WO2024197828A1 - 用于曲面顶盖的驱动装置、定位检查器、定位及检测方法 - Google Patents

用于曲面顶盖的驱动装置、定位检查器、定位及检测方法 Download PDF

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Publication number
WO2024197828A1
WO2024197828A1 PCT/CN2023/085520 CN2023085520W WO2024197828A1 WO 2024197828 A1 WO2024197828 A1 WO 2024197828A1 CN 2023085520 W CN2023085520 W CN 2023085520W WO 2024197828 A1 WO2024197828 A1 WO 2024197828A1
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WO
WIPO (PCT)
Prior art keywords
driving
top cover
frame
chain
probe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/085520
Other languages
English (en)
French (fr)
Inventor
张鹏飞
余哲
马思敏
汪双印
徐恩伟
陈怀东
李俊
徐以凯
高森
任剑波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China General Nuclear Power Corp
CGN Power Co Ltd
Suzhou Nuclear Power Research Institute Co Ltd
CGNPC Inspection Technology Co Ltd
Original Assignee
China General Nuclear Power Corp
CGN Power Co Ltd
Suzhou Nuclear Power Research Institute Co Ltd
CGNPC Inspection Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China General Nuclear Power Corp, CGN Power Co Ltd, Suzhou Nuclear Power Research Institute Co Ltd, CGNPC Inspection Technology Co Ltd filed Critical China General Nuclear Power Corp
Priority to PCT/CN2023/085520 priority Critical patent/WO2024197828A1/zh
Priority to EP23929413.5A priority patent/EP4546372A4/en
Publication of WO2024197828A1 publication Critical patent/WO2024197828A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/003—Remote inspection of vessels, e.g. pressure vessels
    • G21C17/007—Inspection of the outer surfaces of vessels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Definitions

  • the invention belongs to the field of nuclear power detection equipment, and in particular relates to a driving device, a positioning inspector, and a positioning and detection method for a curved top cover.
  • the reactor pressure vessel top cover of a nuclear power plant is the core equipment of a nuclear reactor. In order to ensure the safe operation of a nuclear power plant, it is necessary to regularly perform surface and volume nondestructive testing on the top cover base material. Since the top cover is a spherical surface, and the CRDM penetrations and the stack test tube penetrations block it, multiple strip-shaped inspection areas are formed. Currently, there is no device that can accurately position and move the probe along the strip-shaped area while keeping the probe in close contact with the top cover.
  • the object of the present invention is to provide a device that enables the detection probe to move along a strip-shaped area while maintaining a constant height between the probe and the top cover, and the projection of the moving track on the bottom surface of the top cover is a straight line.
  • a driving device for a curved top cover the top cover comprises a first bottom surface and a curved top surface located on the first bottom surface, the top surface has a plurality of inspection channels, and the projections of the inspection channels on the first bottom surface extend along a straight line, characterized in that the driving device comprises:
  • a driving mechanism comprising a driving frame, a driving assembly mounted on the driving frame, and a wedge assembly mounted on the bottom of the driving frame for keeping the driving frame on the top cover parallel to the first bottom surface;
  • a flexible guide mechanism which is used to move the driving mechanism along the inspection channel on the top surface, and includes a winding frame and a chain wound on the winding frame, wherein the free end of the chain is fixedly connected to the front end of the driving frame, and the direction parallel to the upper end surface of the driving frame and perpendicular to the front-back direction is the left-right direction;
  • the driving assembly includes a magnetic wheel rotatably connected to the driving frame and a first driving motor that drives the magnetic wheel to rotate; the dimension of the driving frame in the left-right direction is its width, the dimension of the chain in the left-right direction is its width, the chain includes a plurality of chain plates rotatably connected in sequence, a pin shaft penetrating two adjacent chain plates, and a connecting piece for connecting two adjacent front and rear pin shafts, the front and rear ends of the connecting piece are rotatably connected to the same side ends of two adjacent pin shafts respectively; rollers are rotatably connected to the two ends of the pin shaft to prevent the chain plate from wearing the top cover, and the rollers are located on the same side of the chain plate and the chain plate.
  • the chain plate is formed with a connecting groove and a connecting head, the connecting head of the chain plate is located in the connecting groove of the chain plate on the front side thereof, the pin passes through the connecting head of the chain plate and the chain plate on the front side so that the chain plate and the chain plate on the front side are rotatably connected;
  • a receiving groove is formed on the chain plate above the connecting groove and passes through the chain plate in the length direction of the chain;
  • the wedge block assembly includes a wedge block fixed to the bottom of the driving frame, a supporting foot installed under the wedge block and always having a tendency to move outward from the driving frame, and an elastic member installed between the supporting foot and the wedge block so that the supporting foot always has a tendency to move outward from the driving frame;
  • the supporting feet are respectively arranged on the wedge block and are located on the left and right sides of the lower end surface of the wedge block, and the maximum height difference that the supporting feet on the left and right sides can reach after their respective extension and retraction is not less than the height difference of the upper end surface of the top cover in the width direction of each inspection channel;
  • there are multiple wedge blocks and the lower end surface of each wedge block is an arc-shaped surface, and the arc-shaped surface of each wedge block matches the upper end surface of the top cover in an inspection channel respectively.
