Detection device and robot

Abstract

The utility model discloses a detection device and a robot. The detection device comprises a first telescoping mechanism, a second telescoping mechanism and a probe. The first telescopic mechanism comprises a first telescopic part, a rack, a transmission gear and an air cylinder, the first telescopic part is slidably connected with the support, the transmission gear is in transmission connection with the first telescopic part and engaged with the rack, the rack is connected to the air cylinder, and the air cylinder stretches out and draws back to enable the first telescopic part to reciprocate relative to the support; the second telescopic mechanism comprises a second telescopic piece which can move relative to the first telescopic piece. The probe is connected to the second telescopic piece and used for detecting the inner wall of the pin hole. The first telescopic piece and the air cylinder are in transmission connection through the rack and the transmission gear, the rack and the transmission gear are meshed with each other to generate meshing friction, and when an air source is unstable and the air cylinder shakes, the meshing friction can play a certain damping role, so that the moving stability of the first telescopic piece is improved, and the detection precision of the inner wall of the pin hole is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of nuclear power plant equipment detection, in particular to a detection device and a robot. Background Art

[0002] The main function of the control rod guide cylinder of a nuclear power plant reactor is to guide the stepping motion of the control rod bundle and ensure that the rod drop time meets the nuclear safety requirements. After the nuclear power plant has been in operation for a certain period of time, the control rod guide cylinder will be regularly inspected for wear. If the wear exceeds the specified amount, the entire control rod guide cylinder will be replaced. During the replacement of the control rod guide cylinder, the two cotter pins at the bottom of the control rod guide cylinder need to be pulled out of the upper grid plate. Due to factors such as aging and jamming, there is a possibility that the cotter pins will break and the pin holes will be damaged during this process. Therefore, it is necessary to regularly inspect the pin holes.

[0003] Some technologies use a two-stage telescopic mechanism linked by a cylinder-screw module to drive the probe. During use, the probe can be quickly moved to the pin hole through the rapid extension and retraction of the cylinder, and then the probe is driven by the screw to move stably in the pin hole, thereby achieving efficient and high-precision detection of the pin hole. However, due to the instability of the air source, the cylinder may shake due to sudden changes in speed during the extension and retraction process, resulting in large fluctuations in the liquid when the detection equipment is operating underwater, resulting in low pin hole detection accuracy. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides a detection device that can improve the detection accuracy of the pin hole.

[0005] The utility model also provides a robot comprising the above detection device.

[0006] The detection device according to the first aspect of the present utility model is used to inspect the pin hole of the cotter pin of the control rod guide cylinder, and includes: a bracket, a first telescopic mechanism, a second telescopic mechanism and a probe;

[0007] The first telescoping mechanism includes a first telescoping member, a rack, a transmission gear, a first transmission assembly, and a cylinder. The rack meshes with the transmission gear, and the cylinder is connected to the rack to drive the rack to move. The movement of the rack can drive the transmission gear to rotate. The transmission gear is connected to the first telescoping member through the first transmission assembly so that the rotation of the transmission gear can drive the first telescoping member to move in a first direction. The second telescoping mechanism includes a second telescoping member, and a second driving member and a second transmission assembly connected to the first telescoping member. The second driving member is connected to the second telescoping member through the second transmission assembly to drive the second telescoping member to move relative to the first telescoping member in the first direction. The probe is connected to the second telescoping member and is used to detect the inner wall of the pin hole.

[0008] The detection device according to the embodiment of the present invention has at least the following beneficial effects:

[0009] In this embodiment, a rack and a transmission gear are provided between the first telescoping member and the cylinder. The rack drives the transmission gear to rotate to drive the first telescoping member to reciprocate. The rack and the transmission gear mesh with each other to generate meshing friction. Therefore, during the working process, when the air source is unstable and causes the cylinder to shake, the meshing friction between the rack and the transmission gear can play a certain damping role, thereby reducing the influence of the shaking of the cylinder on the movement of the first telescoping member, improving the stability of the movement of the first telescoping member, reducing the degree of liquid fluctuation, and thus improving the detection accuracy of the inner wall of the pin hole.

[0010] According to some embodiments of the present invention, the first telescoping mechanism further includes a damping member. The damping member is connected between the cylinder and the rack, and the damping member is used to absorb the vibration between the cylinder and the rack.

[0011] According to some embodiments of the present invention, the first transmission assembly further includes:

[0012] A first lead screw, one end of the first lead screw is connected to the transmission gear and can rotate under the drive of the transmission gear; and

[0013] A first nut, the first nut is threadedly connected to the first lead screw, and the first nut and the first telescoping member are of an integrally formed structure.

