Detection device for enclosed bus of nuclear power station

Abstract

The invention relates to a nuclear power station enclosed bus detection device, which comprises a control assembly, a walking assembly and a detection assembly, and is characterized in that the detection assembly is arranged on the walking assembly or the control assembly; the walking assembly comprises a first support, a second support and a plurality of wheel sets. The first support and the second support are arranged at the two opposite ends of the control assembly respectively. The wheel set comprises a driving part, rollers and a telescopic supporting frame, the rollers are arranged on the supporting frame, and the driving part is in transmission connection with the rollers. According to the detection device for the enclosed bus of the nuclear power station, the control assembly and the detection assembly are suspended in the inner cavity of the enclosed bus of the nuclear power station through the walking assembly with a special structure, and the walking assembly comprises a telescopic supporting frame in a wheel set, so that the positions of rollers in the wheel set can be finely adjusted to better fit the inner cavity of the enclosed bus; stable movement of the detection assembly is achieved, traditional manual inspection is replaced, and the detection efficiency and accuracy of the nuclear power plant enclosed busbar are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection equipment for nuclear power plants, and particularly to an inspection device for enclosed busbars in nuclear power plants. Background Art

[0002] An enclosed busbar is a busbar system composed of a metal plate (steel plate or aluminum plate) as a protective shell, a conductive bar, insulating materials, and related accessories. In a nuclear power plant, inspection and maintenance work needs to be carried out inside the phase-separated enclosed busbar at the generator outlet. The so-called phase-separated enclosed busbar chamber is a metal enclosed busbar in which each phase has a separate metal shell and there is a gap between the outer shells of each phase. The size of the enclosed busbar in a nuclear power plant is large, but it is not large enough for an operator to enter to perform in-line inspection. Traditionally, it is necessary to manually extract the conductor fixing insulators therein and conduct visual inspection, that is, the commonly used method is manual inspection after disassembly.

[0003] However, this traditional inspection method has obvious deficiencies: one is the large workload, which requires manual extraction of the insulating materials one by one for inspection, consuming a large amount of manpower and increasing the operation time; the other is the limited inspection scope. Visual inspection cannot cover all areas inside the enclosed busbar, there are inspection blind spots, and it is difficult to comprehensively evaluate the internal state. In view of these limitations, there is an urgent need for an adaptive device that can quickly and comprehensively detect the internal state of the enclosed busbar. Summary of the Invention

[0004] Based on this, in order to solve at least one of the above-mentioned problems, the present invention provides an inspection device for enclosed busbars in nuclear power plants.

[0005] The inspection device for enclosed busbars in nuclear power plants provided by the present invention includes a control component, a walking component, and an inspection component, and the inspection component is arranged on the walking component or the control component;

[0006] The walking component includes a first bracket, a second bracket, and a plurality of wheel sets. The first bracket and the second bracket are respectively arranged at opposite ends of the control component, and the wheel sets are respectively arranged at the corners of the first bracket and the second bracket;

[0007] The wheel set includes a driving part, a roller, and a telescopic support frame. The roller is arranged on the support frame, and the driving part is in transmission connection with the roller; the driving part is electrically connected to the control component.

[0008] In one embodiment, the support frame includes an annular airbag, and the rollers are evenly distributed on the outer peripheral side of the annular airbag.

[0009] In one embodiment, the support frame further includes an air pump and an air charging pipeline. The air pump is arranged on the control component, and the air pump is respectively connected to the annular airbag through the air charging pipeline.

[0010] In one embodiment, the annular airbag includes a nylon fiber reinforcing layer and a double-layer thermoplastic polyurethane elastomer airbag, and the nylon fiber reinforcing layer is disposed on the inner sidewall of the thermoplastic polyurethane elastomer airbag; a groove for installing the roller is provided on the outer peripheral side of the annular airbag.

[0011] In one embodiment, the support frame further includes a pressure relief valve corresponding to the annular airbag one by one.

[0012] In one embodiment, the roller includes a plurality of Mecanum wheels disposed on the outer peripheral surface of the annular airbag, and the tread material of the Mecanum wheel is polyurethane.

[0013] In one embodiment, the wheel sets are provided at the four corners of the first bracket and the second bracket; the rotation central axis of the roller is inclined with respect to the horizontal plane.