  • the present invention also provides a driving device for a curved top cover, wherein the top cover comprises a first bottom surface and a curved top surface located on the first bottom surface, wherein the top surface has a plurality of inspection channels, and the projections of the inspection channels on the first bottom surface extend along a straight line, wherein the driving device comprises:
  • a driving mechanism comprising a driving frame, a driving assembly mounted on the driving frame, and a wedge assembly mounted on the bottom of the driving frame for keeping the driving frame on the top cover parallel to the first bottom surface;
  • a flexible guiding mechanism is used to enable the driving mechanism to move along the inspection channel on the top surface, and includes a winding frame and a chain wound on the winding frame.
  • the free end of the chain is fixedly connected to the front end of the driving frame, and the direction parallel to the upper end surface of the driving frame and perpendicular to the front-to-back direction is the left-right direction.
  • the driving assembly includes a magnetic wheel rotatably connected to the driving frame and a first driving motor driving the magnetic wheel to rotate, and the magnetic wheel can make the driving mechanism always adsorbed on the top cover.
  • the dimension of the drive frame in the left-right direction is its width
  • the dimension of the chain in the left-right direction is its width
  • the width of the drive frame and the chain are not greater than the width of the inspection channel
  • the first channel and the second channel are used to limit the drive frame to further ensure its movement along the length direction of the inspection channel.
  • the width of the driving frame and the chain is 0.5-2 mm smaller than the width of the inspection channel.
  • the width of the driving frame and the chain may be slightly smaller than the width of the inspection channel.
  • the chain includes a plurality of chain plates that are rotatably connected in sequence, a pin shaft that passes through two adjacent chain plates, and a connecting piece for connecting two adjacent pin shafts in front and behind.
  • the front and rear ends of the plate are rotatably connected to the ends on the same side of two adjacent pin shafts, and the connecting plate can further ensure that the chain will not bend in the left and right directions.
  • rollers are rotatably connected to both ends of the pin shaft to prevent the chain plate from wearing the top cover, and the rollers are located between the chain plate and the connecting piece on the same side as the chain plate.
  • a connecting groove and a connecting head are formed on the chain plate, and the connecting head of the chain plate is located in the connecting groove of the chain plate on the front side thereof.
  • the pin shaft passes through the connecting head of the chain plate and the chain plate on the front side so that the chain plate and the chain plate on the front side are rotatably connected to each other, and the cooperation of the connecting groove and the connecting head can further ensure that the chain will not bend in the left and right directions.
  • the wedge block assembly includes a wedge block fixed to the bottom of the driving frame, a supporting foot installed below the wedge block and always having a tendency to move away from the driving frame, and an elastic member installed between the supporting foot and the wedge block so that the supporting foot always has a tendency to move away from the driving frame.
  • the retractable design of the supporting foot ensures that the driving frame always remains parallel to the first bottom surface.
  • the supporting feet are respectively arranged on the wedge block and are located on the left and right sides of the lower end surface of the wedge block.
  • the maximum height difference that the supporting feet on the left and right sides can reach after their respective extension and retraction is not less than the height difference of the upper end surface of the top cover in the width direction of each inspection channel, and can meet the height difference of the upper end surface of the top cover in all inspection channels.
  • each wedge block in order to reduce the telescopic stroke of the supporting legs, there are multiple wedge blocks, the lower end face of each wedge block is an arc-shaped surface, and the arc-shaped surface of each wedge block matches the upper end face of a top cover in an inspection channel.
  • the present invention also provides a positioning checker for a curved top cover, which comprises: the driving device described above;
  • a positioning mechanism comprising a laser emitter and a camera, wherein the laser emitted by the laser emitter is emitted in a direction perpendicular to the projection of the inspection channel on the first bottom surface;
  • the inspection mechanism is used to inspect defects of the top cover and components on the top cover, and includes a probe for inspection mounted on the rear end of the driving mechanism, the probe can move in a plane parallel to the first bottom surface and in a direction perpendicular to the movement of the driving frame, and the driving device cooperates with the inspection mechanism and the positioning mechanism to Complete the inspection of the top cover efficiently and accurately.
  • the inspection mechanism includes an adjustment component for driving the probe to adjust its position
  • the adjustment component includes a first side plate fixed to the left and right sides of the driving frame, a first slide rail arranged between the first side plates along the left and right directions, a first mounting shell slidably connected to the first slide rail, a second driving motor and a probe frame fixed in the first mounting shell and with an output shaft extending out of the first mounting shell, a driving gear installed on the second driving motor, a rack installed on the driving frame and meshing with the driving gear, the probe is installed on the probe frame, the rack is located below the gear and is arranged along the left and right directions, the second driving motor rotates, driving the gear to roll on the rack, thereby causing the first mounting shell to move on the first slide rail, and finally driving the probe frame to move left and right, so that the probe frame can move in the first direction and the second direction, and a comprehensive inspection of the top cover can be achieved.
  • the probe frame includes a first support arm fixed on the first mounting shell and having a portion extending out of the driving frame, at least two second sliders fixed on the first support arm and symmetrically arranged with each other, second slide rails respectively slidably connected to the second sliders, and a telescopic member fixed on the first support arm and connected to the probe, wherein the telescopic member drives the probe and the second slide rail to move on the second slider to ensure that the probe can always fit the surface of the top cover.
