The Design And Research Of Movement Control Of Traveling Video Inspection Equipment

Utilization of nuclear energy is of vital importance to the development of society, The traveling equipment for video inspection is required to inspect in the narrow space of nuclear. At present, there isn't this kind of robot which can solve the problem effectively, but the foreign product is expensive, the traveling equipment for video inspection is remote controlled robot which can work in narrow space, such as pipeline, and its prospect of application is wide in many places.Nowadays underwater robot and pipeline robot is hot spot of the search in the world, the design scheme which adopts the condition in nuclear plant has been put forward based on the study of the developing situation of the pipeline robot and underwater robot, the construction and principle of the traveling equipment for video inspection have been introduced in this article, and the selection of sealing method and selection of motor have been studied in detail.Dynamic sealing technology for shaft is one of the key technologies applied to research and manufacture of underwater vehicle. In this paper, four kinds of dynamic sealing methods applicable for the shaft sealing of underwater robot have been discussed, and its structures, operating principles and conditions of application have been demonstrated, the dynamic sealing structures have been designed.Mechanics and kinematics of the traveling equipment for video inspection have been studied, and the model mathematics of the equipment has been founded, the ability of climbing slope has been studied, the scheme to swerve and orientation has been illuminated.In order to make the video clear, a running equipment for the CCD has been designed to enlarge extension of observation because of the severe attenuation of light.The control system of the traveling equipment for video inspection consist of two levels of computers. The first level is a personal computer, which performs the function of choice of control, monitor and display. The second level performs the control of the motion of the motor. The first level contains industry control computer and the second level contains single chip and peripheral circuits.Finally, the development of the traveling equipment for video inspection have been summarized. The development of the traveling equipment for video inspection give a new solution for the inspection in the nuclear plant.