Water turbine runner detection device and method

Abstract

The invention belongs to the technical field of water turbine runner detection, and particularly relates to a water turbine runner detection device and method. According to the technical scheme, the water turbine runner detection device comprises a sealing cylinder, the sealing cylinder is connected to a taper pipe small door of a taper pipe below a runner, and a detector is arranged in the sealing cylinder; the detector is provided with a propelling unit, an adsorption unit used for being adsorbed on the blade, a mechanical arm, a detection unit connected to the tail end of the mechanical arm, a navigation unit in signal connection with the propelling unit and a communication unit interacting with the ground. The invention provides the water turbine runner detection device and the water turbine runner detection method which are free of drainage and flexible in detection.

Description

Technical Field

[0001] The present invention belongs to the technical field of water turbine runner detection, and in particular relates to a water turbine runner detection device and method. Background Art

[0002] Turbine runner inspection is a key component of turbine maintenance. Traditional inspection of turbine runner blades requires draining the water inside the turbine, which is time-consuming and labor-intensive, and affects power generation efficiency. Existing underwater inspection equipment relies on manual operation or fixed sensors, resulting in limited flexibility, low detection accuracy, and an inability to cover complex curved surfaces.

[0003] The existing technology has the following disadvantages: 1. The unit needs to be shut down for drainage, and the material preparation work takes a long time; 2. The tailwater gate needs to be opened; 3. A runner maintenance rack needs to be set up, and the risk of high-altitude work is extremely high; 4. The working environment is poor and the work intensity is high; 5. After the maintenance is completed, the volute and tailwater gate seals need to be restored, and all bolts need to be replaced, resulting in high material consumption. Summary of the Invention

[0004] In order to solve the above problems existing in the prior art, the purpose of the present invention is to provide a turbine runner detection device and method that is free of drainage and flexible in detection.

[0005] The technical solution adopted in the present invention is:

[0006] A turbine runner detection device includes a sealing cylinder connected to a small cone tube door of a cone tube below the runner. A detector is arranged in the sealing cylinder. The detector is equipped with a propulsion unit, an adsorption unit for adsorbing on a blade, a robotic arm, a detection unit connected to the end of the robotic arm, a navigation unit connected to the propulsion unit signal, and a communication unit for interacting with the ground.

[0007] The detector of the present invention enters through a small door on the cone below the turbine. A navigation unit and a propulsion unit automatically propel the detector to the desired inspection location. A robotic arm drives the detection unit to perform integrated surface topography, crack, and corrosion inspections. The results are transmitted to the surface in real time via a communication unit. The entire inspection process eliminates the need to install fixed sensors or erect inspection racks, eliminating the need to drain the water, resulting in high inspection efficiency and reduced labor.

[0008] The detector of the present invention is propelled by a propulsion unit, guided by a navigation unit, and fixed by an adsorption unit, allowing it to accurately stay at the desired inspection location. A robotic arm drives the detection unit to move and steer, enabling accurate inspection of all positions of the rotating wheel. The detector can automatically locate the desired location, improving flexibility and inspection accuracy, and enabling inspection of complex curved surfaces.

[0009] As a preferred embodiment of the present invention, a butterfly valve is connected to the cone tube gate. A connecting flange is provided at the open end of the sealing cylinder. The connecting flange is bolted to the side of the butterfly valve facing away from the cone tube gate. The tailwater gate pressure of a power plant unit is generally around 0.35 MPa. Under extreme operating conditions, the pressure pulsation generated by the snail belt is 4% per 197 m. Therefore, a 1.6 MPa-rated butterfly valve is installed at the cone tube gate.

[0010] As a preferred embodiment of the present invention, the propulsion unit is a vector propeller, and the adsorption unit is an adaptive adsorption device. The adsorption unit can be stably attached to the blade surface (such as magnetic adsorption or vacuum adsorption) in a high flow rate environment.

[0011] As a preferred embodiment of the present invention, the detection unit includes a high-definition camera, a laser scanner, an ultrasonic flaw detector, and an eddy current sensor. The detector is equipped with a multi-degree-of-freedom robotic arm, at the end of which are integrated high-definition cameras, laser scanners, ultrasonic flaw detectors, and eddy current sensors, enabling integrated detection of surface topography, cracks, and corrosion.