  • the positioning checker includes a limit assembly, which includes a clamping piece installed on the drive frame and located on the left and right sides of the first mounting shell, a trigger fixed on the first mounting shell, and a limit switch fixed to the drive frame by the clamping piece.
  • a limit assembly which includes a clamping piece installed on the drive frame and located on the left and right sides of the first mounting shell, a trigger fixed on the first mounting shell, and a limit switch fixed to the drive frame by the clamping piece.
  • the probe in another embodiment, includes a probe body, a first probe mounting frame fixed between the second slide rails, and a second probe mounting frame rotatably connected to the first probe mounting frame, wherein the rotating shaft of the second probe mounting frame on the first probe mounting frame extends in the front-to-back direction, and the probe body is rotatably connected to the second probe mounting frame, wherein the rotating shaft of the probe body on the second probe mounting frame extends in the left-to-right direction.
  • the two perpendicular rotating axes enable the probe body to autonomously adapt to changes in the arc shape of the end surface of the top cover, and the telescopic member can further ensure that the probe body always fits the surface of the top cover.
  • the present invention also provides a positioning method for a positioning checker on a curved top cover, wherein the top cover
  • the projection of the penetration piece on the first bottom surface can be divided into multiple groups along the first direction, and can also be divided into multiple groups along the second direction.
  • a first channel is formed between two adjacent groups of penetrations distributed along the first direction
  • a second channel is formed between two adjacent groups of penetrations distributed along the second direction.
  • the inspection channel includes the first channel and the second channel.
  • the first direction and the second direction intersect and are both parallel to the first bottom surface.
  • the positioning inspector is the above-mentioned positioning inspector.
  • the positioning method includes the following steps:
  • the present invention also provides a detection method based on the above positioning method, which comprises the following steps:
  • the beneficial effects of the present invention are as follows: by vertically setting the laser emitter and the plane where the motion trajectory of the chain is located when it is extended, the position calibration of the probe in the first channel and the second channel can be quickly realized, and combined with the characteristic that the bending direction of the chain is limited, the projection of the running trajectory of the driving mechanism on the bottom surface of the top cover extends along a straight line to ensure that it moves along the detection channel, and it can also ensure that the probe can always fit with the top cover while moving along the detection channel.
  • the implementation method is simple and effective; it can realize accurate positioning of the detection equipment under the complex curved surface environment of the top cover. Since the calibrated position reference object is unified, the detection can be reproduced based on the same reference benchmark, and the defect position and defects of the object to be detected can be accurately and quickly re-located.
  • Fig. 1 is a top view of the present invention
  • FIG2 is a schematic diagram of the present invention in an installed state
  • FIG. 3 is a schematic diagram of the structure of the chain, the driving mechanism and the inspection mechanism when they are connected;
  • FIG4 is a schematic diagram of the structure of a wedge assembly with a high-low bottom surface (support legs are not compressed);
  • FIG5 is a schematic diagram of the structure of a wedge assembly with a high-low bottom surface (in the figure, the right support leg is compressed upward by a greater amount due to the force of the top surface);
  • FIG6 is a schematic diagram of the structure of a wedge assembly with a symmetrical arc bottom surface (support legs are not compressed);
  • FIG7 is a schematic diagram of the structure of a wedge assembly with a symmetrical arc-shaped bottom surface (in the figure, the left and right support legs are both compressed upward by the force of the top surface);
  • Fig. 8 is a partial view of point A in Fig. 3;
  • FIG. 9 is a schematic diagram of the structure of the probe.
  • the pressure vessel top cover 0 comprises a first bottom surface 02 and a curved top surface 01 located on the first bottom surface 02.
  • the top surface 01 has a plurality of inspection channels, and the projections of the inspection channels on the first bottom surface 02 extend along a straight line.
  • the projections of the penetration member 03 on the top cover on the first bottom surface can be divided into Multiple groups can be further divided into multiple groups along the second direction.
  • a first channel Q is formed between two adjacent groups distributed along the first direction
  • a second channel P is formed between two adjacent groups distributed along the second direction.
  • the inspection channel includes the first channel Q and the second channel P.
  • the first direction and the second direction intersect and are both parallel to the first bottom surface 02. In this embodiment, the first direction and the second direction are perpendicular to each other.
  • the positioning checker includes: a driving device 1 , a positioning mechanism 2 , a checking mechanism 3 , and a limit assembly 4 .
  • the driving device 1 includes a driving mechanism 11 and a flexible guiding mechanism 12 .
  • the driving mechanism 11 comprises a driving frame 111, a driving assembly 112 mounted on the driving frame 111, the bottom of the driving frame 111 comprises a wedge assembly for keeping the driving frame parallel to the first bottom surface on the top cover;
  • the driving assembly 112 comprises a magnetic wheel 1121 rotatably connected to the driving frame 111, and a first driving motor 1122 driving the magnetic wheel 1121 to rotate through a pulley assembly 1123; as shown in FIGS.