[0014] In one embodiment, the control assembly includes a controller, a battery pack, a signal transmission group, and a support plate; the first bracket and the second bracket are respectively disposed at opposite ends of the support plate; the controller, the battery pack, and the signal transmission group are all disposed on the support plate; the signal transmission group is electrically connected to the controller, and the controller is electrically connected to the battery pack.

[0015] In one embodiment, the support plate is a hole plate provided with a plurality of rows of through holes; the support plate is connected to the first bracket and the second bracket by screws and nuts.

[0016] In one embodiment, the detection assembly includes a camera module and a fill light, and the camera module is disposed on one side of the second bracket.

[0017] The technical solutions provided in the embodiments of the present invention bring the following beneficial technical effects:

[0018] The detection device for the enclosed busbar of a nuclear power plant provided by the present invention suspends the control assembly and the detection assembly in the inner cavity of the enclosed busbar of the nuclear power plant through a walking assembly with a special structure. The walking assembly includes a support frame in the wheel set that can be telescoped, which can finely adjust the position of the rollers in the wheel set to better fit the inner cavity of the enclosed busbar, realize the stable movement of the detection assembly, replace the traditional manual inspection, and greatly improve the detection efficiency and accuracy of the enclosed busbar of the nuclear power plant.

[0019] The additional aspects and advantages of the present application will be given in the subsequent parts and will be understood in detail from the subsequent description, or will be understood through the specific implementation of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 Schematic diagram of a detection device for a nuclear power plant enclosed busbar during operation inside the enclosed busbar according to an embodiment of the present invention;

[0022] Figure 2 Schematic three-dimensional structure diagram of a detection device for a nuclear power plant enclosed busbar according to an embodiment of the present invention;

[0023] Figure 3 Schematic three-dimensional structure diagram of a first bracket and related components according to an embodiment of the present invention;

[0024] Figure 4 Schematic three-dimensional structure diagram of a wheel set according to an embodiment of the present invention.

[0025] Explanation of reference numerals:

[0026] 100 - Detection device for nuclear power plant enclosed busbar, 200 - Enclosed busbar;

[0027] 1000 - Control component, 2000 - Traveling component, 3000 - Detection component;

[0028] 1100 - Support plate;

[0029] 2100 - First bracket, 2200 - Second bracket, 2300 - Wheel set, 2310 - Driving part, 2320 - Roller, 2330 - Support frame;

[0030] 2321 - Mecanum wheel;

[0031] 2331 - Annular airbag, 2332 - Support shaft, 2333 - Bearing;

[0032] 3100 - Camera module, 3200 - Fill light. Detailed implementation manners

[0033] To facilitate the understanding of the present invention, the following will describe the present invention more comprehensively with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0034] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the description of the present invention herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0036] Reference Figure 1 and Figure 2 Referring to and, the present invention discloses a detection device 100 for a nuclear power plant enclosed busbar provided by the present invention, which mainly includes a control component 1000, a walking component 2000 and a detection component 3000. The detection component 3000 is arranged on the walking component 2000 or the control component 1000. The detection component 3000, the control component 1000 and the walking component 2000 each include a plurality of components. However, from the overall distribution form, the walking component 2000 is divided into two parts, which are respectively located at both ends of the control component 1000, so that when the control component 1000 moves, it can be located in the middle, thereby realizing suspension in the inner cavity of the nuclear power plant enclosed busbar 200. The control component 1000 can achieve external communication, output signals, receive control signals, and control the normal operation of the detection component 3000 and the walking component 2000. The walking component 2000 enables the detection component 3000 and the control component 1000 to move inside the nuclear power plant enclosed busbar 200, and the detection component 3000 is used to observe a specific area inside the enclosed busbar 200, so as to transmit the detection result to a designated terminal through the control component 1000.