[0012] As a preferred solution of the present invention, the navigation unit includes an inertial navigation system (INS) and a sonar positioning module, combined with a three-dimensional model of a runner to achieve centimeter-level path planning.

[0013] As a preferred embodiment of the present invention, the communication unit is an underwater wireless communication device or optical fiber, and the communication unit interacts with the ground control center. Underwater wireless communication (such as an underwater acoustic modem) or optical fiber is used to interact with the ground control center to transmit detection data and high-definition video streams in real time.

[0014] As a preferred embodiment of the present invention, the sealing cylinder is provided with an optical fiber signal interface and a power supply, both of which are connected to the detector via a cable. The power supply uses a safe voltage of 24V or 36V and is connected to the detector via a wired connection to provide a stable power supply.

[0015] As a preferred embodiment of the present invention, an automatic cable take-up device is installed in the sealing cylinder, and the cables between the optical fiber signal interface and the power supply and the detector are wound on the automatic cable take-up device. The automatic cable take-up device automatically retracts and releases the cables at a speed that matches the moving speed of the detector.

[0016] A method for detecting a turbine runner comprises the following steps:

[0017] S1: When the runner needs to be inspected, connect the sealing cylinder to the butterfly valve; open the butterfly valve, fill the sealing cylinder with water, and release the detector after the sealing cylinder and the cone tube are evenly pressurized;

[0018] S2: The navigation unit guides the detector, the propulsion unit drives the detector, the adsorption unit is adsorbed on the blade, and the robotic arm drives the detection unit to move and turn. The detection unit performs integrated detection of the surface morphology, cracks and corrosion of the rotor. The detection results are transmitted to the ground in real time through the communication unit;

[0019] S3: When the runner inspection is completed, retract the detector into the sealing cylinder and close the butterfly valve; drain the water in the sealing cylinder, loosen the connecting bolts between the sealing cylinder and the butterfly valve, complete the separation of the sealing cylinder and the butterfly valve, and complete the inspection of the runner;

[0020] S4: After the inspection is completed, a three-dimensional defect map and quantitative evaluation report are generated to guide maintenance decisions.

[0021] As a preferred solution of the present invention, in step S2, an automatic wire take-up device is provided in the sealing cylinder, and the automatic wire take-up device automatically retracts and releases the cable, and the retraction and release speed matches the moving speed of the detector.

[0022] The beneficial effects of the present invention are:

[0023] The detector of this invention enters through a small door on the cone below the turbine. A navigation unit and a propulsion unit automatically propel the detector to the desired inspection location. A robotic arm drives the detection unit to perform integrated surface topography, crack, and corrosion inspections. The results are transmitted to the surface in real time via a communication unit. The entire inspection process eliminates the need to install fixed sensors or erect inspection racks, eliminating the need to drain the water, resulting in high inspection efficiency and reduced labor.

[0024] 2. The detector of this invention is propelled by a propulsion unit, guided by a navigation unit, and fixed by an adsorption unit, allowing it to accurately stay at the desired inspection location. A robotic arm drives the detection unit to move and steer, enabling accurate inspection of all positions on the wheel. The detector automatically locates itself at the desired location, improving flexibility and inspection accuracy, and enabling inspection of complex curved surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an assembly diagram of the present invention and the cone tube;

[0026] Figure 2 It is a structural schematic diagram of the present invention.

[0027] In the figure: 1-sealing cylinder; 2-detector; 3-butterfly valve; 4-automatic wire take-up device; 5-rotating wheel; 6-conical tube; 11-connecting flange; 12-optical fiber signal interface; 13-power supply; 61-conical tube small door; 62-conical tube door. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features therein may be combined with each other unless there is a conflict.

[0030] like Figure 1 As shown, the conical pipe 6 is located below the runner 5. A conical pipe door 62 and a small conical pipe door 61 are located upstream of the conical pipe 6. These doors are closed during unit operation and standby. They are opened when the runner 5 and the flow path need to be inspected. The small conical pipe door 61 is used to set up a maintenance platform. In the prior art, during unit operation, water flows through the runner 5, then axially enters the conical pipe 6 and is discharged into the tailwater. After the unit is shut down, the conical pipe 6 is filled with water at a certain pressure, and no water flows, allowing access to the runner 5 for inspection.