  • the wedge assembly 113 comprises a wedge 1131 fixed to the bottom of the driving frame 111, a supporting foot 1132 mounted below the wedge 1131 and always having a movement tendency extending away from the driving frame 111, and an elastic member 1133 mounted between the supporting foot 1132 and the wedge 1131 so that the supporting foot 1132 always has a movement tendency extending away from the driving frame 111;
  • the flexible guiding mechanism 12 is fixedly connected to the front end of the driving frame 111, and the direction parallel to the upper end surface of the driving frame 111 and perpendicular to the front-rear direction is the left-right direction.
  • the lower end surface of the wedge block 1131 is provided with a telescopic cavity 1134 with a large belly and a small mouth for accommodating the support leg 1132.
  • the upper end of the support leg 1132 is relatively thick and is completely located in the larger part of the telescopic cavity 1134.
  • the lower end of the support leg extends out of the telescopic cavity 1134.
  • the elastic member 1133 makes the support leg 1132 always have a tendency to move out of the telescopic cavity 1134.
  • the support legs 1132 are respectively arranged on the wedge block 1131 and are located on the left and right sides of the lower end surface of the wedge block 1131.
  • the maximum height that the support legs 1132 on the left and right sides can reach after their respective telescopic extensions is The difference is not less than the height difference of the upper end surface of the top cover in the width direction of each inspection channel.
  • there are multiple wedge blocks 1131 and the lower end surface of each wedge block 1131 is an arc-shaped surface.
  • the arc-shaped surfaces of each wedge block 1131 are matched with the upper end surface of the top cover in an inspection channel respectively.
  • the inspection channels with the same arc-shaped surfaces can share one wedge block 1131.
  • the width L1 of the driving frame 111 is not greater than the width L01 of the first channel and the width L02 of the second channel.
  • the width L1 of the driving frame 111 is less than the width L01 of the first channel and the width L02 of the second channel, 0 ⁇ L01-L1 ⁇ 2mm, 0 ⁇ L02-L2 ⁇ 2mm. It is best if the three widths are the same.
  • the first channel and the second channel can be best used to limit the driving frame 111, further ensuring its movement along the length direction of the inspection channel.
  • the flexible guiding mechanism 12 is used to move the driving mechanism 11 on the top surface 01 along the inspection channel, and includes a winding frame 121 and a chain 122 wound on the winding frame 121.
  • the free end of the chain 122 is fixedly connected to the front end of the driving frame 111, and the direction parallel to the upper end surface of the driving frame 111 and perpendicular to the front-to-back direction is the left-right direction.
  • the end portion fixed on the winding shaft 1211 of the winding frame 121 is the fixed end portion of the chain 122, and the other end portion is its free end portion.
  • the chain 122 includes a plurality of chain plates 123 rotatably connected in sequence, a pin shaft 124 penetrating two adjacent chain plates 123, and a connecting piece 126 for connecting two adjacent front and rear pin shafts 124, and the front and rear ends of the connecting piece 126 are rotatably connected to the ends on the same side of the two adjacent pin shafts 124 respectively; rollers 125 are rotatably connected to the two ends of the pin shaft 124 to prevent the chain plate 123 from wearing the top cover, and the rollers 125 are located between the chain plate 123 and the connecting piece 126 on the same side of the chain plate 123 as the rollers 125 themselves; the chain plate A connecting groove 1231 and a connecting head 1232 are formed on the chain plate 123.
  • the connecting head 1232 of the chain plate 123 is located in the connecting groove 1231 of the chain plate 123 on the front side.
  • the pin shaft 124 passes through the connecting head 1232 of the chain plate 123 and the chain plate 123 on the front side so that the chain plate 123 and the chain plate 123 on the front side are rotatably connected;
  • a storage groove 1233 is formed on the chain plate 123 above the connecting groove 1231 and passes through the length direction of the chain 122, which not only reduces the overall weight of the chain 122, but also can store the cables of the driving device, the positioning mechanism and the inspection mechanism, making wiring easier.
  • the cable can be prevented from being damaged by excessive bending.
  • the width L2 of the chain 122 is not greater than the width L01 of the first channel and the width L02 of the second channel.
  • the width L2 of the chain 122 is less than the width L01 of the first channel and the width L02 of the second channel, 0 ⁇ L01-L2 ⁇ 2mm, 0 ⁇ L02-L2 ⁇ 2mm, and it is best if the three widths are the same.
  • the first channel and the second channel can be best used to limit the chain 122, further ensuring its movement along the length direction of the inspection channel.
  • the positioning mechanism 2 includes a laser emitter 21, a camera 22, and a positioning mounting plate 23.
  • the emission direction of the laser emitted by the laser emitter 21 is perpendicular to the projection of the inspection channel on the first bottom surface 02.
  • the inspection mechanism 3 is used to inspect defects of the top cover 0 and the components on the top cover 0. It includes a probe 31 for detection installed on the rear end of the driving mechanism 11, and an adjustment component 32 for driving the probe 31 to adjust its position.
  • the adjustment component 32 includes a first slide rail 33 fixed on the driving frame 111 and arranged in the left-right direction, a first mounting shell 34 slidably connected to the first slide rail 33, a second driving motor 35 and a probe frame 36 fixed in the first mounting shell 34 and with an output shaft extending out of the first mounting shell 34, a driving gear 37 installed on the second driving motor 35, and a rack 38 installed on the driving frame 111 and meshed with the driving gear 37.