[0037] Specifically, such as Figure 2As shown, the walking assembly 2000 includes a first bracket 2100, a second bracket 2200, and a plurality of wheel sets 2300. The first bracket 2100 and the second bracket 2200 are respectively arranged at opposite ends of the control assembly 1000, and the wheel sets 2300 are respectively arranged at the corners of the first bracket 2100 and the second bracket 2200. The first bracket 2100 and the second bracket 2200 can be designed to be the same or have different structures, which are specifically determined according to the inner cavity structure of the nuclear power plant enclosed bus 200. The wheel sets 2300 are arranged at the corners of the first bracket 2100 and the second bracket 2200. When both the first bracket 2100 and the second bracket 2200 are common quadrilaterals, 8 groups of wheel sets 2300 are arranged. Specifically, in some specific implementation manners of an embodiment of the present invention, such as Figure 2 and Figure 3 As shown, wheel sets 2300 are arranged at the four corners of both the first bracket 2100 and the second bracket 2200, that is, both the first bracket 2100 and the second bracket 2200 are quadrilaterals, and the rotation central axis of the roller 2320 forms an inclination angle with the horizontal plane. In order to adapt to the internal curved structure of the nuclear power plant enclosed bus 200 and more conveniently fit onto the inner wall of the enclosed bus 200 to achieve the stability of the detection assembly 3000, the roller 2320 is arranged in a posture with a certain inclination angle. Specifically, the inclination direction of the roller 2320 is determined according to the inner cavity shape of the nuclear power plant enclosed bus 200, and generally shows a deviation towards the center of the detection device 100 of the nuclear power plant enclosed bus, presenting a posture with a narrower upper part and a wider lower part. Specifically, it can be achieved by setting the inclined four-corner structure of the first bracket 2100 and the second bracket 2200, or by arranging inclined wheel set fixing parts at the four corners of the first bracket 2100 and the second bracket 2200.

[0038] Such as Figure 3 and Figure 4As shown in the figure, the wheel set 2300 includes a driving part 2310, a roller 2320 and a telescopic support frame 2330. The roller 2320 is arranged on the support frame 2330, and the driving part 2310 is in transmission connection with the roller 2320; the driving part 2310 is electrically connected to the control component 1000. The driving part 2310 is usually a motor, preferably a motor that can rotate forward and backward. For example, a 24V DC brushless motor is adopted, with a rated torque of 0.3N·m, integrated with a Hall encoder, directly driving the roller 2320, and the transmission efficiency ≥92%. The support frame 2330 is a key structure of the detection device 100 for the nuclear power plant enclosed busbar provided by the present invention. It has the characteristic of being telescopic. More specifically, only its corners need to have a telescopic structure, which is usually realized by a spring structure or a hydraulic structure. However, these structures are either relatively complex or relatively rigid and inflexible, and cannot adapt more flexibly to the structure of the inner cavity of the enclosed busbar 200. The present invention adopts a more flexible structure, which will be described in detail later. The roller 2320 is arranged on the telescopic support frame 2330, and the support frame 2330 is arranged at the corners of the first support 2100 and the second support 2200, at the outermost side of the detection device 100 for the nuclear power plant enclosed busbar, so as to make the roller 2320 fit the inner cavity wall of the nuclear power plant enclosed busbar 200.

[0039] As Figure 1 shown in the figure, the detection device 100 for the nuclear power plant enclosed busbar provided by the present invention suspends the control component 1000 and the detection component 3000 in the inner cavity of the enclosed busbar 200 of the nuclear power plant through a walking component 2000 with a special structure. The walking component 2000 includes a telescopic support frame 2330 in the wheel set 2300, which can finely adjust the position of the roller 2320 in the wheel set 2300 to better fit the inner cavity of the enclosed busbar 200, realize the stable movement of the detection component 3000, replace the traditional manual inspection, and greatly improve the detection efficiency and accuracy of the nuclear power plant enclosed busbar 200.

[0040] Specifically, in one embodiment of the present invention, as Figure 4As shown, the support frame 2330 includes an annular airbag 2331, and the rollers 2320 are evenly distributed on the outer peripheral side of the annular airbag 2331. The annular airbag 2331 is provided with a structure capable of installing the rollers 2320. In addition to the annular airbag 2331, the support frame 2330 also has necessary structures to ensure that the annular airbag 2331 is installed at the corners of the support frame 2330, such as bearings 2333, mounting ring parts, support shafts 2332, etc. In the detection device 100 for the enclosed busbar of a nuclear power plant provided by the present invention, the telescopic characteristic of the support frame 2330 is realized by the annular airbag 2331. The degree of telescoping is adjusted according to the amount of gas in the annular airbag 2331. When the amount of gas in the annular airbag 2331 is sufficient, the position of the rollers 2320 is the outermost. When the amount of gas in the annular airbag is small, the rollers 2320 contract towards the center of the annular airbag 2331, but it can still ensure normal contact with the inner cavity wall of the enclosed busbar 200 and operation. More specifically, in one embodiment, the support frame 2330 further includes an air pump (not shown in the figure) and an air charging pipeline (not shown in the figure). The air pump is arranged on the control component 1000, and the air pump is respectively connected to the annular airbag 2331 through the air charging pipeline. The air pump can supplement air into the annular airbag 2331 at any time through the air charging pipeline. Each annular airbag 2331 is connected to the air pump through an air charging pipeline. By setting corresponding pipeline valves, generally solenoid valves, the inflation of each annular airbag 2331 can be independently controlled. In addition, the support frame 2330 further includes a pressure relief valve (not shown in the figure) corresponding to each annular airbag 2331. With the pressure relief valve, the air pressure in the annular airbag 2331 can be adaptively and real-time reduced, and it cooperates with the air pump to form an air path adjustment system. The air pump can continuously inflate the annular airbag 2331. When the command pressure threshold of the annular airbag 2331 is reached (this command pressure threshold can be given by the operator through the control component 1000, or can be automatically given by the calculation unit in the control component 1000 according to the internal situation of the enclosed busbar 200 obtained by the detection component 3000), the pressure relief valve acts, so that a dynamic air pressure adjustment is formed inside the annular airbag 2331, and the specific postures of each support frame 2330 can be specifically adjusted according to the actual environment inside the enclosed busbar 200.

