阅读说明：本技术 适用于蒸汽发生器第九支撑板的视频检查设备及检查方法 (video inspection equipment and method suitable for ninth support plate of steam generator ) 是由 陶于春 武伟让 王益群 韩文涛 罗威 赵清森 于 2019-09-11 设计创作，主要内容包括：本发明公开了一种适用于蒸汽发生器第九支撑板的视频检查设备,所述视频检查设备包括检查机器人、推拔器、控制装置、连接在所述检查机器人和推拔器之间的线束以及连接在所述推拔器和控制装置之间的线缆；所述检查机器人用于检查第九支撑板管间梅花孔的堵塞情况,所述推拔器包括外筒体、卷线筒、驱动所述卷线筒转动的驱动单元、位于所述外筒体下部的安装筒体、用于夹持并传输所述线束的传动系统。本发明的适用于蒸汽发生器第九支撑板的视频检查设备,能够完成蒸汽发生器第九支撑板梅花孔堵塞情况的水下自动检查,解决了人员难以通过导向工具将探头引入管间并进行检查的难题；检查设备集成度高,方便安装和操作,检查范围全覆盖。(The invention discloses a video inspection device suitable for a ninth supporting plate of a steam generator, which comprises an inspection robot, a pusher, a control device, a wire harness connected between the inspection robot and the pusher and a cable connected between the pusher and the control device; the inspection robot is used for inspecting the blockage condition of a quincuncial hole between tubes of the ninth supporting plate, and the pushing and pulling device comprises an outer barrel, a winding drum, a driving unit for driving the winding drum to rotate, an installation barrel located at the lower part of the outer barrel, and a transmission system for clamping and transmitting the wiring harness. The video inspection equipment suitable for the ninth supporting plate of the steam generator can finish the underwater automatic inspection of the quincuncial hole blocking condition of the ninth supporting plate of the steam generator, and solves the problem that personnel are difficult to introduce a probe into a pipe space through a guide tool and inspect the probe; the inspection equipment has high integration level, is convenient to install and operate, and has a full-coverage inspection range.)

1. The video inspection device is suitable for the ninth supporting plate of the steam generator and is characterized by comprising an inspection robot, a puller, a control device, a wire harness connected between the inspection robot and the puller and a cable connected between the puller and the control device; the inspection robot is used for inspecting the blockage condition of a quincuncial hole between tubes of the ninth supporting plate, the pusher comprises an outer barrel, a winding drum and a driving unit, the driving unit drives the winding drum to rotate, the mounting barrel is located at the lower portion of the outer barrel, and a transmission system used for clamping and transmitting the wiring harness is arranged on the winding drum.

2. The video inspection device suitable for the ninth support plate of the steam generator according to claim 1, wherein the inspection robot comprises a housing, a traveling mechanism arranged on the housing, a flexible arm connected to the front end of the housing, a driving mechanism for adjusting the flexible arm, a probe mechanism arranged at one end of the flexible arm far away from the housing, and a winding and unwinding mechanism arranged in the housing, wherein the winding and unwinding mechanism is used for winding and unwinding the probe mechanism; one end of the wire harness is connected to the rear portion of the shell, the other end of the wire harness is connected to the winding reel, and the winding reel is used for winding and unwinding the wire harness.

3. The video inspection device for the ninth supporting plate of the steam generator according to claim 2, wherein the probe mechanism comprises a probe body connected to the inside of the casing, one end of the probe body is connected to the winding and unwinding mechanism, the other end of the probe body is provided with a probe assembly for image pickup, the flexible arm is provided with a hollow hole for the probe body to pass through, the hollow hole extends along the axial direction of the flexible arm, and the winding and unwinding mechanism is used for winding and unwinding the probe body.

4. The video inspection apparatus for the ninth supporting plate of the steam generator according to claim 1, wherein the drawer further comprises a moving mechanism for winding the wire harness on the spool uniformly, the moving mechanism comprising a moving plate, a reel mounted on the moving plate, a screw rod for moving the moving plate up and down, and a screw rod rotating motor for driving the screw rod to rotate.

