures with a T-shaped cross-section, and the outer diameter of the part passing through the sliding support 103 is larger, playing a limiting role. The guide posts 114 correspond to the first springs 113 one by one and pass through their corresponding first springs 113 to prevent the first springs 113 from skewing and ensure that the first springs 113 are compressed or elongated in a straight line direction.

[0043] The composite probe group 3 includes a number of probes, a rotating assembly 304 for rotating the number of probes circumferentially inside the pipe, and a lifting assembly 305 for moving the number of probes radially along the pipe.

[0044] The composite probe group 3 includes a probe bin 302. The probe bin 302 is a cylindrical structure with both ends closed and has an opening on one side of the circumference. Core tubes 301 are rotatably penetrated through the opposite side walls at both ends of the probe bin 302. The number of core tubes 301 is two, and their center lines are on the same straight line. Angular contact ball bearings 309 are provided between the two ends of the probe bin 302 and the core tubes 301. The angular contact ball bearings 309 ensure the stable operation of the rotating assembly 304 and have sufficient strength to transmit the front and rear pulling forces.

[0045] The rotating assembly 304 includes a gear ring 3041 connected to the core tube 301, a first gear 3042 meshing with the gear ring 3041, and a second motor 3043 driving the first gear 3042. The second motor 3043 is installed on one side wall of the probe bin 302. The output shaft of the second motor 3043 passes through the side wall of the probe bin 302 and extends to the outside and is connected to the first gear 3042. The second motor 3043 drives the first gear 3042 to rotate, so that the first gear 3042, the second motor 3043 and the probe bin 302 rotate around the gear ring 3041 to adjust the rotation angle and state of the probe bin 302.

[0046] Inside the probe bin 302, there are a thickness measurement probe 306, a hardness probe 307, and a measurement value acquisition device 308 facing the hardness probe 307. The thickness measurement probe 306, the hardness probe 307, and the measurement value acquisition device 308 all correspond to the opening of the probe bin 302. In this embodiment, the measurement value acquisition device 308 is a camera, which corresponds to the pointer surface of the hardness probe 307 and acquires the image of the pointer surface of the hardness probe 307 to realize the reading of the hardness value.

[0047] The lifting assembly 305 includes a lifting frame 3051 that supports the thickness measurement probe 306, the hardness probe 307, and the measurement value acquisition device 308, a rack 3053 connected to the lifting frame 3051, a second gear 3054 meshing with the rack 3053, and a third motor 3055 that drives the second gear 3054. The third motor 3055 and the second gear 3054 are installed inside the probe bin 302. There is a guiding structure 3052 between the probe bin 302 and the lifting frame 3051. Specifically, the inner wall of the probe bin 302 is provided with a slide rail, and the lifting frame 3051 is connected with a slider that moves linearly along the slide rail; the third motor 3055 drives the second gear 3054 to rotate, so that the rack 3053 and the lifting frame 3051 move linearly back and forth to realize the probe entering and exiting the probe bin 302.

[0048] Centering adjustment assemblies 303 are provided on the outer sides of the core cylinder 301; the number of the centering adjustment assemblies 303 is two, symmetrically located on the outer sides of both ends of the probe bin 302. The centering adjustment assembly 303 includes a first limit ring 3031 and a second limit ring 3032 that are spaced apart and sleeved on the outer side of the core cylinder 301. There is a movable ring 3033 that moves axially between the first limit ring 3031 and the second limit ring 3032. A second spring 3037 is connected between the movable ring 3033 and the first limit ring 3031. The second spring 3037 is located on the outer side of the core cylinder 301 and has a gap with the outer side of the core cylinder 301; several centering legs 3034 are evenly hinged to the circumference of the movable ring 3033, and several auxiliary rods 3035 are evenly hinged to the circumference of the second limit ring 3032. The number of the auxiliary rods 3035 and the centering legs 3034 is the same and they correspond one by one; the end of the auxiliary rod 3035 is hinged to the middle of the centering leg 3034, and the end of the centering leg 3034 is rotatably installed with a roller 3036. The second spring 3037 elastically supports the centering leg 3034, so that the centering leg 3034 opens, and further makes the roller 3036 elastically press against the inner side of the pipeline to ensure that the probe bin 302 is centered.

[0049] The second spring 3037 not only enables the centering leg 3034 and the roller 3036 to adapt to pipes with different diameters, but also ensures adaptive adjustment when passing through bends, when there are obstacles inside the pipe, and when the pipe is deformed. The roller 3036 can convert sliding friction into rolling friction. After centering and pressing tightly, it can reduce the friction between the probe and the inner wall of the pipe, ensure the smooth movement of the probe back and forth inside the pipe, and at the same time prevent damage to the inner wall of the inspected pipe.

