Static cable feeding device for sleeve detection

Abstract

The invention discloses a static cable feeding device for nuclear power sleeve detection, and belongs to the technical field of nuclear power engineering detection equipment. The device comprises a rack, a W-axis driving assembly, a T-axis driving assembly, a detection rod assembly and a cable dynamic balance system. A W-axis motor drives a ball screw through a first gear set to control a T-axis driving assembly to integrally ascend and descend, a T-axis motor drives a telescopic screw through a second gear set to push a detection rod assembly to do telescopic motion, the two motors synchronously rotate in the same direction, and relative static conveying with the tail end of a cable fixed to a cable clamp when a detection rod ascends and descends is achieved. The cable dynamic balance system adopts a constant-force spring to pull a movable pulley and a four-wheel sliding block, the cable storage is released when the detection rod descends, and the cable is elastically recovered when the detection rod ascends, so that the cable is always tensioned. And an axial guide groove is formed outside the detection rod and is matched with a guide block of the telescopic rod guide sleeve, so that torsion-free axial movement is realized. The problems that a traditional cable feeding device is poor in cable abrasion and stability are solved, and the safety and efficiency of nuclear power sleeve detection are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power engineering structure detection equipment, and in particular to a static cable feeding device for casing detection. Background Art

[0002] With the continuous development of nuclear power plant construction and the increasing emphasis on operational safety, safety monitoring and maintenance of nuclear power plant equipment have become critical to ensuring the long-term and stable operation of nuclear power plants. Casings, as crucial components in nuclear power plant equipment, have a sealing and integrity that is directly related to their safe operation. Therefore, regular inspections of casings to ensure they are in good working condition are crucial. The cable delivery device plays a crucial role in this process.

[0003] However, traditional cable feeding devices often suffer from complex operation, poor stability, and difficulty adapting to various casing specifications, which undoubtedly increases the difficulty and risk of inspection. To overcome these shortcomings and improve inspection efficiency and accuracy, it is necessary to develop a new static cable feeding device for nuclear power plant casing inspection. Through a rational structural design, this device aims to achieve automation, intelligence, and precision in the cable feeding process, ensuring safety and reliability during the inspection process. Summary of the Invention

[0004] The purpose of the present invention is to provide a static cable feeding device for casing detection, aiming to overcome the defects of the prior art and solve the problems of traditional cable feeding devices such as complex operation, poor stability, and difficulty in adapting to various casing specifications.

[0005] To this end, the present invention proposes a static cable feeding device for casing detection, comprising:

[0006] frame;

[0007] The W-axis drive assembly includes a W-axis motor, a ball screw driven by a gear set 1, and a column screw nut seat that cooperates with the ball screw;

[0008] The T-axis drive assembly includes a T-axis motor, a telescopic screw driven by a second gear set, and a screw nut mated with the threads of the telescopic screw;

[0009] The detection rod assembly comprises a front sensor portion and a tubular structure, wherein the inner side of the bottom of the tubular structure is fixedly connected to the screw nut, and the outer circumference thereof is axially slidably engaged with the outer tube through a telescopic rod guide sleeve;

[0010] The movable pulley assembly is slidably mounted on the guide rail via four-wheel sliders and is connected to a constant force spring;

[0011] The cable guide mechanism includes a wire pulley disposed at the rear end of the outer tube and a wire clamp for fixing the end of the cable;

[0012] Among them, the W-axis motor and the T-axis motor are configured to rotate synchronously in the same direction, so that the cable remains in a relatively static state when the detection rod assembly is raised or lowered; the movable pulley assembly and the constant force spring constitute a cable storage mechanism, which releases the cable to the movable pulley when the detection rod assembly descends, and recycles and stores the cable when it rises.

[0013] As a preferred technical solution of the present application, the gear set 1 includes: a W-axis motor gear fixed to the output shaft of the W-axis motor; an idler gear meshing with the W-axis motor gear; and a ball screw gear meshing with the idler gear and driving the ball screw.

[0014] As an optimal technical solution of the present application, the gear set 2 includes: a lifting driving gear fixed to the output shaft of the T-axis motor; a lifting transition gear meshing with the lifting driving gear; and a lifting driven gear meshing with the lifting transition gear and driving the telescopic screw rod.