5. The video inspection apparatus for the ninth support plate of the steam generator according to claim 1, wherein the outer cylinder is mounted with a tension testing device for tension testing the wire harness, the tension testing device comprises a tension clamping wheel and a tension sensor, at least two of the tension clamping wheels are located at different vertical directions.

6. the video inspection apparatus for the ninth support plate of the steam generator as claimed in claim 1, wherein the transmission system comprises a transmission wheel for clamping the wire harness, a gear assembly for rotating the transmission wheel, and a transmission motor for operating the gear assembly.

7. The video inspection apparatus of claim 1, wherein said control device comprises a nearby control box installed on the manhole of said steam generator and a remote control system connected to said nearby control box through said cable, said remote control system being used to control the movement of the inspection robot and the acquisition of video signals.

8. The video inspection apparatus of claim 7, wherein said remote control system comprises a joystick for controlling inspection robot movement and flexible arm adjustment, a keyboard editing area and hard disk storage area, an auxiliary video and gesture display area, and an inspection video display area.

9. The video inspection device of claim 1, further comprising a monitoring camera for verifying water quality and water level conditions prior to inspection, said monitoring camera comprising a light source.

10. The inspection method of the video inspection apparatus for the ninth support plate of the steam generator according to claim 1, comprising the steps of:

s1, mounting a monitoring camera to one of observation holes in a surrounding plate in a steam generator, and confirming water quality and water level conditions;

S2, connecting the pusher with the inspection robot by using a wire harness, putting the inspection robot into the inspection robot from the other observation hole, and installing the pusher; placing a nearby control box on a platform outside a manhole of the steam generator, and connecting the pusher with the nearby control box, the nearby control box and a remote control system by cables;

S3, turning on a power supply, controlling the inspection robot to a position where the probe assembly is close to the space between the pipes to be inspected of the ninth supporting plate through the remote control system, judging whether the inspection robot is opposite to the space between the pipes to be inspected through the probe assembly, and if the inspection robot is not opposite to the space between the pipes to be inspected, operating the flexible arm of the inspection robot to adjust left and right and up and down until the view field of the probe assembly is opposite to the space between;

S4, operating the rolling and releasing mechanism of the inspection robot through a remote control system, enabling the probe assembly to enter a pipe room to be inspected until the probe assembly reaches a central pipe gallery, recovering the probe assembly at the moment, and inspecting the blockage condition of the plum blossom holes until the probe assembly is recovered into the flexible arm limiting groove;

s5, adjusting the flexible arm or moving the inspection robot according to the position of the next pipe to be inspected to align the probe assembly to the pipe to be inspected, and repeating the step S4 to realize the video inspection of the quincunx hole between the pipes.

Technical Field

The invention relates to the technical field of steam generator inspection, in particular to equipment suitable for automatic video inspection of plum blossom holes among ninth supporting plate tubes of a steam generator and a method for inspecting the blockage condition of the plum blossom holes among the ninth supporting plate tubes by using the equipment.

background

The steam generator is a heat exchanger which uses the heat of a primary loop to heat a secondary loop of feed water to change the feed water into steam. The deposition sludge is inevitably generated at the tube plate, the supporting plate, the outer wall of the tube and the like during the operation process, and regular cleaning and video inspection are required during each shutdown maintenance.

The domestic CPR stack type steam generator is of a vertical structure and sequentially comprises a tube plate, a splitter plate, a first support plate, a second support plate and a ninth support plate from bottom to top. Because structural limitation, generally only carry out manual video inspection and high pressure cleaning between tube sheet and first backup pad, the second is owing to fail to implement high pressure cleaning to ninth backup pad is regional, increases along with operating duration, can deposit more and more mud sediment in this region, and then influences heat exchange efficiency and water level fluctuation, if above-mentioned problem appears, will influence the unit and generate electricity.