[0014] According to some embodiments of the present invention, a first hole section is provided in the first nut. The first telescoping member has a second hole section and a first opening that communicate with each other. The first hole section communicates with the second hole section. The second driving member is provided in the first hole section. The second transmission assembly is provided in the second hole section. The second telescoping member is provided in the first hole section and the second hole section and can extend out from the first opening.

[0015] According to some embodiments of the present utility model, the second transmission assembly includes:

[0016] A second lead screw, one end of the second lead screw is connected to the second driving member and can rotate under the drive of the second driving member; and

[0017] A second nut, the second nut is threadedly connected to the second lead screw, and the second nut and the second telescopic member are integrally formed.

[0018] According to some embodiments of the present utility model, the second nut has a first threaded hole, the second telescopic member is provided with a second threaded hole coaxially arranged and communicated with the first threaded hole, and the second threaded hole is threadedly connected to the second lead screw.

[0019] According to some embodiments of the present utility model, the detection device further includes:

[0020] A first limiting member, the first limiting member is connected to the second telescopic member or the second nut; and

[0021] A second limiting member, the second limiting member is connected to the first telescopic member and is located on one side of the first limiting member facing the elongation direction of the first telescopic mechanism, and the first limiting member can abut against the second limiting member to limit the moving distance of the second telescopic member relative to the first telescopic member.

[0022] According to some embodiments of the present utility model, the bracket includes a seat body part and an extension part connected to each other, the cylinder is installed on the seat body part, the extension part is provided with a guiding hole along the first direction, the guiding hole has a second opening facing the elongation direction of the first telescopic mechanism, the first nut and the first telescopic member are arranged in the guiding hole and can extend out from the second opening, and the first telescopic member and / or the first nut are in sliding contact with the inner wall of the guiding hole.

[0023] According to some embodiments of the present utility model, the detection device further includes:

[0024] A third limiting member, the third limiting member is connected to the first telescopic member or the first nut; and

[0025] A fourth limiting member, the fourth limiting member is connected to the bracket and is located on one side of the third limiting member facing the elongation direction of the second telescopic mechanism, and the third limiting member can abut against the fourth limiting member to limit the moving distance of the first telescopic member relative to the bracket.

[0026] The robot according to the second aspect embodiment of the present utility model includes the detection device described in the first aspect embodiment.

[0027] Adopting the detection device of the first aspect embodiment, in this embodiment, a rack and a transmission gear are arranged between the first telescopic member and the cylinder. The rack drives the transmission gear to rotate so as to drive the first telescopic member to reciprocate. The rack and the transmission gear mesh with each other to generate meshing friction. Therefore, during the working process, when the air source is unstable and causes the cylinder to shake, the meshing friction between the rack and the transmission gear can play a certain damping role, thereby reducing the influence of the cylinder shake on the movement of the first telescopic member, improving the stability of the movement of the first telescopic member, reducing the degree of liquid fluctuation, and thus improving the detection accuracy of the inner wall of the pin hole.

[0028] The additional aspects and advantages of the present utility model will be partly given in the following description, partly become obvious from the following description, or be understood through the practice of the present utility model. Description of the Drawings

[0029] The following further describes the present utility model in conjunction with the drawings and embodiments, where:

[0030] Figure 1 is a schematic structural diagram of the first aspect embodiment of the present utility model;

[0031] Figure 2 is Figure 1 a cross-sectional view of;

[0032] Figure 3 is Figure 2 a schematic structural diagram of the second nut of the second telescopic member in;

[0033] Figure 4 is Figure 2 a schematic structural diagram of the first telescopic member and the first nut in;

[0034] Figure 5 is Figure 4 a cross-sectional view of;

[0035] Figure 6 is Figure 2 a schematic structural diagram of the first lead screw in;

[0036] Figure 7 is Figure 1 a schematic structural diagram of the extension part in;

[0037] Reference Signs:

[0038] Bracket 100, seat body part 110, bearing seat 111, extension part 120, guide hole 121, second opening 122, second protrusion 123;

[0039] Probe 200;

[0040] The first telescopic mechanism 300, the first telescopic member 310, the second hole section 311, the first opening 312, the first convex portion 313, the first lead screw 320, the accommodating groove 321, the transmission gear 330, the rack 340, the air cylinder 350, the mounting member 360, the first connecting member 370, the first nut 380, the first hole section 381, the mounting portion 382, the second groove 383, the third threaded hole 384, the connecting shaft 390;

[0041] The second telescopic mechanism 400, the second telescopic member 410, the second threaded hole 411, the second lead screw 420, the second driving member 430, the second nut 440, the first threaded hole 441, the first groove 442;