[0050] The flexible shaft 4 is used to connect the front vehicle body 1 and the rear vehicle body 2 or connect the composite probe group 3 between the front vehicle body 1 and the rear vehicle body 2; the flexible shaft 4 is detachably connected to the front vehicle body 1, the rear vehicle body 2, and the composite probe group 3. Both ends of the flexible shaft 4 are respectively connected with a first joint 5 and a second joint 6 through threads.

[0051] The detection method of the composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant. The detection method includes the combined use of the front vehicle body 1, the composite probe group 3, and the rear vehicle body 2 for detection. Two flexible shafts 4 are provided. One flexible shaft 4 is respectively connected between the front vehicle body 1 and the composite probe group 3, and the other flexible shaft 4 is connected between the composite probe group 3 and the rear vehicle body 2; for the combined use of the front vehicle body 1 and the rear vehicle body 2 for detection, one flexible shaft 4 is provided and connected between the front vehicle body 1 and the rear vehicle body 2; the front vehicle body 1 is used alone for detection.

[0052] When the front vehicle body 1, the composite probe group 3, and the rear vehicle body 2 are used in combination, connection seats 310 are provided at the outer ends of the core cylinders 301 at both ends of the composite probe group 3. The first joint 5 and the connection seat 310 are connected by bolts, and the connection structure is similar to a flange. A positioning pin 601 is provided on the second joint 6. Both the rear end of the front vehicle body 1 and the front end of the rear vehicle body 2 are respectively connected with a second connecting member 603 through threads. Corresponding pin holes and threaded holes are respectively provided on the second connecting member 603 and the end of the positioning pin 601, and connection is achieved by using a positioning bolt 602; this connection method is simple and fast, and is convenient for installation and disassembly; in some other embodiments, a pin post and an open pin can be used to replace the positioning bolt 602 to achieve the connection between the positioning pin 601 and the second connecting member 603.

[0053] When the front vehicle body 1 and the rear vehicle body 2 are used in combination, the flexible shaft 4 and the front vehicle body 1 still adopt the above connection structure. The front end of the rear vehicle body 2 is connected with a first connecting member 501 through threads. The first joint 5 and the first connecting member 501 are connected by bolts evenly distributed in a circumferential manner.

[0054] Since the vehicle body group needs to travel in a complex pipe with elbows, the connection between the front vehicle body 1, the rear vehicle body 2, and the composite probe group 3 is connected by the flexible shaft 4, which can not only transmit power but also achieve flexible deformation at the bend to realize full-condition travel. A set of power vehicle bodies are respectively arranged in front of and behind the composite probe group 3 to realize the pushing and pulling of the composite probe group 3, preventing the situation of single force application and the situation where the composite probe group 3 cannot pass through the elbow pipe.

[0055] The combined use inspection of the front car body 1, the composite probe group 3 and the rear car body 2 includes the following steps: installing the inspection car body group according to the full-function combination of the front car body 1, the composite probe group 3 and the rear car body 2; adjusting the appropriate front car body 1 and rear car body 2 supports according to the inner diameter of the inspected pipeline; starting the inspection car body group and slowly placing the inspection car body group into the inspected pipeline; pausing the movement of the inspection car body group after all the inspection car body groups have entered the pipeline to test whether each function is normal; after confirming that each function is normal, the inspection can be started, and during the movement of the inspection car body group, the high-definition camera 101 at the front end of the front car body 1 is first used to visually inspect the situation inside the pipeline; after the visual inspection finds any abnormality, the probe is used to measure the suspicious point; or the scanning function is used to perform a circumferential scan of the pipeline lining rubber layer.

[0056] When the full-function combination is used, a transmission cable 7 is passed through the inner side of the rear vehicle body 2 , and the transmission cable 7 is connected to the thickness measuring probe 306 , the measurement value acquisition device 308 and the high-definition camera 101 to transmit signals.

[0057] The whole system equipment composition and data transmission principle: Figure 11 As shown, the entire system consists of a drive and mounting unit, auxiliary units, and a main control unit. The device's inspection process uses a high-definition camera 101 and a composite probe assembly 3 to penetrate deep into the pipe under test. Integrated vision, thickness, and hardness sensors collect real-time data from the pipe interior.