[0031] like Figure 2 As shown, the turbine runner detection device of this embodiment includes a sealing cylinder 1, which is connected to the cone tube small door 61 of the cone tube 6 below the runner 5. A detector 2 is arranged in the sealing cylinder 1, and the detector 2 is equipped with a propulsion unit, an adsorption unit for adsorbing on the blades, a robotic arm, a detection unit connected to the end of the robotic arm, a navigation unit connected to the propulsion unit signal, and a communication unit for interacting with the ground.

[0032] A butterfly valve 3 is connected to the cone tube gate 61. A connecting flange 11 is provided at the open end of the sealing cylinder 1. This flange 11 is bolted to the side of the butterfly valve 3 facing away from the cone tube gate 61. The tailwater gate pressure of a power plant unit is generally around 0.35 MPa. Under extreme operating conditions, the pressure pulsation generated by the snail belt is 4% per 197 m. Therefore, a 1.6 MPa-rated butterfly valve is installed at the cone tube gate 61.

[0033] The detector 2 of the present invention enters through a small conical tube door 61 on the conical tube 6 below the turbine. A navigation unit and a propulsion unit automatically propel the detector 2 to the desired inspection location. A robotic arm drives the detection unit to perform integrated surface topography, crack, and corrosion inspections. The results are transmitted to the surface in real time via a communication unit. The entire inspection process eliminates the need to install fixed sensors or erect inspection racks, eliminating the need to drain the water, resulting in high inspection efficiency and reduced labor.

[0034] The detector 2 of the present invention is propelled by a propulsion unit, guided by a navigation unit, and fixed by an adsorption unit, allowing it to accurately stay at the desired inspection location. The robotic arm drives the detection unit to move and steer, enabling accurate inspection of all positions of the rotating wheel 5. The detector 2 can automatically locate the desired inspection location, improving flexibility and inspection accuracy, and enabling inspection of complex curved surfaces.

[0035] Specifically, the propulsion unit is a vector propeller, and the adsorption unit is an adaptive adsorption device. The adsorption unit can be stably attached to the surface of the blade in a high flow rate environment (such as magnetic adsorption or vacuum adsorption).

[0036] The detection unit includes a high-definition camera, a laser scanner, an ultrasonic flaw detector, and an eddy current sensor. Detector 2 is equipped with a multi-degree-of-freedom robotic arm, at the end of which are integrated high-definition cameras, laser scanners, ultrasonic flaw detectors, and eddy current sensors, enabling integrated detection of surface topography, cracks, and corrosion. Detector 2 uses a high-definition camera capable of detecting cracks smaller than a human hair and can also be equipped with multiple sensors (for positioning and measurement).

[0037] The navigation unit includes an inertial navigation system (INS) and a sonar positioning module, which are combined with a three-dimensional model of the wheel 5 to achieve centimeter-level path planning.

[0038] The communication unit, which is an underwater wireless communication device or optical fiber, interacts with a ground control center. Underwater wireless communication (such as an underwater acoustic modem) or optical fiber is used to communicate with the ground control center, transmitting detection data and high-definition video streams in real time. An external computer is connected to the sealed cylinder 1 for operation, observation, data collection, and storage.

[0039] In this embodiment, the communication unit is an optical fiber. The sealing cylinder 1 is provided with an optical fiber signal interface 12 and a power supply 13. Both the optical fiber signal interface 12 and the power supply 13 are connected to the detector 2 via a cable. The power supply 13 uses a safe voltage of 24V or 36V and is connected to the detector 2 via a wire to provide a stable power supply 13.

[0040] An automatic cable take-up device 4 is installed in the sealing cylinder 1. The cables between the optical fiber signal interface 12 and the power supply 13 and the detector 2 are wound on the automatic cable take-up device 4. The automatic cable take-up device 4 automatically retracts and releases the cables at a speed that matches the moving speed of the detector 2.

[0041] The turbine runner detection method of this embodiment includes the following steps:

[0042] S1: When the runner 5 needs to be inspected, the sealing cylinder 1 is connected to the butterfly valve 3; the butterfly valve 3 is opened, the sealing cylinder 1 is filled with water, and the detector 2 is released after the sealing cylinder 1 and the cone 6 are pressed evenly.