[0042] The first limiting member 500, the second limiting member 600, the third limiting member 700, the fourth limiting member 800, the bearing 900. Detailed implementation manners

[0043] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0045] In the description of the present invention, the meaning of several is more than one, the meaning of multiple is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If the first and the second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0046] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0047] The main function of the control rod guide cylinder of a nuclear power plant reactor is to guide the stepping motion of the control rod bundle and ensure that the rod drop time meets the nuclear safety requirements. After the nuclear power plant has been in operation for a certain period of time, the control rod guide cylinder will be regularly inspected for wear. If the wear exceeds the specified amount, the entire control rod guide cylinder will be replaced. During the replacement of the control rod guide cylinder, the two cotter pins at the bottom of the control rod guide cylinder need to be pulled out of the upper grid plate. Due to factors such as aging and jamming, there is a possibility that the cotter pins will break and the pin holes will be damaged during this process. Therefore, it is necessary to regularly inspect the pin holes.

[0048] Some technologies use a two-stage telescopic mechanism linked by a cylinder-screw module to drive the probe. During use, the probe can be quickly moved to the pin hole through the rapid extension and retraction of the cylinder, and then the probe is driven by the screw to move stably in the pin hole, thereby achieving efficient and high-precision detection of the pin hole. However, due to the instability of the air source, the cylinder shakes during the extension and retraction process, resulting in large fluctuations in the liquid when the detection equipment is operated underwater, resulting in low pin hole detection accuracy.

[0049] Based on the above problems, the first embodiment of the utility model proposes a detection device for checking the pin hole of the cotter pin of the control rod guide cylinder, which can improve the stability of the movement of the probe 200, thereby improving the pin hole detection accuracy. Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of an embodiment of the first aspect of the utility model. Figure 2 for Figure 1 , the detection device of this embodiment includes: a bracket 100, a first telescopic mechanism 300, a second telescopic mechanism 400 and a probe 200.

[0050] Wherein, the first telescopic mechanism 300 comprises a first telescopic member 310, a rack 340, a transmission gear 330, a first transmission assembly and a cylinder 350, the first telescopic member 310 is slidably connected to the bracket 100, the transmission gear 330 is connected to the first telescopic member 310 through the first transmission assembly, the transmission gear 330 is meshed with the rack 340, and the rack 340 is connected to the cylinder 350. The cylinder 350 telescopically drives the rack 340 to move, and the rack 340 drives the transmission gear 330 to rotate so that the first telescopic member 310 reciprocates along the first direction. The second telescopic mechanism 400 comprises a second telescopic member 410, a second driving member 430 and a second transmission assembly, the second driving member 430 is fixed to the first telescopic member 310, the second driving member 430 is connected to the second telescopic member 410 through the second transmission assembly, and the second driving member 430 is used to drive the second telescopic member 410 to reciprocate along the first direction relative to the first telescopic member 310. The probe 200 is, for example, an ultrasonic sensor, a laser interferometer, or a visual sensor. The probe 200 is connected to the second telescopic member 410 and is used to detect the inner wall of the pin hole.

[0051] The first transmission component includes, for example, a first lead screw 320 and a first nut 380. The first nut 380 is connected to the first telescopic member 310. The first lead screw 320 is in threaded connection with the first nut 380. The first lead screw 320 is directly or indirectly connected to the transmission gear 330. For example, the transmission gear 330 is directly connected to the first lead screw 320 by means such as screw connection, key connection or welding, or a gear set is further provided between the first lead screw 320 and the transmission gear 330. The gear set can be a reduction gear, and the first lead screw 320 and the transmission gear 330 are in transmission connection through the gear set. The transmission gear 330 meshes with the rack 340, and the rack 340 is directly or indirectly connected to the cylinder 350.

[0052] Specifically, the first telescopic member 310 has a second limiting structure, and the bracket 100 has a first limiting structure. The first limiting structure and the second limiting structure are in sliding fit so that the first telescopic member 310 can move relative to the bracket 100 along the first direction and the rotation of the first telescopic member 310 around the first direction is restricted. For example, the first limiting structure is set as a protrusion on the bracket 100, and the second limiting structure is set as a groove on the first telescopic member 310; or the first limiting structure is set as a groove on the bracket 100, and the second limiting structure is set as a protrusion on the first telescopic member 310. Both the protrusion and the groove extend along the first direction. The first telescopic member 310 and the bracket 100 are limited by sliding and clamping of the protrusion and the groove, so that the first telescopic member 310 can only reciprocally move relative to the bracket 100 along the first direction and cannot rotate around the first direction. Therefore, during the working process, the telescopic movement of the cylinder 350 drives the movement of the rack 340, the rack 340 drives the rotation of the transmission gear 330, the transmission gear 330 drives the rotation of the first lead screw 320, and since the first lead screw 320 and the first telescopic member 310 are in threaded connection through the first nut 380, the first telescopic member 310 reciprocally moves along the first direction.