[0015] As a preferred technical solution of the present application, the outer circumference of the tubular structure of the detection rod assembly is provided with an axially extending guide groove, and the inner ring of the telescopic rod guide sleeve is provided with a guide block that cooperates with the guide groove to form a circumferential limiting and axial sliding guide mechanism.

[0016] As a preferred technical solution of the present application, the T-axis drive assembly and the frame are further connected via a slide rail and slider assembly; the slide rail and slider assembly includes:

[0017] A slide rail is vertically mounted on the frame; a slide block is fixedly connected to a spindle drive bracket via a slide block support; the spindle drive bracket is simultaneously connected to a column screw nut seat and a T-axis drive assembly.

[0018] As a preferred technical solution of the present application, the spindle drive bracket is an L-shaped structure, the vertical side of which is connected to the column screw nut seat, and the horizontal side fixes the slider support and the T-axis drive assembly.

[0019] As a preferred technical solution of the present application, one end of the constant force spring is fixed to the frame, and the other end is connected to the four-wheel slider, and the direction of spring tension is parallel to the movement direction of the detection rod assembly.

[0020] As a preferred technical solution of the present application, the W-axis motor and the T-axis motor are synchronous servo motors and are equipped with a speed closed-loop control system to maintain the speed synchronization accuracy of the two motors within the range of ±0.5%.

[0021] As a preferred technical solution of the present application, the ratio of the lead of the ball screw to the lead of the telescopic screw is 1:1, and the rotation directions of the two screws are configured to rotate synchronously in the same direction.

[0022] As an optimal technical solution of the present application, the wiring path of the cable is: penetrate into the connection sensor from the bottom of the detection rod assembly; lead out from the rear end of the outer tube and pass around two wire wheels in sequence; and be fixed to the wire clamp after being turned by the movable pulley.

[0023] Compared with the disclosed technology, the present invention develops a static cable feeding device for casing detection, which uses the simultaneous rotation of two-stage motors to achieve relatively static transportation of cables, ensuring the stability of cable feeding. The mechanism can achieve cable storage through the balance of the movable pulley and the constant force spring, making it more intelligent and solving the problems in the background technology.

[0024] The present invention also has the following advantages: the mechanism of the present invention can drive the rotation of the screw rod by rotating two motors at the same speed, so that the rise of the cable is relatively static, ensuring that the cable remains in a stable state during the transmission process, and avoiding physical friction and extrusion of the cable due to vibration and impact, which may cause damage to the cable.

[0025] This mechanism achieves the storage of excess cable when the detection rod assembly is at the lowest point through the up and down movement of the movable pulley. The movable pulley is connected to a constant force spring. Due to the existence of the constant force spring, when the detection rod assembly rises, the cable will not exert force on the movable pulley; and when the cable is too light, the pulling force of the constant force spring will not cause the movable pulley to be unable to descend, and more cable can still be stored. The forces exerted on and generated by the cable during the whole process can be ignored, avoiding any impact on the cable.

[0026] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail below with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0028] Figure 1 It is a structural schematic diagram of the static cable feeding device for casing detection of the present invention;

[0029] Figure 2 It is a schematic exploded view of the W-axis drive assembly in the static cable feeding device for casing inspection of the present invention;

[0030] Figure 3 It is a schematic exploded view of the T-axis drive assembly in the static cable feeding device for casing inspection of the present invention;

[0031] Figure 4 It is a cross-sectional view of a T-axis drive assembly in a static cable feeding device for casing inspection according to the present invention;