  • the probe 31 is installed on the probe frame 36, and the rack 38 is located below the gear and arranged in the left-right direction.
  • the second driving motor 35 rotates, driving the gear to roll on the rack 38, thereby causing the first mounting shell 34 to move on the first slide rail 33, and finally driving the probe frame 36 to move left and right.
  • the probe frame 36 includes a probe frame 36 fixed on the slider and having A first support arm 361 partially extending out of the drive frame 111, at least two second sliders 362 fixed on the first support arm 361 and symmetrically arranged, second slide rails 363 respectively slidably connected to the second sliders 362, and a telescopic member 364 fixed on the first support arm 361 and connected to the probe 31.
  • the telescopic member 364 drives the probe 31 and the second slide rail 363 to move on the second slider 362, that is, to move on a plane parallel to the first bottom surface 02 in a direction perpendicular to the movement of the drive frame 111.
  • the telescopic member 364 can be a cylinder, a hydraulic cylinder, or a spring, etc. that can enable the probe 31 to always fit the surface of the top cover.
  • the probe includes a probe body 311, a first probe mounting frame 312 fixed between the second slide rails 363, a second probe mounting frame 313 rotatably connected to the first probe mounting frame 312, and a coupling agent connector 314 mounted on the probe body 311 and used to provide a coupling agent to the probe body 311.
  • the rotating shaft of the second probe mounting frame 313 on the first probe mounting frame 312 extends along the front-to-back direction
  • the probe body 311 is rotatably connected to the second probe mounting frame 313, and the rotating shaft of the probe body 311 on the second probe mounting frame 313 extends along the left-to-right direction.
  • the two perpendicular rotating axes enable the probe body 311 to autonomously adapt to changes in the arc shape of the upper end surface of the top cover, and the telescopic member 364 can further ensure that the probe body 311 always fits the surface of the top cover.
  • the limit assembly 4 includes a clamping plate 41 installed on the drive frame and located on the left and right sides of the first mounting shell 34, a trigger 42 fixed on the first mounting shell 34, and a limit switch 43 fixed on the drive frame 111 by the clamping plate 41.