[0053] The second driving member 430 is, for example, a device such as a driving motor that can achieve high-precision movement of the second telescopic member 410. Taking the driving motor as an example, the driving motor includes a housing and a rotating shaft. The housing is connected to the first telescopic member 310 or the first nut 380, and the rotating shaft is connected to the second transmission component through gears, a gear set or a coupling, etc.

[0054] Further, the second transmission assembly includes, for example, a second screw rod 420 and a second nut 440, the second nut 440 is connected to the second telescopic member 410, the second screw rod 420 and the second nut 440 are threadedly connected, the first telescopic member 310 has a third limiting structure, the second screw rod 420 has a fourth limiting structure, and the fourth limiting structure is slidably matched with the third limiting structure, so that the second telescopic member 410 can move relative to the first telescopic member 310 along the first direction and limit the second telescopic member 410 from rotating around the first direction. For example, the third limiting structure is, for example, a raised portion on the first telescopic member 310, and the fourth limiting structure is, for example, a groove on the second telescopic member 410; or, the third limiting structure is, for example, a groove on the first screw rod 320, and the fourth limiting structure is, for example, a raised portion on the second telescopic member 410, the raised portion and the groove both extend along the first direction, and the second telescopic member 410 is limited by the sliding engagement between the raised portion and the groove between the first telescopic member 310. Therefore, when the second driving member 430 drives the second screw rod 420 to rotate, the second telescopic member 410 can be reciprocated along the first direction.

[0055] Specifically, during the working process, the rapid extension and retraction of the cylinder 350 can be used to achieve the rapid movement of the first telescopic member 310, so that the probe 200 can quickly reach the pin hole, and then the second driving member 430 in the second telescopic mechanism 400 can be used to more stably drive the probe 200 to move in the pin hole, thereby achieving efficient and high-precision detection of the pin hole. In addition, in this embodiment, the first screw rod 320 and the cylinder 350 are connected by the rack 340 and the transmission gear 330, and the rack 340 and the transmission gear 330 are meshed with each other to generate meshing friction. Therefore, during the working process, when the air source is unstable and the cylinder 350 shakes, the meshing friction between the rack 340 and the transmission gear 330 can play a certain damping role, thereby reducing the influence of the shaking of the cylinder 350 on the rotation of the first screw rod 320, thereby improving the stability of the movement of the first telescopic member 310, so as to reduce the fluctuation caused by the detection device of this embodiment to the liquid during underwater operation, thereby improving the detection accuracy of the inner wall of the pin hole.

[0056] Based on the above embodiments, the first telescopic member 310 and the first nut 380 can be of a split structure, that is, the first telescopic member 310 and the first nut 380 are connected by means of threads, pins or welding. Of course, in other embodiments, the first telescopic member 310 and the first nut 380 can be of an integrally formed structure. For example, the first telescopic member 310 and the first nut 380 are machined from the same base material, or formed by an integral processing technology such as injection molding, making the structure of the first nut 380 and the first telescopic member 310 simpler and the transmission more stable. At the same time, during the assembly process, there is no need to assemble the connection between the first nut 380 and the first telescopic member 310, which can not only improve the positional accuracy between the first nut 380 and the first telescopic member 310, but also simplify the assembly process, thereby improving the assembly efficiency.

[0057] Further, in some embodiments, the first lead screw 320 and the first telescopic member 310 are coaxially arranged. Therefore, the gravity direction of the first telescopic member 310 coincides with the axial direction of the first lead screw 320, thereby avoiding the bending moment on the first telescopic member 310 due to the gravity during the telescopic process, improving the stability of the movement of the first telescopic member 310, and further improving the detection accuracy of the pin hole.

[0058] Similarly, in some embodiments, the second nut 440 and the second telescopic member 410 are of a split structure or an integrally formed structure, which will not be elaborated here. On this basis, in some embodiments, the second telescopic member 410 and the second lead screw 420 are coaxially arranged, thereby improving the stability of the second telescopic member 410. Further, the second telescopic member 410 and the first lead screw 320 are coaxially arranged, that is, the second telescopic member 410, the second lead screw 420, the first telescopic member 310 and the first lead screw 320 are coaxially arranged, which can make the gravity direction of the whole formed by the first telescopic member 310 and the second telescopic mechanism 400 approach the axis of the first lead screw 320, further reducing the bending moment on the first telescopic member 310 and improving the stability of the movement of the first telescopic member 310.