Internationally, chemical cleaning is generally used to remove the sludge in the area. Given the potential corrosion risk of chemical cleaning processes to heat transfer tubes, evaluation and validation is required prior to use. The chemical cleaning method can be decided only by confirming that the sludge existing on the upper part really causes the problems, and the confirmation means, namely the video inspection of the ninth supporting plate is judged by the blockage condition of the plum blossom holes of the ninth supporting plate; the area between the second support plate and the eighth support plate is narrow in space and cannot be inspected without an equipment inspection entrance, but the sludge distribution condition between the second support plate and the eighth support plate can be evaluated according to the sludge deposition distribution condition of the ninth support plate based on the sludge deposition distribution rule of the steam generator, and the necessity of using chemical cleaning is further judged according to the overall evaluation condition, so that the development of the ninth support plate video inspection equipment and the ninth support plate video inspection method are particularly critical.

In the structural aspect, the ninth supporting plate is arranged in the enclosing plate, equipment can only enter through an observation hole with the inner diameter of about 200mm, the equipment moves downwards to the position above the ninth supporting plate along the inner wall of the enclosing plate in the height direction, the video inspection probe is inserted into the space between the tubes for video inspection, and the visible distance between the tubes is 8.38 mm; the whole coaming is positioned in the steam generator, equipment and personnel need to enter from a manhole above, and climb down along the vertical ladder by about 3m to reach the observation hole platform; 16 steam pipelines are distributed around the observation hole platform, so that the space is narrow when personnel install the equipment, and the personnel are difficult to turn and shift. During inspection, in order to reduce the irradiated dose of equipment installation personnel as much as possible, all the tube bundles need to be flooded with water, namely, the video inspection of the ninth supporting plate is performed underwater. The difficulty of development of the ninth supporting plate video inspection equipment is determined by conditions such as narrow space, high installation difficulty, inter-pipe positioning and underwater inspection; at present, no equipment and method for carrying out automatic video inspection on quincunx holes between tubes of the ninth supporting plate are developed in China.

disclosure of Invention

in view of the above, in order to overcome the defects of the prior art, the present invention aims to provide a video inspection apparatus suitable for a ninth support plate of a steam generator.

In order to achieve the purpose, the invention adopts the following technical scheme:

The video inspection device is suitable for the ninth supporting plate of the steam generator and is characterized by comprising an inspection robot, a puller, a control device, a wire harness connected between the inspection robot and the puller and a cable connected between the puller and the control device; the inspection robot is used for inspecting the blockage condition of a quincuncial hole between tubes of the ninth supporting plate, the pusher comprises an outer barrel, a winding drum and a driving unit, the driving unit drives the winding drum to rotate, the mounting barrel is located at the lower portion of the outer barrel, and a transmission system used for clamping and transmitting the wiring harness is arranged on the winding drum.

Preferably, the inspection robot comprises a shell, a traveling mechanism arranged on the shell, a flexible arm connected to the front end of the shell, a driving mechanism for adjusting the flexible arm, a probe mechanism arranged at one end of the flexible arm far away from the shell, and a winding and unwinding mechanism arranged in the shell, wherein the winding and unwinding mechanism is used for winding and unwinding the probe mechanism; one end of the wire harness is connected to the rear portion of the shell, the other end of the wire harness is connected to the winding reel, and the winding reel is used for winding and unwinding the wire harness.

More preferably, probe mechanism including be connected to the probe body in the casing, the one end of probe body is connected on the roll-up mechanism, the probe subassembly that is used for making a video recording is installed to the other end of probe body, offer the confession on the flexible arm the cavity hole that the probe body runs through, the cavity hole is followed the axial direction of flexible arm extends and is seted up, it is right to roll up the mechanism the probe body receive and releases.

The inspection robot adsorbs at the bounding wall inner wall, carry probe mechanism and carry out the inspection of intertube plum blossom hole jam condition, including the magnetic wheel subassembly, actuating mechanism, the roll-up mechanism, a housing, the camera module, probe assembly and flexible arm, the magnetic wheel unit mount is in the bottom surface of casing, actuating mechanism and roll-up mechanism install the inside at the casing, the flexible arm is a hollow cylinder, install in the front of casing, probe assembly is connected to the roll-up mechanism through flexible arm inner wall and can realize stretching out or retracting of probe assembly under the effect of roll-up mechanism, actuating mechanism realizes the removal of inspection robot, probe assembly receive and releases and the regulation of flexible arm. The inspection robot works underwater, and the whole inspection robot needs to have good sealing, so that the stable work of the inspection robot is guaranteed.