  • the second driving motor 35 stops working and the first mounting shell 34 reaches the right limit position.
  • a positioning method for a positioning checker on a curved top cover comprising the following steps:
  • the detection method based on the above positioning method includes the following steps:

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Abstract

一种用于曲面顶盖的驱动装置、定位检查器、定位及检测方法，驱动装置(1)包括：驱动机构(11)，包括驱动架(111)、安装于驱动架(111)上的驱动组件(112)，驱动架(111)的底部具有与顶面(01)相贴合的楔块组件；柔性导向机构(12)，用于使驱动机构(11)沿着检查通道在顶面(01)上移动，包括收卷架(121)、绕于收卷架(121)上的链条(122)，链条(122)的自由端部与驱动机构(11)的前端部相固定连接。通过激光发射器(21)与链条(122)伸出时运动轨迹所在平面的垂直设置，能够快速实现探头(31)第一通道和第二通道内的位置标定，结合链条(122)的弯曲方向受限的特点，使驱动机构(11)的运行轨迹在顶盖(0)底面上的投影沿直线延伸，确保沿检查通道移动，进而保证了探头(31)沿检查通道移动的同时能够保持与顶盖(0)贴合。

Description

用于曲面顶盖的驱动装置、定位检查器、定位及检测方法 技术领域
本发明属于核电检测设备领域，特别涉及一种用于曲面顶盖的驱动装置、定位检查器、定位及检测方法。
背景技术
核电站反应堆压力容器顶盖是核反应堆的核心设备，为了保障核电站的安全运行，需要定期对顶盖母材进行表面和体积无损检测。由于顶盖为球面，加之CRDM贯穿件和堆测接管贯穿件的阻挡，形成了多个带状的待检区域。目前没有能够在保持探头与顶盖贴合的前提下使探头沿带状的区域实现精准定位和移动的装置。
发明内容
本发明的目的是提供一种能够使得检测探头能够在保持探头与顶盖高度恒定的前提使探头沿带状的区域实现移动，且该移动轨迹在顶盖底面上的投影为直线。
为解决上述技术问题，本发明采用如下技术方案：一种用于曲面顶盖的驱动装置，所述顶盖包括第一底面以及位于第一底面上呈曲面状的顶面，所述顶面上具有多个检查通道，所述检查通道在所述第一底面上的投影沿直线延伸，其特征在于，所述驱动装置包括：
驱动机构，其包括驱动架、安装于所述驱动架上的驱动组件、安装于所述驱动架的底部用于使驱动架在所述顶盖上保持与所述第一底面平行状态的楔块组件；
柔性导向机构，其用于使驱动机构沿着所述检查通道在所述顶面上移动，其包括收卷架、绕于所述收卷架上的链条，所述链条的自由端部与所述驱动架的前端部相固定连接，与所述驱动架上端面平行且与前后方向垂直的方向为左右方向；
所述驱动组件包括转动连接于所述驱动架上的磁轮、带动所述磁轮转动的第一驱动电机；所述驱动架在左右方向上的尺寸为其宽度，链条在左右方向上的尺寸为其宽度，所述链条包括若干个依次相转动连接的链板、穿设于相邻的两个链板上的销轴、用于将前后相邻的两个销轴连接的连接片，所述连接片的前后端部与相邻的两个销轴的同侧端部分别转动连接；所述销轴的两端部上转动连接有防止链板磨损顶盖的滚轮，所述滚轮位于所述链板和与其处于同一侧 的所述连接片之间；所述链板上形成有连接槽和连接头，所述链板的连接头位于在其前侧的所述链板的连接槽内，所述销轴穿过所述链板的连接头以及位于前侧的所述链板使所述链板和位于前侧的所述链板相转动连接；所述连接槽上方的所述链板上形成有沿链条长度方向贯通的收纳槽；
所述楔块组件包括固定于所述驱动架底部的楔块、安装于所述楔块下方且始终具有背离所述驱动架方向伸出的运动趋势的支撑脚、安装于所述支撑脚和所述楔块之间使所述支撑脚始终具有背离所述驱动架方向伸出的运动趋势的弹性件；支撑脚分别设于所述楔块上且位于所述楔块下端面的左右两侧，左右两侧的所述支撑脚在各自伸缩后能达到的最大高度差不小于各检查通道的宽度方向上的顶盖上端面的高度差；楔块有多个，每个所述楔块的下端面呈弧形面，每个所述楔块的弧形面分别与一个检查通道内顶盖的上端面相匹配。
本发明还提供了一种用于曲面顶盖的驱动装置，所述顶盖包括第一底面以及位于第一底面上呈曲面状的顶面，所述顶面上具有多个检查通道，所述检查通道在所述第一底面上的投影沿直线延伸，其特征在于，所述驱动装置包括：
驱动机构，其包括驱动架、安装于所述驱动架上的驱动组件、安装于所述驱动架的底部用于使驱动架在所述顶盖上保持与所述第一底面平行状态的楔块组件；
柔性导向机构，其用于使驱动机构沿着所述检查通道在所述顶面上移动，其包括收卷架、绕于所述收卷架上的链条，所述链条的自由端部与所述驱动架的前端部相固定连接，与所述驱动架上端面平行且与前后方向垂直的方向为左右方向。
另一种实施方式，所述驱动组件包括转动连接于所述驱动架上的磁轮、带动所述磁轮转动的第一驱动电机，磁轮可使驱动机构始终吸附在顶盖上。