[0059] It should be noted that the above coaxial arrangement cannot be interpreted as the axes being completely coincident, and it is within the protection scope of this application within a certain allowable error range.

[0060] Based on the above embodiments, the first telescopic mechanism 300 further includes a damping member (not shown in the figure). The damping member is connected between the air cylinder 350 and the rack 340. The damping member is, for example, a rubber pad or a metal spring, etc. During the working process, the damping effect of the damping member can effectively absorb the jitter generated by the air cylinder 350, further improving the stability of the first telescopic member 310, and thus improving the detection accuracy of the pin hole.

[0061] Refer to Figure 2 , Figure 4 andFigure 5 , Figure 4 is Figure 2 a schematic structural view of the first telescopic member 310 and the first nut 380 in Figure 5 is Figure 4 a sectional view of . In some embodiments, a first hole section 381 is provided in the first nut 380. The first telescopic member 310 has a second hole section 311 and a first opening 312 that communicate with each other. The first hole section 381 communicates with the second hole section 311. A second driving member 430 is provided in the first hole section 381. The second transmission assembly is disposed in the second hole section 311. The second telescopic member 410 is disposed in the first hole section 381 and the second hole section 311 and can extend out from the first opening 312.

[0062] Specifically, the second telescopic mechanism 400 is disposed in the first hole section 381 and the second hole section 311. Compared with disposing the second telescopic mechanism 400 at the end of the first telescopic member 310, the detection device of this embodiment has a smaller size under the premise of the same telescopic amount, which is more conducive to working in a narrow space. Specifically, the first nut 380 has a third threaded hole 384. The first nut 380 further includes a mounting portion 382. The mounting portion 382 is located in the third threaded hole 384. The mounting portion 382 has the first hole section 381. The second driving member 430 is mounted in the first hole section 381. The second lead screw 420 is connected to the second driving member 430 and extends into the second hole section 311. The diameters of the first hole section 381 and the second hole section 311 are the same or different. As Figure 5 shown, in order to meet the installation space of the second driving member 430, the diameter of the first hole section 381 is larger than the diameter of the second hole section 311.

[0063] In addition, the first lead screw 320 is provided with a receiving groove 321 adapted to the mounting portion 382. As Figure 6 shown, Figure 6 is Figure 2 a schematic structural view of the first lead screw 320 in . During the movement of the first telescopic member 310, the mounting portion 382 can extend into the receiving groove 321. That is, during the working process, the second driving member 430 can extend into the receiving groove 321 of the first lead screw 320, thereby further reducing the size of the detection device of this embodiment in the first direction and improving the practicability of the detection device of this embodiment.

[0064] Referring to Figure 3 and Figure 5 , Figure 3 is Figure 2 a schematic structural view of the second telescopic member 410 and the second nut 440 in . In some embodiments, the inner wall of the second hole section 311 has a first protrusion 313 (as Figure 5 shown), and the outer wall of the second nut 440 has a first groove 442 (as Figure 3As shown, the first convex portion 313 and the first groove 442 both extend in the first direction. The first convex portion 313 and the first groove 442 are in sliding fit, so as to enable the second telescopic member 410 to move relative to the first telescopic member 310 in the first direction and restrict the second telescopic member 410 from rotating relative to the first telescopic member 310.

[0065] Referring to Figure 2 , in some embodiments, the second nut 440 has a first threaded hole 441, and the second telescopic member 410 is provided with a second threaded hole 411 that is coaxially arranged and communicated with the first threaded hole 441. The second threaded hole 411 is threadedly connected to the second lead screw 420. Specifically, the second threaded hole 411 is communicated with and coaxially arranged with the first threaded hole 441. Therefore, during the working process, the second lead screw 420 can pass through the first threaded hole 441 and extend into the second threaded hole 411, so as to increase the moving distance of the second telescopic member 410 relative to the second lead screw 420, increase the telescopic length of the detection device in this embodiment, and thus improve the practicability of the detection device in this embodiment.

[0066] Referring to Figure 2 , in some embodiments, the detection device further includes a first limiting member 500 and a second limiting member 600. The first limiting member 500 is connected to the second telescopic member 410 or the second nut 440. The second limiting member 600 is connected to the first telescopic member 310 and is located on one side of the first limiting member 500 facing the extending direction of the first telescopic mechanism 300. The first limiting member 500 can abut against the second limiting member 600 to limit the moving distance of the second telescopic member 410 relative to the first telescopic member 310, so as to prevent the second telescopic member 410 from moving too far and separating from the second lead screw 420, thereby improving the reliability of the detection device in this embodiment.