[0043] S2: The navigation unit navigates the detector 2, the propulsion unit drives the detector 2, the adsorption unit is adsorbed on the blade, and the robotic arm drives the detection unit to move and turn. The detection unit performs integrated detection of the surface morphology, cracks, and corrosion of the rotor 5. The detection results are transmitted to the ground in real time via the communication unit. During the movement of the detector 2, the automatic cable retractor 4 automatically retracts and releases the cable, and the retraction and release speed matches the movement speed of the detector 2.

[0044] S3: When the inspection of the runner 5 is completed, the detector 2 is retracted into the sealing cylinder 1 and the butterfly valve is closed; the water in the sealing cylinder 1 is drained, and the connecting bolts between the sealing cylinder 1 and the butterfly valve 3 are loosened to separate the sealing cylinder 1 and the butterfly valve 3, and the inspection of the runner 5 is completed;

[0045] S4: After the inspection is completed, a three-dimensional defect map and quantitative evaluation report are generated to guide maintenance decisions.

[0046] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that falls within the scope defined by the claims of the present invention falls within the scope of protection of the present invention.

Claims

1. A turbine runner detection device, characterized in that: The invention comprises a sealing cylinder (1), which is connected to a cone tube small door (61) of a cone tube (6) below a rotating wheel (5). A detector (2) is arranged in the sealing cylinder (1), and the detector (2) is equipped with a propulsion unit, an adsorption unit for adsorbing on a blade, a mechanical arm, a detection unit connected to the end of the mechanical arm, a navigation unit connected to a signal of the propulsion unit, and a communication unit for interacting with the ground.

2. A turbine runner detection device according to claim 1, characterized in that: The cone tube small door (61) is connected to a butterfly valve (3), and the opening end of the sealing cylinder (1) is provided with a connecting flange (11). The connecting flange (11) is connected to the side of the butterfly valve (3) away from the cone tube small door (61) through connecting bolts.

3. The turbine runner detection device according to claim 1, characterized in that: The propulsion unit is a vector propeller, and the adsorption unit is an adaptive adsorption device.

4. The turbine runner detection device according to claim 1, characterized in that: The detection unit includes a high-definition camera, a laser scanner, an ultrasonic flaw detector and an eddy current sensor.

5. The water turbine runner detection device according to claim 1, characterized in that: The navigation unit includes an inertial navigation system and a sonar positioning module.

6. The water turbine runner detection device according to claim 1, characterized in that: The communication unit is an underwater wireless communication device or an optical fiber, and the communication unit interacts with a ground control center.

7. The water turbine runner detection device according to claim 1, characterized in that: The sealing cylinder (1) is provided with an optical fiber signal interface (12) and a power supply (13), and both the optical fiber signal interface (12) and the power supply (13) are connected to the detector (2) via cables.

8. The water turbine runner detection device according to claim 7, characterized in that: An automatic cable take-up device (4) is installed in the sealing cylinder (1), and cables between the optical fiber signal interface (12) and the power supply (13) and the detector (2) are respectively wound on the automatic cable take-up device (4).

9. A method for detecting a water turbine runner, using the water turbine runner detection device according to claim 2, characterized in that: The following steps are involved: S1: When the runner (5) needs to be inspected, the sealing cylinder (1) is connected to the butterfly valve (3); the butterfly valve (3) is opened, the sealing cylinder (1) is filled with water, and the detector (2) is released after the sealing cylinder (1) and the cone (6) are evenly compressed; S2: The navigation unit navigates the detector (2), the propulsion unit drives the detector (2), the adsorption unit adsorbs on the blade, the mechanical arm drives the detection unit to move and turn, the detection unit performs integrated detection of surface morphology, cracks and corrosion on the rotor (5), and the detection results are transmitted to the ground in real time through the communication unit; S3: When the inspection of the runner (5) is completed, the detector (2) is retracted into the sealing cylinder (1) and the butterfly valve is closed; the water in the sealing cylinder (1) is drained, the connecting bolts between the sealing cylinder (1) and the butterfly valve (3) are loosened, the sealing cylinder (1) and the butterfly valve (3) are separated, and the inspection of the runner (5) is completed; S4: After the inspection is completed, a three-dimensional defect map and quantitative evaluation report are generated to guide maintenance decisions.

10. A method for detecting a water turbine runner according to claim 9, characterized in that: In step S2, an automatic cable take-up device (4) is provided in the sealing cylinder (1), and the automatic cable take-up device (4) automatically retracts and releases the cable, and the retraction and release speed matches the moving speed of the detector (2).

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