另一种实施方式，所述驱动架在左右方向上的尺寸为其宽度，链条在左右方向上的尺寸为其宽度，驱动架和链条的宽度均不大于所述检查通道的宽度，利用第一通道和第二通道对驱动架进行限位，进一步保证其沿检查通道的长度方向移动。
另一种实施方式，所述驱动架和链条的宽度均比所述检查通道的宽度小0.5-2mm，为降低加工难度，驱动架和链条的宽度可以比检查通道的宽度略小。
另一种实施方式，所述链条包括若干个依次相转动连接的链板、穿设于相邻的两个链板上的销轴、用于将前后相邻的两个销轴连接的连接片，所述连接 片的前后端部与相邻的两个销轴的同侧端部分别转动连接，连接片能够进一步确保链条在左右方向上不会弯曲。
另一种实施方式，所述销轴的两端部上转动连接有防止链板磨损顶盖的滚轮，所述滚轮位于所述链板和与其处于同一侧的所述连接片之间。
另一种实施方式，所述链板上形成有连接槽和连接头，所述链板的连接头位于在其前侧的所述链板的连接槽内，所述销轴穿过所述链板的连接头以及位于前侧的所述链板使所述链板和位于前侧的所述链板相转动连接，连接槽和连接头的配合能进一步确保链条在左右方向上不会弯曲。
另一种实施方式，所述连接槽上方的所述链板上形成有沿链条长度方向贯通的收纳槽，不仅降低了链条的整体重量，还能收纳驱动装置、定位机构和检查机构的电缆，使布线更容易，同时由于链板弯曲角度存在限制，可以防止电缆被过度弯曲而造成损伤。
另一种实施方式，所述楔块组件包括固定于所述驱动架底部的楔块、安装于所述楔块下方且始终具有背离所述驱动架方向伸出的运动趋势的支撑脚、安装于所述支撑脚和所述楔块之间使所述支撑脚始终具有背离所述驱动架方向伸出的运动趋势的弹性件，通过支撑脚的可伸缩设计，保证驱动架始终保持平行于第一底面。
另一种实施方式，支撑脚分别设于所述楔块上且位于所述楔块下端面的左右两侧，左右两侧的所述支撑脚在各自伸缩后能达到的最大高度差不小于各检查通道的宽度方向上的顶盖上端面的高度差，能满足所有检查通道内顶盖上端面的高度差。
另一种实施方式，为降低支撑脚的伸缩行程，楔块有多个，每个所述楔块的下端面呈弧形面，每个所述楔块的弧形面分别与一个检查通道内顶盖的上端面相匹配。
本发明还提供了一种用于曲面顶盖上的定位检查器，它包括：上述所述驱动装置；
定位机构，其包括激光发射器和摄像头，所述激光发射器发射的激光的射出方向与所述检查通道在第一底面上的投影相垂直；
检查机构，其用于检查顶盖及顶盖上的部件的缺陷，其包括安装于所述驱动机构的后端部上用于检测的探头，所述探头可在平行于所述第一底面的平面上沿垂直于所述驱动架移动的方向移动，驱动装置配合检查机构和定位机构能 有效且准确的完成顶盖的检查。
另一种实施方式，所述检查机构包括用于带动所述探头调整位置的调节组件，所述调节组件包括固定于所述驱动架左右两侧的第一侧板、沿左右方向设置在所述第一侧板之间的第一滑轨、滑动连接于所述第一滑轨上的第一安装壳、固定于所述第一安装壳内且输出轴伸出于第一安装壳的第二驱动电机和探头架、安装于所述第二驱动电机上的驱动齿轮、安装于所述驱动架上且与所述驱动齿轮相啮合的齿条，所述探头安装于所述探头架上，所述齿条位于所述齿轮下方且沿左右方向设置，所述第二驱动电机转动，带动所述齿轮在齿条上滚动，进而使所述第一安装壳在所述第一滑轨上移动，最终带动所述探头架左右移动，因此探头架在第一方向和第二方向都能实现移动，能对顶盖实现全面检查。
另一种实施方式，所述探头架包括固定于所述第一安装壳上且具有部分伸出于所述驱动架外的第一支撑臂、至少两个固定于所述第一支撑臂上且相互对称设置的第二滑块、分别滑动连接于所述第二滑块上的第二滑轨、固定于所述第一支撑臂上且与所述探头相连接的伸缩件，所述伸缩件带动所述探头和第二滑轨在第二滑块上移动，确保探头能始终贴合顶盖表面。
另一种实施方式，所述定位检查器包括限位组件，所述限位组件包括安装于所述驱动架上且位于所述第一安装壳左右两侧的压紧片、固定于所述第一安装壳上的触发器、被所述压紧片固定在所述驱动架上的限位开关，当位于第一安装壳左侧的所述触发器随第一安装壳从右向左移动进入位于驱动架左侧的限位开关的触发范围内时，所述第二驱动电机停止工作，所述第一安装壳到达左极限位置，当位于第一安装壳右侧的所述触发器随第一安装壳从左向右移动进入位于驱动架右侧的限位开关的触发范围内时，所述第二驱动电机停止工作，所述第一安装壳到达右极限位置，能有效防止第一安装壳移动超量，造成各部件的损伤。
另一种实施方式，所述探头包括探头本体、固定于所述第二滑轨之间的第一探头安装框、转动连接于所述第一探头安装框上的第二探头安装框，所述第二探头安装框在所述第一探头安装框上的转轴沿前后方向延伸，所述探头本体转动连接于所述第二探头安装框上，所述探头本体在所述第二探头安装框上的转轴沿左右方向延伸，相垂直的两个转动轴线，使得探头本体能自主适应顶盖上端面弧形的变化，配合伸缩件可以进一步确保探头本体始终贴合顶盖表面。
本发明还提供了一种用于曲面顶盖上的定位检查器的定位方法，所述顶盖 上的贯穿件在第一底面上的投影能沿第一方向分为多组，还能沿第二方向分为多组，沿第一方向分布的相邻两组贯穿之间形成第一通道，沿第二方向分布的相邻两组贯穿之间形成第二通道，所述检查通道包括所述第一通道和所述第二通道，第一方向和第二方向相交且均与所述第一底面相平行，所述定位检查器为上述所述定位检查器，所述定位方法包括以下步骤：
a.将收卷架固定于顶盖法兰上，收卷架卷绕链条的转轴与第一底面相平行；
b.将驱动机构置于顶盖上，使链条沿第一通道设置；
c.将激光发射器和摄像头安装于定位安装板上，使激光发射器的激光沿第二方向射出，开启摄像头，启动驱动机构驱动探头前进，链条确保驱动机构沿第一通道前进；