[0067] Specifically, in the first direction, the maximum distance between the first limiting member 500 and the second limiting member 600 is less than the thread length of the second lead screw 420, so as to ensure that the second telescopic member 410 still maintains a threaded connection with the second lead screw 420 when moving to the limit position, and further avoid the separation of the second telescopic member 410 from the second lead screw 420. Among them, the first limiting member 500 is, for example, an integrally formed structure with the second telescopic member 410, or is connected to the second telescopic member 410 by means of welding, threading, etc. Similarly, the first telescopic member 310 is, for example, an integrally formed structure with the second nut 440, or is connected to the second nut 440 by means of welding, threaded connection, etc., so as to Figure 2Taking the shown as an example, the outer diameter of the second nut 440 is larger than that of the second telescopic member 410, that is, the second nut 440 protrudes radially from the side surface of the second telescopic member 410 to form an annular first limiting member 500. The second limiting member 600 is connected to, for example, an annular structure at the first opening 312 of the first telescopic member 310. Thus, when the first limiting member 500 abuts against the second limiting member 600, the outer wall of the second telescopic member 410 can be more uniformly stressed, thereby avoiding excessive local stress on the second telescopic member 410 during contact, and further improving the service life of the second telescopic member 410.

[0068] Further, in some embodiments, the second limiting member 600 is respectively in contact with the first telescopic member 310 and the second telescopic member 410. Thus, the first hole section 381 and the second hole section 311 can form a relatively sealed environment, which can not only reduce the waterproof requirement of the second driving member 430 to reduce the selection cost of the second driving member 430, but also reduce the radiation received by the second driving member 430 to improve the service life of the second driving member 430.

[0069] Refer to Figure 1 and Figure 7 , in some embodiments, the bracket 100 includes a seat body portion 110 and an extension portion 120 that are connected to each other. The cylinder 350 is installed on the seat body portion 110. The extension portion 120 is provided with a guide hole 121 along the first direction. The guide hole 121 has a second opening 122 facing the elongation direction of the first telescopic mechanism 300. The first telescopic member 310 is disposed in the guide hole 121 and can extend out from the second opening 122. The first telescopic member 310 and / or the first nut 380 are in sliding contact with the inner wall of the guide hole 121. To Figure 2 Taking the shown as an example, the outer diameter of the first nut 380 is larger than that of the first telescopic member 310. The sliding fit between the first nut 380 and the hole wall of the guide hole 121 improves the stability of the movement of the first telescopic member 310. In addition, a second protrusion 123 is provided on the inner wall of the guide hole 121, and a second groove 383 is provided on the outer wall of the first nut 380. Both the second protrusion 123 and the second groove 383 extend along the first direction, and the second protrusion 123 is in sliding fit with the second groove 383. Thus, the first telescopic member 310 moves relative to the bracket 100 along the first direction, and the rotation of the first telescopic member 310 relative to the bracket 100 is restricted.

[0070] Refer to Figure 2, in some embodiments, the detection device further includes a third limiting member 700 and a fourth limiting member 800. The third limiting member 700 is connected to the first telescopic member 310 or the first nut 380. The fourth limiting member 800 is connected to the bracket 100 and is located on the side of the third limiting member 700 facing the elongation direction of the second telescopic mechanism 400. The third limiting member 700 can abut against the fourth limiting member 800 to limit the moving distance of the first telescopic member 310 relative to the bracket 100. Specifically, in the first direction, the maximum distance between the third limiting member 700 and the fourth limiting member 800 is less than the thread length of the first lead screw 320, so as to ensure that the first telescopic member 310 remains threadedly connected to the first lead screw 320 when it moves to the extreme position, thereby preventing the first telescopic member 310 from separating from the first lead screw 320. Among them, the third limiting member 700 is, for example, an integrally formed structure with the first telescopic member 310, or is connected to the first telescopic member 310 by means of welding, threading, etc. Similarly, the third limiting member 700 is, for example, an integrally formed structure with the first nut 380, or is connected to the first nut 380 by means of welding, threaded connection, etc., so as to Figure 2 take as an example, the outer diameter of the first nut 380 is greater than the outer diameter of the first telescopic member 310, that is, the first nut 380 protrudes radially from the side surface of the first telescopic member 310 to form an annular third limiting member 700. The fourth limiting member 800 is, for example, an annular structure connected to the second opening 122 of the first telescopic member 310. Thus, when the third limiting member 700 abuts against the fourth limiting member 800, the outer wall of the first telescopic member 310 can be stressed more evenly, thereby preventing the first telescopic member 310 from being locally overstressed during contact, and further improving the service life of the first telescopic member 310.