specifically, in some embodiments, the traveling mechanism is a four-wheel drive structure, and includes a magnetic wheel, a first motor, a first transmission assembly and a mounting bracket, the magnetic wheel includes a permanent magnet, a bottom cover, a top cover, a rim and a scraper, the magnetic wheel is connected with the first transmission assembly through a bolt, and under the action of the first motor, the magnetic wheel is driven to rotate so as to realize the traveling of the inspection robot, the first transmission assembly and the first motor are mounted on the mounting bracket, the magnetic wheel passes through the casing through a rotating shaft and then is connected to the mounting bracket, and the number of the magnetic wheel and the first motor is preferably set to 4.

The probe assembly comprises a support frame, a first camera and a second camera, wherein the first camera and the second camera are mounted on the support frame; offer the breach that is used for making things convenient for first camera to carry out the camera on the support frame. The probe assembly is used for acquiring video information of the blockage condition of the quincuncial hole, the flexible arm penetrates through the probe body, one end of the probe body is installed on a winding and unwinding mechanism which is arranged in the shell, and the other end of the probe body is connected with the probe assembly and enters and exits the pipe space under the action of the winding and unwinding mechanism. The flexible arm comprises a flexible body and an adjusting rod arranged at one end of the flexible body, the end of the adjusting rod is far away from one end of the shell, the flexible body is formed by sequentially connecting a plurality of universal rings, and a limiting groove matched with the supporting frame is formed in the adjusting rod.

The flexible arm is mounted at the front end of the inspection robot and is used for adjusting the position of the probe assembly and the angle between the access pipes. The support frame includes the wedge face that is close to the regulation pole and keeps away from the arcwall face of adjusting the pole, and the spacing groove is close to the wedge face and has the slip entry that the slope set up. The arrangement of the wedge-shaped surface and the sliding inlet facilitates the support frame to slide into the limiting groove. The support frame rear end has the wedge face promptly and the front end has the arcwall face characteristic, and the arcwall face contacts ninth backup pad upper surface earlier when the support frame falls to one side to guarantee that the second camera direction is forward under the restriction of self structure.

The winding and unwinding mechanism comprises a driving roller, a second transmission assembly, a driven roller, a third motor, a fourth motor, a third transmission assembly, a winding drum bracket, a winding drum, a wiring unit and a screw rod; the driving roller is matched with the driven roller to clamp the probe body; the probe body penetrates through the wiring device and is wound on the winding drum, the winding drum is arranged on the shell through a winding drum support, and the winding drum support is connected with the third transmission assembly; the third motor drives the driving roller through the second transmission assembly so as to drive the probe body to be wound and unwound on the winding drum; simultaneously, the fourth motor passes through third transmission assembly drive lead screw, and then realizes that the wiring ware carries the probe body and removes at lead screw length direction, and the reel is rotatory a week, and the wiring ware synchronous movement is the line footpath distance of a probe body.

The camera module comprises a third camera arranged on the side and the rear of the inspection robot and a fourth camera arranged in front of the inspection robot, and the fourth camera is an RGB-D camera. The number of the third cameras is preferably 3, the third cameras are respectively distributed at the back and two side faces of the inspection robot and respectively provide spatial information around to assist the movement of the inspection robot; the fourth camera is arranged in front of the inspection robot and can acquire the depth and posture information of the inspection robot.

The shell comprises an upper shell, a middle shell and a lower shell in sequence, an upper cavity used for placing the rolling and unrolling mechanism and part of the probe body is formed between the upper shell and the middle shell, a lower cavity used for placing part of the travelling mechanism is formed between the middle shell and the lower shell, and the rotating shaft of the magnetic wheel penetrates through the lower shell and then is installed on the installation support. The upper shell, the middle shell and the lower shell are connected through bolts and are divided into an upper layer and a lower layer, so that underwater video inspection is facilitated, the upper shell and the middle shell form an upper-layer open space for placing a winding and unwinding mechanism, part of a probe body and the like; the middle shell and the lower shell form a lower-layer sealed space for placing part of the travelling mechanism; the middle shell and the lower shell are statically sealed through a sealing device, and are provided with air valves for inflating to form positive pressure so as to prevent water from permeating into a lower-layer sealing space when the sealing is damaged; the camera module is arranged on the shell and adopts a sealing ring to realize static sealing; a double-layer sealing ring is adopted between a rotating shaft of the magnetic wheel and the shell to realize dynamic sealing; the probe body is connected to the lower layer sealing space of the shell through a sealing device below the winding drum; through the arrangement, the lower-layer sealed space is realized, and the stability of underwater video inspection is ensured.