[0032] Explanation of the accompanying drawings: 1. Cable; 2. Detection rod assembly; 3. T-axis drive assembly; 4. W-axis drive assembly; 5. Wire clamp; 6. Wire pulley; 7. Ball screw; 8. Slide rail; 9. W-axis motor; 10. Ball screw gear; 11. Idle pulley; 12. W-axis motor gear; 13. Constant force spring; 14. Movable pulley; 15. Four-wheel slider; 16. Slider; 17. Slider support; 18. Telescopic screw; 19. Telescopic rod guide sleeve; 20. Screw nut; 21. Outer tube; 22. T-axis motor; 23. Lifting driving gear; 24. Lifting transition gear; 25. Lifting driven gear; 26. Spindle drive bracket; 27. Column screw nut seat. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] like Figures 1 to 4 As shown, the static cable feeding device for casing detection of the present invention includes a frame, a cable 1, a detection rod assembly 2, a T-axis drive assembly 3, a W-axis drive assembly 4, a wire clamp 5, a wire wheel 6, and other components; wherein, the T-axis drive assembly 3 is connected to the screw nut mechanism of the W-axis drive assembly 4, and at the same time, the T-axis drive assembly 3 slides with the frame through the slide rail slider assembly, and the detection rod assembly 2 is threadedly connected to the telescopic screw 18 of the T-axis drive assembly 3, and then the detection rod assembly 2 is controlled to perform telescopic movement through the T-axis drive assembly 3 and the W-axis drive assembly 4; so that it can be inserted into the casing for regular inspection.

[0035] One end of the cable 1 passes through the bottom of the detection rod assembly 2 and is connected to its sensor part. The other end of the cable 1 passes through the wire wheel 6 and the movable pulley 14 in sequence and is fixedly connected to the wire clamp 5; and the movable pulley 14 is connected to the frame through the constant force spring 13 to keep the cable 1 in a tensioned state.

[0036] Specifically, the W-axis drive assembly 4 includes a W-axis motor 9, a gear set 1, a ball screw 7 and a column screw nut seat 27, and the gear set 1 includes a W-axis motor gear 12, an idler gear 11 and a ball screw gear 10 that are sequentially connected. The rotation of the W-axis motor 9 causes the connected W-axis motor gear 12 to rotate, and then the idler gear 11 drives the ball screw gear 10 to rotate, so that the ball screw 7 can rotate, and then the column screw nut seat 27 can move linearly on the ball screw 7.

[0037] The T-axis drive assembly 3 includes a T-axis motor 22, a second gear set, a telescopic screw 18, a screw nut 20, and a spindle drive bracket 26. Gear set 2 includes a lift driving gear 23, a lift transition gear 24, and a lift driven gear 25. The spindle drive bracket 26 is fixedly connected to the column screw nut seat 27 of the W-axis drive assembly 4, allowing the entire T-axis drive assembly 3 to move linearly with the column screw nut seat 27. The T-axis motor 22 drives the lift driving gear 23 to rotate, which is then transmitted to the lift driven gear 25 via the lift transition gear 24, ultimately driving the telescopic screw 18 to rotate.

[0038] like Figure 3 、 Figure 4 As shown, the front end of the detection rod assembly 2 is the sensor part, and the middle and lower parts are both tubular structures. A screw nut 20 is provided on the inner side of the bottom of the tubular structure to be fixedly connected to it, and the screw nut 20 is threadedly matched with the telescopic screw 18; at the same time, the outer circumference of the tubular structure and the outer tube 21 are axially slid and circumferentially limited through the telescopic rod guide sleeve 19; thereby, the sensor part of the front end of the detection rod assembly 2 is driven by the T-axis motor 22 to extend into the sleeve for detection.

[0039] Among them, an axially extending guide groove is provided on the outer circumference of the tubular structure, and the telescopic rod guide sleeve 19 is fixedly set on the top of the outer tube 21, and a guide block is provided on the inner circle of the telescopic rod guide sleeve 19, and the detection rod assembly 2 and the telescopic rod guide sleeve 19 are slidably matched.

[0040] like Figure 2 、 Figure 3 As shown, the slide rail and slider assembly includes a slide rail 8, a slider support 17 and a slider 16. The slider 16 is fixedly connected to the spindle drive bracket 26 through the slider support 17, and the slide rail 8 is vertically installed on the frame. The T-axis drive assembly 3 is connected to the column screw nut seat 27 on the ball screw 7 through the spindle drive bracket 26, and the spindle drive bracket 26 is also connected to the slider 16 through the slider support 17. Under the rotation of the W-axis motor 9, the T-axis drive assembly 3 can move on the slide rail 8 through the slider 16 to realize the up and down movement of the T-axis drive assembly 3.