[0071] Refer to 1 and Figure 2 , in some embodiments, one end of the transmission gear 330 is connected to the first lead screw 320, and the other end is rotatably connected to the seat body portion 110, so as to Figure 2 take as an example, the seat body portion 110 includes a bearing seat 111. The first telescopic mechanism 300 further includes a connecting shaft 390. The detection device of this embodiment further includes a bearing 900. The outer ring of the bearing 900 is clamped to the bearing seat 111. One end of the connecting shaft 390 is clamped to the bearing 900, and the other end is connected to the transmission gear 330, so that the transmission gear 330 is rotatably connected to the seat body portion 110. Thus, both axial ends of the transmission gear 330 are restricted, thereby improving the stability of the transmission gear 330 during rotation.

[0072] Furthermore, in order to make the maintenance of the detection device of this embodiment simpler, in some embodiments, the wear resistance index of the transmission gear 330 (the wear resistance index is an important index for measuring the wear resistance of materials or products, and the higher the value, the better the wear resistance) is greater than the wear resistance index of the rack 340. The first telescopic mechanism 300 further includes a mounting member 360 (such asFigure 1 As shown in the figure, the air cylinder 350 is connected to the mounting member 360 and is used to drive the mounting member 360 to reciprocate. The rack 340 is detachably connected to the mounting member 360. Specifically, as can be seen from the above, other components are connected to both ends of the transmission gear 330. Therefore, the installation of the transmission gear 330 is relatively more complex than that of the rack 340. Based on this, in this embodiment, the transmission gear 330 is made of stainless steel with a larger wear resistance index, and the rack 340 is made of aluminum alloy with a smaller wear resistance index. When the transmission gear 330 meshes and rubs with the rack 340, the transmission gear 330 can be protected as much as possible, so that the rack 340 is worn. After the rack 340 is worn, the rack 340 can be directly replaced, making the maintenance of the detection device in this embodiment simpler.

[0073] Refer to Figure 1 , in some embodiments, the first telescopic mechanism 300 further includes a first connecting member 370. The extending direction of the mounting member 360 is parallel to the telescopic direction of the air cylinder 350. The first connecting member 370 is perpendicularly installed on the mounting member 360, with one end connected to the air cylinder 350 and the other end connected to the mounting member 360. That is, the mounting members 360 are arranged side by side in a direction perpendicular to the telescopic direction of the air cylinder 350, thus avoiding the detection device in this embodiment occupying too much space in the telescopic direction of the air cylinder 350, and making the structure of the detection device more compact.

[0074] In some embodiments, the detection device further includes a second connecting member (not shown in the figure). The second connecting member is a flexible structure. One end of the second connecting member is connected to the probe 200, and the other end is connected to the second telescopic member 410. Specifically, the second connecting member can be any elastic structure such as a spring, a metal shrapnel, or rubber. When performing the inspection operation on the surface defects of the inner wall of the pin hole, the probe 200 can be deflected adaptively, thus avoiding the probe 200 from getting stuck or being scratched to a large extent in the small hole, and improving the reliability of the detection device in this embodiment.

[0075] According to the robot of the second embodiment of the utility model, the detection device of the first embodiment is included. Specifically, the robot includes a vehicle-mounted body, and the vehicle-mounted body includes a Mecanum wheel, so that the vehicle-mounted body can realize the omnidirectional movement of the robot. The seat body 110 of the detection device of the first embodiment is installed on the vehicle-mounted body. Therefore, during the work process, the worker can remotely control the displacement of the probe 200 without manual underwater operation. Specifically, when in use, the detection device is installed on the vehicle-mounted body and connected to the control end. During work, the air pump supplies air to the cylinder 350, and the cylinder 350 drives the first telescopic member 310 to extend, and then drives the second telescopic member 410 to extend through the second driving member 430, so that the probe 200 moves in the pin hole to detect the inner wall of the pin hole. After detecting a pin hole, the probe 200 is retracted by the first telescopic mechanism 300 and the second telescopic mechanism 400, and then the vehicle-mounted body is moved by remote control, so that the probe 200 moves to another pin hole to be detected for detection.

[0076] Specifically, this embodiment adopts the detection device of the first aspect embodiment, and the first telescopic member 310 and the cylinder 350 are connected through a rack 340 and a transmission gear 330. The rack 340 and the transmission gear 330 mesh with each other to generate meshing friction. Therefore, during operation, when the air source is unstable and the cylinder 350 shakes, the meshing friction between the rack 340 and the transmission gear 330 can play a certain damping role, thereby reducing the influence of the shaking of the cylinder 350 on the movement of the first telescopic member 310, and then improving the stability of the movement of the first telescopic member 310, so as to improve the stability of the movement of the probe 200, thereby improving the detection accuracy of the inner wall of the pin hole.