The cable and the wiring harness are used for realizing normal communication among the devices, and a steel wire rope used for pulling the inspection robot back under the fault condition is further arranged in the wiring harness.

Preferably, the pusher further comprises a moving mechanism for uniformly winding the wire harness on the spool, wherein the moving mechanism comprises a moving plate, a reel mounted on the moving plate, a screw rod for driving the moving plate to move up and down, and a screw rod rotating motor for driving the screw rod to rotate.

Preferably, the outer cylinder is provided with a tension testing device for testing the tension of the wire harness, the tension testing device comprises a tension clamping wheel and a tension sensor, the tension clamping wheel is arranged on the mounting plate, and at least two of the tension clamping wheels are positioned in different vertical directions.

Preferably, the transmission system comprises a transmission wheel for clamping the wiring harness, a gear assembly for driving the transmission wheel to rotate, and a transmission motor for driving the gear assembly to operate. The drive wheel is a plurality of and install on the riser. The tension clamping wheel is positioned below the transmission system.

The outer cylinder of the pulling device is provided with a cover plate and a bottom plate, a handle is arranged above the cover plate, and the mounting cylinder is arranged on the bottom plate. The backup pad is installed at the both ends of winding reel, connects through the connecting rod between two backup pads, and connects on the apron and the bottom plate of outer barrel through the connecting rod. The middle of the winding reel is provided with a rotating shaft, and the driving unit drives the rotating shaft to rotate so as to realize the rotation of the winding reel. A connecting plate is arranged between the supporting plate and the bottom plate to further strengthen the overall structural strength of the pusher. Holes for the wire harness to pass through are formed in the supporting plate and the bottom plate.

specifically, in some embodiments, the pusher is a cylindrical structure, is installed on the observation hole, has one end connected to the tail of the inspection robot through a wire harness, and has the other end connected to the nearby control box through a cable, and is used for realizing data communication with the inspection robot and the nearby control box, and feeding back the processed data to the nearby control box, and simultaneously is used for adjusting the length of the wire harness at the tail of the inspection robot in a follow-up manner during the movement of the inspection robot, preventing the wire harness from twisting and winding, and sensing whether the inspection robot falls off from the inner wall of the coaming, and comprises an outer cylinder, a winding drum installed in the outer cylinder, a driving unit, a control board, a tension testing device, an installation cylinder, a transmission system, and a handle installed on the outer cylinder, wherein one end of the wire harness is connected to the tail of the inspection robot, and the other end is connected to the winding, the winding reel can rotate, receive and release the wire harness layer by layer and drive the wire harness through the transmission system under the action of the driving unit. The control board card is used for realizing the acquisition and analysis of communication data of the inspection robot and the control of the function of the pusher, the mounting cylinder is mounted at the lower part of the outer cylinder, the tension sensor is mounted in the mounting cylinder, and the wire harness penetrates through the tension sensor to enable the state of the wire harness to be sensed; the outer diameter of the installation cylinder body is matched with the inner diameter of the observation hole, and concentric installation can be realized under the action of gravity; the handle is arranged above the outer barrel body, and is convenient to carry and install.

Preferably, the control device comprises a nearby control box placed outside the manhole of the steam generator and a remote control system connected with the nearby control box through the cable, wherein the remote control system is used for controlling the movement of the inspection robot and the acquisition of video signals. The nearby control box is placed on a platform outside a manhole of the steam generator, serves as a central control system of the remote control system and the inspection robot, mainly plays a role in controlling the movement of the inspection robot, power signal conversion and transmission, audio and video signal acquisition and processing and the like, and is provided with a screen to display relevant parameters. Through setting up control box and remote control system nearby, transmission efficiency is high, the quality is stable, and the inspection image is clear stable.