[0058] At the probe end, the collected analog data first undergoes A / D conversion, converting it into digital signals that can be interpreted by a computer. These digital signals are then transmitted via a transmission cable 7 at the back end and ultimately uploaded to the industrial computer. There, D / A conversion is performed, converting the digital signals back into analog signals for subsequent processing and analysis. The industrial computer undertakes the important task of data processing and storage. It acts as a "brain," analyzing and interpreting the received data to provide a basis for subsequent decision-making. The main control unit's industrial computer is electrically connected to a control handle, which operates the detection device.

[0059] The connection between the two ends 3 of the composite probe group and the flexible shaft 4 adopts a detachable design, which greatly improves the portability of the equipment and facilitates transfer and transportation in different detection scenarios.

[0060] Both ends of the composite probe group 3 are provided with centering adjustment components 303, and the probe bin 302 is located at the central position between the two groups of centering adjustment components 303. This design ensures that the probe bin 302 and the probe can be in a proper position during detection in the pipeline, thus ensuring the necessary passing ability and the accuracy of detection data. The centering adjustment components 303 are respectively connected to the front vehicle body 1 and the rear vehicle body 2 through front and rear connections to form an integral propulsion structure. During operation, the probe can be smoothly sent into the pipeline to be inspected through the towing of the front vehicle body 1 and the pushing of the rear vehicle body 2. The tensile data composite transmission cable 7 arranged at the rear end of the vehicle body group plays a dual role. On the one hand, it can stably transmit the data collected by the probe to the industrial control computer terminal. On the other hand, in the event of an accident such as the vehicle body group losing power, it can be used as a towing tool to safely tow the probe and the vehicle body group out of the pipeline to be inspected, avoiding secondary accidents in the pipeline.

[0061] When it is necessary to measure different circumferential positions in the circumferential direction of the pipeline, the main control unit sends a rotation command for the probe bin 302 to control the rotation component 304 of the probe bin 302 to rotate to different positions. After reaching the specified circumferential position, the main control unit terminal sends a detection command, and the lifting component 305 in the probe bin 302 makes the probe rise to the pipe wall position to perform the detection task. At this time, the thickness measurement probe 306 and the hardness probe 307 work simultaneously, and the hardness and thickness data of the measured part can be obtained simultaneously in one detection. Moreover, the main control unit can display and store these detection results in real time, providing data support for subsequent analysis and evaluation. The second motor 3043 for rotating the probe bin 302 is equipped with a function of recording the rotation angle, and the rotation angle of the detection probe bin 302 and the probe can be controlled through the upper computer to reach a suitable circumferential detection position.

[0062] Panoramic vision detection under long-distance and complex working conditions: In some occasions where the pipeline to be inspected is long and the working conditions are complex and rapid panoramic vision detection is required, the front vehicle body 1 and the rear vehicle body 2 can be directly connected through the flexible shaft 4. By reasonably adjusting the corresponding pipe diameter range, the combined equipment can smoothly enter the pipeline interior. Inside the pipeline, the equipment conducts real-time vision detection, and the image information inside the pipeline is collected through the vision sensor of the high-definition camera 101. These image information are transmitted to the main control unit in real time through the data transmission system, and the main control unit can display these images in real time and can record and save them. In this way, the operator can comprehensively understand the internal condition of the pipeline through the display screen of the industrial control computer of the main control unit and timely discover potential problems.

[0063] An angular position sensor is arranged inside the lens of the high-definition camera 101, and the angular position information in the circumferential direction sensed by it can be transmitted to the industrial control computer terminal for display, and it can judge the position of the suspicious points seen in the vision image. During the full-function combined detection, it provides position information for the rear detection probe, and the rear probe can quickly locate to the position to be detected accordingly.

[0064] Single panoramic dynamic vehicle body visual inspection: The single panoramic dynamic front vehicle body 1 can also independently perform visual inspection tasks. Inside pipelines with medium to short distances or relatively simple working conditions, directly using the single panoramic dynamic front vehicle body 1 for visual inspection has high portability and flexibility, and is particularly suitable for applications in some occasions with limited operating space. The front vehicle body 1 is adjusted through the propulsion ring 111 to adapt to different pipeline inner diameter ranges, ensuring that the panoramic lens of the high-definition camera 101 can collect images at appropriate positions inside the pipeline. During operation, the power support legs 104 provide the forward power to move the front vehicle body 1 inside the pipeline. The panoramic lens of the high-definition camera 101 real-time collects the image information inside the pipeline and transmits this information to the main control machine terminal for display and recording, thereby realizing the visual inspection of the pipeline interior.