[0041] The working principle and working process of the static cable feeding device for casing detection of the present invention are briefly described below.

[0042] The working process of this cable feeding device is divided into the cable storage stage (the detection rod assembly descends) and the cable release stage (the detection rod assembly rises for detection). The stable delivery of the cable is achieved through the dynamic coordination of the synchronous drive of the dual motors and the constant force spring.

[0043] The specific process is as follows:

[0044] 1. Cable storage stage (detection rod assembly descends)

[0045] Driver startup:

[0046] W-axis drive assembly: The W-axis motor 9 is activated, driving the ball screw 7 to rotate via gear set 1 (W-axis motor gear 12 → idler gear 11 → ball screw gear 10), which in turn drives the column screw nut seat 27 to move downward along the slide rail 8. T-axis drive assembly: The T-axis motor 22 is simultaneously activated, driving the telescopic screw 18 to rotate via gear set 2 (lifting driving gear 23 → lifting transition gear 24 → lifting driven gear 25), causing the screw nut 20 to drive the detection rod assembly 2 to retract downward along the outer tube 21.

[0047] Cable Release and Storage:

[0048] When the detection rod assembly 2 descends, the internal cable 1 is led out from the rear end of the outer tube 21, passes through the two wire wheels 6 in sequence, and then turns through the movable pulley 14. Under the tension of the constant force spring 13, the movable pulley assembly (14, 15) slides downward synchronously along the guide rail through the four-wheel slider 15, and the excess cable 1 naturally falls and is stored under the movable pulley, keeping the cable always in a tensioned state.

[0049] Anti-rotation and guiding:

[0050] The outer circumference of the tubular structure of the detection rod assembly 2 is provided with an axial guide groove, which cooperates with the guide block on the inner ring of the telescopic rod guide sleeve 19 to limit the circumferential rotation of the detection rod and ensure that it only moves in an axial straight line.

[0051] 2. Cable release stage (detection rod assembly rising detection)

[0052] Dual motor synchronous drive:

[0053] Synchronous Control: The W-axis motor 9 and the T-axis motor 22 rotate at the same speed and in the same direction. W-axis Drive: The ball screw 7 rotates, pushing the column screw nut seat 27 upward along the slide rail 8, driving the entire T-axis drive assembly 3 upward. T-axis Drive: The telescopic screw 18 rotates, driving the screw nut 20, causing the detection rod assembly 2 to extend upward along the outer tube 21.

[0054] Relative static control: The two motors maintain synchronization accuracy of ±0.5% through the servo system, ensuring that the rising speed of the detection rod assembly 2 is consistent with the overall lifting speed of the outer tube 21. The end of the cable 1 is fixed to the wire clamp 5, forming a state of "detection rod rising, cable relatively static".

[0055] Cable dynamic recycling:

[0056] Under the elastic restoring force of the constant force spring 13, the movable pulley assembly (14, 15) slides upward along the guide rail, gradually recovering the stored cable 1. The cable 1 moves in the reverse direction: the movable pulley 14 rises → the wire pulley 6 guides → the cable 1 rises with the detection rod assembly 2 and is synchronously retracted into the outer tube 21, preventing the cable from loosening or entanglement.

[0057] Test execution:

[0058] The sensor portion at the front end of the detection rod assembly 2 extends into the casing, and the detection data is transmitted in real time through the cable 1 to complete the sealing and integrity detection.

[0059] 3. Key synergy mechanisms

[0060] Constant-force spring balance: The tension of constant-force spring 13 is always slightly greater than the weight of the cable, ensuring that: when the detection rod descends, movable pulley 14 can smoothly move down to store the cable; when the detection rod ascends, movable pulley 14 promptly moves up to retract the cable, preventing cable slack or overload. Lead matching: The lead ratio of ball screw 7 and telescopic screw 18 is 1:1, combined with synchronous servo control, to achieve precise matching of the dual drive shaft displacement. Anti-wear design: The rolling guide of wire pulley 6 and movable pulley 14 reduces cable friction, and the guide groove and guide block mechanism eliminates the risk of detection rod twisting.