[0041] Combined with the foregoing embodiments, in a specific implementation manner of the present invention, the annular airbag 2331 includes a nylon fiber reinforcing layer and a double-layer thermoplastic polyurethane elastomer rubber airbag (not shown in the figure). The nylon fiber reinforcing layer is disposed on the inner sidewall of the thermoplastic polyurethane elastomer rubber airbag; a groove for installing the roller 2320 is provided on the outer peripheral side of the annular airbag 2331. In one embodiment, the roller 2320 includes a plurality of Mecanum wheels 2321 disposed on the outer peripheral surface of the annular airbag 2331, and the tread material of the Mecanum wheel 2321 is polyurethane. Specifically, for example, a double-layer TPU annular airbag 2331 (inner diameter 300 mm, cross-sectional width 60 mm, adjustable height range after inflation 50 - 150 mm) is adopted, with an internally integrated cross nylon fiber reinforcing layer and a tensile strength ≥ 50 MPa. Concave and convex friction patterns (depth 1.5 mm) are designed on the outer side of the airbag. After inflation, the Mecanum wheels 2321 are tightly attached to the wall of the closed busbar 200, providing radial support force and anti-slip ability. 8 groups of Mecanum wheels 2321 (with polyurethane treads) are installed in two layers, and the 4 groups of Mecanum wheels 2321 in each layer are arranged in a cross-symmetrical distribution. Each group has a plurality of Mecanum wheels 2321 evenly disposed on the outer peripheral surface of the annular airbag 2331, and the wheel rim is flush with the outer edge of the airbag to avoid interference with the pipe wall of the closed busbar 200 during travel.

[0042] Combined with the foregoing embodiments, in another specific embodiment of the present invention, as shown in the figure, the control component 1000 includes a controller (not shown in the figure), a battery pack (not shown in the figure), a signal transmission group (not shown in the figure), and a support plate 1100; the first bracket 2100 and the second bracket 2200 are respectively disposed at opposite ends of the support plate 1100; the controller, the battery pack, and the signal transmission group are all disposed on the support plate 1100; the signal transmission group is electrically connected to the controller, and the controller is electrically connected to the battery pack. The support plate 1100 is a structural member in the control component 1000, which not only serves as a support structure connecting the first bracket 2100 and the second bracket 2200, but also can install various components, such as installing the controller, the battery pack, and the necessary signal transmission group, etc. on the support plate 1100. A key part of the controller is the motion control system drive circuit, which specifically includes 8 independent motor drivers (based on the VNH5019 chip), supports 4-quadrant PWM control (frequency 16 kHz), with a peak current of 30 A, and is equipped with over-temperature and over-current protection. The cooperative control is based on the STM32F407 main control, and converts the global movement instruction through inverse kinematics calculation. into the rotational speeds of 8 motors, and combines the IMU data to compensate in real time for the attitude offset caused by the deformation of the airbag (compensation accuracy ±1°).

[0043] Wired signal transmission can be adopted in the signal transmission group. The specific composite cable is as follows: custom-made tensile drag chain cable (outer diameter 8 mm, containing 2 × 2.5 mm 2 power line + 2 × 0.75 mm2 Twisted pair shielded signal line + 1 × multimode optical fiber), breaking tensile strength ≥ 800 N, bending radius ≥ 40 mm. Communication protocol between the controller and the signal transmission groups:

[0044] Control signal: CAN bus (1 Mbps), transmitting motor control instructions and sensor data, cycle ≤ 10 ms.