[0065] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still make modifications to the technical solutions recorded in the foregoing embodiments without creative efforts, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant, characterized in that, Comprising: A front vehicle body (1), which actively moves along the inner side of the pipeline and has a high-definition camera (101) at the front end; A rear vehicle body (2), which actively moves along the inner side of the pipeline; A composite probe group (3), including several probes, a rotating assembly (304) for rotating several probes circumferentially inside the pipeline, and a lifting assembly (305) for moving several probes radially along the pipeline; Several flexible shafts (4), which are used to connect the front vehicle body (1) and the rear vehicle body (2) or connect the composite probe group (3) between the front vehicle body (1) and the rear vehicle body (2); the flexible shafts (4) are detachably connected to the front vehicle body (1), the rear vehicle body (2), and the composite probe group (3).

2. The composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 1, wherein Both the front vehicle body (1) and the rear vehicle body (2) include a central support. Several power legs (104) rotatably installed are hinged outside the central support. A power wheel (105) and a first motor (110) for driving the rotation of the power wheel (105) are installed on the power legs (104).

3. The composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 2, wherein Fixed supports (102) and axially sliding sliding supports (103) are respectively arranged on the outer sides of both ends of the central support; a support rod (106) is hinged in the middle of the power leg (104). The support rod (106) and the power leg (104) are both circumferentially evenly distributed and are alternately hinged to the fixed support (102) and the sliding support (103).

4. The composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 3, characterized in that, A propulsion ring (111) is connected to the outside of the central support by threads. A rotating ring (112) is rotatably installed on one side of the propulsion ring (111) facing the sliding support (103). A first spring (113) is circumferentially evenly connected between the rotating ring (112) and the sliding support (103).

5. The composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 1, wherein The composite probe group (3) includes a probe bin (302). Core cylinders (301) are rotatably penetrated through both opposite side walls of the probe bin (302); a thickness measurement probe (306), a hardness probe (307), and a measurement value acquisition device (308) facing the hardness probe (307) are arranged in the probe bin (302).

6. The composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 5, wherein The rotating assembly (304) includes a gear ring (3041) connected to the core cylinder (301), a first gear (3042) meshing with the gear ring (3041), and a second motor (3043) for driving the first gear (3042). The second motor (3043) is installed on one side wall of the probe bin (302).

7. The composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 5, characterized in that, The lifting assembly (305) includes a lifting frame (3051) for supporting the probe and the measurement value acquisition device (308), a rack (3053) connected to the lifting frame (3051), a second gear (3054) meshing with the rack (3053), and a third motor (3055) for driving the second gear (3054).

8. The composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 5, characterized in that, A centering adjustment component (303) is provided on the outer side of the core tube (301); the centering adjustment component (303) includes a first limiting ring (3031) and a second limiting ring (3032) that are spaced and sleeved on the outer side of the core tube (301). An axially movable movable ring (3033) is provided between the first limiting ring (3031) and the second limiting ring (3032). A second spring (3037) is connected between the movable ring (3033) and the first limiting ring (3031); a plurality of centering legs (3034) are evenly hinged around the circumference of the movable ring (3033). A plurality of auxiliary rods (3035) are evenly hinged around the circumference of the second limiting ring (3032). The end of the auxiliary rod (3035) is hinged to the middle of the centering leg (3034). The end of the centering leg (3034) is rotatably installed with a roller (3036).

9. The detection method of the composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to any one of claims 1-8, characterized in that, The detection method includes the combined use of the front vehicle body (1), the composite probe group (3) and the rear vehicle body (2) for detection, the combined use of the front vehicle body (1) and the rear vehicle body (2) for detection, and the separate use of the front vehicle body (1) for detection.

10. The detection method of the composite detection device for the internal rubber lining layer of the CFI pipeline in a nuclear power plant according to claim 9, characterized in that, The combined use of the front vehicle body (1), the composite probe group (3) and the rear vehicle body (2) for detection includes the following steps: S1. Install the detection vehicle body group in a full-function combination according to the front vehicle body (1), the composite probe group (3), and the rear vehicle body (2); S2. Start the detection vehicle body group and slowly lower the detection vehicle body group into the pipeline to be detected; S3. After the entire detection vehicle body group enters the pipeline, pause the progress of the detection vehicle body group and test whether each function is normal; S4. After confirming that each function is normal, detection can begin. During the progress of the detection vehicle body group, first perform visual detection on the situation inside the pipeline through the high-definition camera (101) at the front end of the front vehicle body (1); S5. After visual detection finds an abnormality, use the probe to measure the suspicious point; or perform a circumferential scan on the inner lining rubber layer of the pipeline through the scanning function.

Images