[0061] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A static cable feeding device for casing detection, characterized in that: include: frame; A W-axis drive assembly (4) comprising a W-axis motor (9), a ball screw (7) driven by a gear set (10, 11, 12), and a column screw nut seat (27) cooperating with the ball screw; A T-axis drive assembly (3) comprising a T-axis motor (22), a telescopic screw (18) driven by a second gear set (23, 24, 25), and a screw nut (20) threadedly engaged with the telescopic screw; The detection rod assembly (2) comprises a front sensor portion and a tubular structure, wherein the inner side of the bottom of the tubular structure is fixedly connected to the screw nut (20), and the outer circumference is axially slidably engaged with the outer tube (21) through the telescopic rod guide sleeve (19); The movable pulley assembly (14, 15) is slidably arranged on the guide rail via a four-wheel slider (15) and is connected to the constant force spring (13); A cable guide mechanism comprises a wire wheel (6) arranged at the rear end of the outer tube (21) and a wire clamp (5) for fixing the end of the cable; The W-axis motor (9) and the T-axis motor (22) are configured to rotate synchronously in the same direction, so that the cable (1) is kept in a relatively static state when the detection rod assembly (2) is raised or lowered; The movable pulley assembly (14, 15) and the constant force spring (13) form a cable storage mechanism. When the detection rod assembly (2) descends, the cable is released to the movable pulley, and when it ascends, the cable is recovered and stored.

2. The static cable feeding device for casing detection according to claim 1, characterized in that: The gear set 1 comprises: A W-axis motor gear (12) fixed to an output shaft of the W-axis motor; an idler gear (11) meshing with the W-axis motor gear; A ball screw gear (10) meshes with the idler gear and drives the ball screw (7).

3. The static cable feeding device for casing detection according to claim 1, characterized in that: The second gear set comprises: A lifting driving gear (23) fixed to the output shaft of the T-axis motor; A lifting transition gear (24) meshing with the lifting driving gear; A lifting driven gear (25) meshes with the lifting transition gear and drives the telescopic screw rod (18).

4. The static cable feeding device for casing detection according to claim 1, characterized in that: The outer circumference of the tubular structure of the detection rod assembly (2) is provided with an axially extending guide groove, and the inner ring of the telescopic rod guide sleeve (19) is provided with a guide block that cooperates with the guide groove, forming a circumferentially limited and axially sliding guide mechanism.

5. The static cable feeding device for casing detection according to claim 1, characterized in that: The T-axis drive assembly (3) is further connected to the frame via a slide rail and slider assembly; the slide rail and slider assembly comprises: A slide rail (8) vertically mounted on the frame; A slider (16) fixedly connected to a spindle drive bracket (26) via a slider support (17); The spindle drive bracket (26) is connected to the column screw nut seat (27) and the T-axis drive assembly (3) at the same time.

6. The static cable feeding device for casing detection according to claim 5, characterized in that: The spindle drive bracket (26) is an L-shaped structure, with a vertical side connected to the column screw nut seat (27) and a horizontal side fixed to the slider support (17) and the T-axis drive assembly (3).

7. The static cable feeding device for casing detection according to claim 1, characterized in that: One end of the constant force spring (13) is fixed to the frame, and the other end is connected to the four-wheel slider (15). The direction of the spring tension is parallel to the movement direction of the detection rod assembly (2).

8. The static cable feeding device for casing detection according to claim 1, characterized in that: The W-axis motor (9) and the T-axis motor (22) are synchronous servo motors and are equipped with a speed closed-loop control system to maintain the speed synchronization accuracy of the two motors within the range of ±0.5%.

9. The static cable feeding device for casing detection according to claim 1, characterized in that: The ratio of the lead of the ball screw (7) to the lead of the telescopic screw (18) is 1:1, and the rotation directions of the two screws are configured to rotate synchronously in the same direction.

10. The static cable feeding device for casing detection according to claim 1, characterized in that: The wiring path of the cable (1) is: The bottom of the self-detecting rod assembly (2) is penetrated into the connection sensor; The wire is led out from the rear end of the outer tube (21) and passes through two wire passing wheels (6) in sequence; After being turned by the movable pulley (14), it is fixed to the wire clamp (5).

Images