[0045] Video signal: Transmitting Camera Link protocol through optical fiber, uncompressed transmission distance ≥ 100 m, delay < 5 ms.

[0046] In addition, for the battery pack, it is directly supplied by a 24V switching power supply: The external power supply is connected through a waterproof socket (IP67), and is distributed internally through a DC-DC module as:

[0047] Direct supply of 24V to the motor drive (peak power 240W);

[0048] Supply the air pump and the controller with 12V;

[0049] Supply the sensors and the camera with 5V.

[0050] Specifically, in one implementation, the support plate 1100 is a perforated plate provided with several rows of through holes, which makes the distribution and installation of components more flexible and both disassembly and assembly are more convenient. The support plate 1100 is connected to the first bracket 2100 and the second bracket 2200 through screws and nuts.

[0051] Combined with the foregoing embodiments and implementations, in another specific embodiment of the present invention, as Figure 2 shown, the detection component 3000 includes a camera module 3100 and a fill light 3200. The camera module 3100 is arranged on one side of the second bracket 2200. The fill light 3200 can be used for illumination to ensure that the inside of the enclosed busbar 200 is illuminated for visual observation of the internal situation. The camera module 3100 can include various detection sensors, not just a simple visual camera, and is set according to the actual detection item requirements. Specifically, the camera module 3100 uses an industrial camera with 2 million pixels, and the matched fill light 3200 is 6 groups of high-brightness LED lights, and multi-angle shooting is realized through a magnetic suction type cloud platform (which can be pitched ±45°).

[0052] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0053] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A detection device for a closed busbar in a nuclear power plant, characterized in that, It includes a control component, a walking component, and a detection component. The detection component is arranged on the walking component or the control component; The walking component includes a first bracket, a second bracket, and a plurality of wheel sets. The first bracket and the second bracket are respectively arranged at opposite ends of the control component, and the wheel sets are respectively arranged at the corners of the first bracket and the second bracket; The wheel set includes a driving part, a roller, and a telescopic support frame. The roller is arranged on the support frame, and the driving part is in transmission connection with the roller; the driving part is electrically connected to the control component.

2. The nuclear power plant enclosed busbar detection device according to claim 1, wherein The support frame includes an annular airbag, and the rollers are evenly distributed on the outer peripheral side of the annular airbag.

3. The nuclear power plant enclosed busbar detection device according to claim 2, wherein The support frame further includes an air pump and an air charging pipeline. The air pump is arranged on the control component, and the air pump is respectively connected to the annular airbag through the air charging pipeline.

4. The nuclear power plant enclosed busbar detection device according to claim 2, wherein, The annular airbag includes a nylon fiber reinforced layer and a double-layer thermoplastic polyurethane elastomer rubber airbag. The nylon fiber reinforced layer is arranged on the inner side wall of the thermoplastic polyurethane elastomer rubber airbag; a groove for installing the roller is arranged on the outer peripheral side of the annular airbag.

5. The nuclear power plant enclosed busbar detection device according to claim 2, wherein, The support frame further includes a pressure relief valve corresponding to the annular airbag one by one.

6. The nuclear power plant enclosed busbar detection device according to claim 2, characterized in that, The roller includes a plurality of Mecanum wheels arranged on the outer peripheral surface of the annular airbag, and the tread material of the Mecanum wheel is polyurethane.

7. The nuclear power plant enclosed busbar detection device according to claim 1, wherein The wheel sets are arranged at the four corners of the first bracket and the second bracket; the rotation central axis of the roller is inclined to the horizontal plane.

8. The inspection device for the enclosed busbar of a nuclear power plant according to claim 1, wherein, The control component includes a controller, a battery pack, a signal transmission group, and a support plate; the first bracket and the second bracket are respectively arranged at opposite ends of the support plate; the controller, the battery pack, and the signal transmission group are all arranged on the support plate; the signal transmission group is electrically connected to the controller, and the controller is electrically connected to the battery pack.

9. The nuclear power plant enclosed busbar detection device according to claim 1, characterized in that The support plate is a perforated plate provided with a plurality of rows of through holes; the support plate is connected to the first bracket and the second bracket through screws and nuts.

10. The nuclear power plant enclosed busbar detection device according to claim 1, characterized in that, The detection component includes a camera module and a fill light, and the camera module is arranged on one side of the second bracket.

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