More preferably, the remote control system comprises an operating rod for controlling the movement of the inspection robot and the adjustment of the flexible arm, a keyboard editing area and a hard disk storage area, an auxiliary video and gesture display area and an inspection video display area. The remote control system is used as an upper computer and is mainly used for realizing the acquisition of video signals and the required motion control, wherein the operating rods are used for realizing the motion of the inspection robot and the adjustment of the flexible arm, the two operating rods are interlocked, the keyboard editing area and the hard disk storage area are used for operating a system interface, editing and storing videos, the auxiliary video and gesture display area and the inspection video display area are used for displaying 7 paths of video signals and are provided with operating buttons driven by the probe assembly, and the video signals of the probe assembly are placed at the position where the inspection video display area is obvious; the operator can realize the movement of the inspection robot, the editing, the storage, the display and the like of the probe assembly in and out of the pipe and the video signal through the control button according to the information of the position to be detected, the position of the inspection robot, the video signal and the like, and can also carry out audio communication with the personnel at the position of the pusher.

Preferably, the video inspection equipment further comprises a monitoring camera for verifying the water quality and water level conditions before inspection, wherein the monitoring camera comprises a light source. The monitoring camera is arranged in an observation hole which is different from the arrangement of the pusher, and the angle of the monitoring camera can be adjusted to increase the observation visual field and assist the motion of the inspection robot. The monitoring camera is used for verifying quality of water and water level condition before the inspection, ensures that the quality of water definition can satisfy the inspection requirement, and the water level can cover all tube bundles in order to reduce the environment dose.

the invention also provides an inspection method of the video inspection equipment suitable for the ninth support plate of the steam generator, which comprises the following steps:

S1, mounting a monitoring camera to one of observation holes in a surrounding plate in a steam generator, and confirming water quality and water level conditions and inspection prerequisites;

S2, connecting the pusher with the inspection robot by using a wire harness, putting the inspection robot into the inspection robot from the other observation hole, and installing the pusher; placing a nearby control box on a platform outside a manhole of the steam generator, and connecting the pusher with the nearby control box, the nearby control box and a remote control system by cables;

S3, turning on a power supply, controlling the inspection robot to a position where the probe assembly is close to the space between the pipes to be inspected of the ninth supporting plate through the remote control system, judging whether the inspection robot is opposite to the space between the pipes to be inspected through the probe assembly, and if the inspection robot is not opposite to the space between the pipes to be inspected, operating the flexible arm of the inspection robot to adjust left and right and up and down until the view field of the probe assembly is opposite to the space between;

S4, operating the inspection robot rolling mechanism through the remote control system to enable the probe assembly to enter the pipe room to be inspected until the central pipe gallery is reached, recovering the probe assembly at the moment, inspecting the blockage situation of the plum blossom holes, paying attention to the speed to be proper so as to see the blockage situation information of the plum blossom holes clearly until the probe assembly is recovered to the flexible arm limiting groove, judging whether the probe assembly supporting frame completely moves out of the pipe room or not according to the second camera at the moment, and adjusting the position of the flexible arm if necessary.

S5, adjusting a flexible arm (within the flexible arm adjusting range) or moving an inspection robot (not within the flexible arm adjusting range) according to the position of the next pipe to be inspected to enable a second camera to be aligned to the pipe to be inspected, and repeating the step S4 to realize video inspection of plum blossom holes between the pipes;

The probe assembly enters the inspection inter-pipe space until reaching the central pipe gallery area, and is pulled back and inspected; and (4) placing the inspection robot into the to-be-inspected pipes at different positions through the nearest and convenient observation hole, and judging whether to adjust the installation position of the monitoring camera according to the visual field range of the monitoring camera.