[0077] In addition, it should be noted that since this embodiment adopts all the technical features of the detection device of the first aspect embodiment, this embodiment has all the beneficial effects brought by the first aspect embodiment, which will not be repeated here.

[0078] In some embodiments, the maximum stroke of the first telescopic member 310 is greater than the depth of the pin hole to be detected. Therefore, during the detection operation, if an electrical device fails, the probe 200 can be safely evacuated from the pin hole by simply deflation of the cylinder 350, without the need for manual maintenance, making the detection device of this embodiment more convenient and reliable to use.

[0079] The embodiments of the present utility model have been described in detail above in conjunction with the accompanying drawings. However, the present utility model is not limited to the above embodiments, and various changes can be made without departing from the gist of the present utility model within the scope of knowledge possessed by those of ordinary skill in the art. In addition, in the description of the present utility model, the descriptions with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

Claims

1. Detection device, characterized in that, For inspecting the pin holes of the cotter pins of the control rod guide tube, including: A bracket; A first telescopic mechanism, including a first telescopic member, a rack, a transmission gear, a first transmission assembly, and a cylinder installed on the bracket. The rack meshes with the transmission gear, and the cylinder is connected to the rack to drive the rack to move. The movement of the rack can drive the transmission gear to rotate. The transmission gear is connected to the first telescopic member through the first transmission assembly, so that the rotation of the transmission gear can drive the first telescopic member to move in the first direction; A second telescopic mechanism, including a second telescopic member, and a second driving member and a second transmission assembly connected to the first telescopic member. The second driving member is connected to the second telescopic member through the second transmission assembly to drive the second telescopic member to move relative to the first telescopic member in the first direction; and A probe, connected to the second telescopic member, for detecting the inner wall of the pin hole.

2. The detection device according to claim 1, characterized in that, The first telescopic mechanism further includes a damping member, which is connected between the cylinder and the rack, and the damping member is used to absorb the vibration between the cylinder and the rack.

3. The detection device according to claim 1, wherein The first transmission assembly further includes: A first lead screw, one end of which is connected to the transmission gear and can rotate under the drive of the transmission gear; and A first nut, which is threadedly connected to the first lead screw, and the first nut and the first telescopic member are integrally formed.

4. The detection device according to claim 3, wherein A first hole section is provided in the first nut. The first telescopic member has a second hole section and a first opening that communicate with each other. The first hole section communicates with the second hole section. The second driving member is provided in the first hole section. The second transmission assembly is provided in the second hole section. The second telescopic member is provided in the first hole section and the second hole section and can extend out of the first opening.

5. The detection device according to any one of claims 1 to 4, characterized in that, The second transmission assembly includes: A second lead screw, one end of which is connected to the second driving member and can rotate under the drive of the second driving member; and A second nut, which is threadedly connected to the second lead screw, and the second nut and the second telescopic member are integrally formed.

6. The detection device according to claim 5, characterized in that, The second nut has a first threaded hole, and the second telescopic member is provided with a second threaded hole that is coaxially arranged and communicated with the first threaded hole, and the second threaded hole is threadedly connected to the second lead screw.

7. The detection device according to claim 5, wherein The detection device further includes: A first limiting member, which is connected to the second telescopic member or the second nut; and A second limiting member, which is connected to the first telescopic member and is located on one side of the first limiting member facing the elongation direction of the first telescopic mechanism. The first limiting member can abut against the second limiting member to limit the moving distance of the second telescopic member relative to the first telescopic member.

8. The detection device according to claim 3, wherein The bracket includes a seat portion and an extension portion that are connected to each other. The cylinder is installed on the seat portion. The extension portion is provided with a guide hole along the first direction. The guide hole has a second opening facing the elongation direction of the first telescopic mechanism. The first nut and the first telescopic member are arranged in the guide hole and can extend out from the second opening. The first telescopic member and / or the first nut are in sliding contact with the inner wall of the guide hole.

9. The detection device according to claim 3, characterized in that, The detection device further includes: a third limiting member, which is connected to the first telescopic member or the first nut; and a fourth limiting member, which is connected to the bracket and is located on one side of the third limiting member facing the elongation direction of the second telescopic mechanism. The third limiting member can abut against the fourth limiting member to limit the moving distance of the first telescopic member relative to the bracket.

10. A robot, characterized in that, including the detection device according to any one of claims 1 to 9.

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