Compared with the prior art, the invention has the advantages that: the video inspection equipment suitable for the ninth supporting plate of the steam generator can finish the underwater automatic inspection of the quincuncial hole blocking condition of the ninth supporting plate of the steam generator, and solves the problem that personnel are difficult to introduce a probe into a pipe space through a guide tool and inspect the probe; the inspection equipment has high integration level, is convenient to install and operate, and has a full-coverage inspection range.

drawings

in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic view of a video inspection apparatus adapted to a ninth support plate of a steam generator and an upper structure of the steam generator in accordance with a preferred embodiment of the present invention;

FIG. 2 is a quincunx hole and sight hole pattern of a ninth support plate in the steam generator;

FIG. 3 is a perspective view of the pusher in the preferred embodiment of the present invention;

FIG. 4 is a front view of the pusher in the preferred embodiment of the present invention;

FIG. 5 is a perspective view of the pusher after concealing the outer barrel in a preferred embodiment of the invention;

FIG. 6 is a perspective view of an inspection robot in accordance with a preferred embodiment of the present invention;

fig. 7 is a perspective view of the internal structure of an inspection robot of a preferred embodiment of the present invention from a first perspective;

Fig. 8 is a perspective view of the internal structure of an inspection robot of a second perspective in accordance with a preferred embodiment of the present invention;

Fig. 9 is a schematic sectional view of a traveling mechanism in the inspection robot according to the preferred embodiment of the present invention;

Fig. 10 is a schematic structural view of a reel-up and reel-down mechanism in an inspection robot according to a preferred embodiment of the present invention;

FIG. 11 is a schematic cross-sectional view of an inspection robot in accordance with a preferred embodiment of the present invention;

FIG. 12 is a schematic view of a probe mechanism in an inspection robot in accordance with a preferred embodiment of the present invention;

FIG. 13 is a schematic cross-sectional view of a flexible arm in an inspection robot in accordance with a preferred embodiment of the present invention;

FIG. 14 is a perspective view of a first perspective of a gimbal ring in a flexible arm in accordance with a preferred embodiment of the present invention;

FIG. 15 is a perspective view of a gimbal ring in a flexible arm in accordance with a preferred embodiment of the present invention from a second perspective;

FIG. 16 is a schematic view of the probe assembly access tube of the inspection robot in accordance with the preferred embodiment of the present invention.

In the drawings: 1-a running mechanism, 101-a magnetic wheel, 111-a permanent magnet, 112-a top cover, 113-a bottom cover, 114-a rim, 115-a scraper, 102-a first transmission component, 103-a mounting bracket, 104-a first motor, 105-a rotating shaft, 2-a probe mechanism, 201-a probe body, 202-a first camera, 203-a second camera, 204-a support frame, 205-a wedge surface, 206-an arc surface, 3-a flexible arm, 31-a universal ring, 32-a nickel titanium alloy wire, 33-a spring, 34-a corrugated pipe, 35-an adjusting rod, 36-a limiting groove, 37-a reel, 38-a second motor, 4-a rolling mechanism, 41-a driving roller, 42-a second transmission component and 43-a driven roller, 44-third motor, 45-fourth motor, 46-third transmission component, 47-reel bracket, 48-reel, 49-wiring unit, 410-lead screw, 5-camera module, 51-third camera, 52-fourth camera, 6-shell, 61-upper shell, 62-middle shell, 63-lower shell, 7-wire harness, 8-inspection robot, 9-drawer, 91-outer cylinder, 911-cover plate, 912-bottom plate, 913-connecting plate, 921-winding cylinder, 922-support plate, 923-rotating shaft, 924-connecting rod, 931-moving plate, 932-winding wheel, 933-lead screw, 94-driving unit, 95-control, 961-tension sensor, 962-tension clamping wheel, 963-mounting plate, 97-mounting cylinder, 981-vertical plate, 982-driving wheel, 983-gear assembly, 984-driving motor, 99-handle, 10-monitoring camera, 11-nearby control box, 12-remote control system, 121-operating rod, 122-keyboard editing area and hard disk storage area, 123-auxiliary video and attitude display area, 124-inspection video display area, 13-multi-core cable, 14-cylinder wall, 15-ninth supporting plate, 16-heat transfer pipe, 17-steam cylinder, 18-observation hole, 19-coaming, 20-manhole, 21-plum blossom hole and 22-inspection direction.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.