d.通过摄像头观察激光线与探头相应标记点的位置关系，直至两者重合，即完成了第一方向上的位置标定，探头标记点位于探头上；
e.再驱动探头沿第二方向运动，即可完成当前第一通道在第二方向上的位置标定；
f.依次将驱动机构和柔性导向机构安装到其他第一通道对应的位置上，重复步骤a-e，实现所有第一通道的位置标定；
g.同理，将激光发射器和摄像头以及驱动机构和柔性导向机构的安装位置以顶盖中心为圆心同向旋转第一通道和第二通道所呈的角度后，按上述步骤a-e重复标定，完成所有第二通道的位置标定。
本发明还提供了一种基于上述定位方法的检测方法，它包括以下步骤：
A.将收卷架固定于顶盖法兰上，收卷架卷绕链条的转轴与第一底面相平行；
B.将驱动机构置于顶盖上，使链条沿第一通道设置；
C.将激光发射器和摄像头安装于定位安装板上，使激光发射器的激光沿第二方向射出，开启摄像头，启动驱动机构驱动探头前进，链条确保驱动机构沿第一通道前进；
D.通过摄像头观察激光线与探头相应标记点的位置关系，直至两者重合，即完成了第一方向上的位置标定；
E.再驱动探头沿第二方向运动，即可完成当前第一通道在第二方向上的位置标定，在标定完成当前第一通道内第二方向上的标定后，基于标定结果，以任一点为起点，利用驱动架和调节组件依次带动探头在第一方向和第二方向上移动，从而完成当前第一通道内的所有位置的检测，驱动架和调节组件可以带 动探头在平行于第一底面的平面上按矩形波的方式移动；
F.依次将驱动机构和柔性导向机构安装到其他第一通道对应的位置上，重复步骤A-E，即可完成所有第一通道的检测；
G.同理，将激光发射器和摄像头以及驱动机构和柔性导向机构的安装位置以顶盖中心为圆心同向旋转第一通道和第二通道所呈的角度后，按上述步骤A-E重复检测，完成所有第二通道的位置检测，由于标定的位置参照物统一，使检测能够基于相同的参照基准复现，能够精准快速再次展现待检测物的缺陷。
本发明的有益效果在于：通过激光发射器与链条伸出时运动轨迹所在平面的垂直设置，能够快速实现探头第一通道和第二通道内的位置标定，结合链条的弯曲方向受限的特点，使驱动机构的运行轨迹在顶盖底面上的投影沿直线延伸，确保其沿检测通道移动，还能保证了探头沿检测通道移动的同时能够始终与顶盖贴合，实现方式简单、有效；能够实现顶盖表面复杂曲面环境下检测设备的精确定位，由于标定的位置参照物统一，使检测能够基于相同的参照基准复现，能够精准快速再次定位待检测物的缺陷位置及其缺陷。
附图说明
图1是本发明的俯视图；
图2是本发明的安装状态下的示意图；
图3是本发明链条、驱动机构和检查机构连接时的结构示意图；
图4是底面呈高低状的楔块组件的结构示意图(支撑脚未压缩)；
图5是底面呈高低状的楔块组件的结构示意图(图中右侧支撑脚受顶面作用力向上压缩量更大)；
图6是底面呈对称弧形状的楔块组件的结构示意图(支撑脚未压缩)；
图7是底面呈对称弧形状的楔块组件的结构示意图(图中左右两侧支撑脚均受顶面作用力向上压缩)；
图8是附图3中A处的局部视图；
图9是探头的结构示意图。
具体实施方式
下面结合附图所示的实施例对本发明作以下详细描述：
如图1-2所示，压力容器顶盖0包括第一底面02以及位于第一底面02上呈曲面状的顶面01，顶面01上具有多个检查通道，检查通道在第一底面02上的投影沿直线延伸。顶盖上的贯穿件03在第一底面上的投影能沿第一方向分为 多组，还能沿第二方向分为多组，沿第一方向分布的相邻两组贯穿之间形成第一通道Q，沿第二方向分布的相邻两组贯穿之间形成第二通道P，检查通道包括第一通道Q和第二通道P，第一方向和第二方向相交且均与第一底面02相平行，在本实施例中，第一方向和第二方向相垂直。
如图1-3所示，定位检查器包括：驱动装置1、定位机构2和检查机构3、限位组件4。
其中，驱动装置1包括驱动机构11、柔性导向机构12。
驱动机构11，其包括驱动架111、安装于驱动架111上的驱动组件112，驱动架111的底部具有用于使驱动架在顶盖上保持与第一底面平行状态的楔块组件；驱动组件112包括转动连接于驱动架111上的磁轮1121、通过皮带轮组件1123带动磁轮1121转动的第一驱动电机1122；如图4-7所示，楔块组件113包括固定于驱动架111底部的楔块1131、安装于楔块1131下方且始终具有背离驱动架111方向伸出的运动趋势的支撑脚1132、安装于支撑脚1132和楔块1131之间使支撑脚1132始终具有背离驱动架111方向伸出的运动趋势的弹性件1133，柔性导向机构12与驱动架111的前端部相固定连接，与驱动架111上端面平行且与前后方向垂直的方向为左右方向。
楔块1131下端面上开设有容纳支撑脚1132的且呈肚大口小状的伸缩腔1134，支撑脚1132上端部较粗完全位于伸缩腔1134较大的部分内，支撑脚下端部伸出于伸缩腔1134，弹性件1133使支撑脚1132始终具有朝伸缩腔1134外移动的趋势，支撑脚1132分别设于楔块1131上且位于楔块1131下端面的左右两侧，左右两侧的支撑脚1132在各自伸缩后能达到的最大高度差不小于各检查通道的宽度方向上的顶盖上端面的高度差，为降低支撑脚的伸缩行程，楔块1131有多个，每个楔块1131的下端面呈弧形面，每个楔块1131的弧形面分别与一个检查通道内顶盖的上端面相匹配，弧形面相同的检查通道可共用一个楔块1131，图4中支撑脚未压缩；图5中右侧支撑脚受顶面作用力向上压缩量更大；图6中支撑脚未压缩；图7中左右两侧支撑脚均受顶面作用力向上压缩。
驱动架111的宽度L1不大于第一通道的宽度L01和第二通道的宽度L02，当驱动架111的宽度L1小于第一通道的宽度L01和第二通道的宽度L02时，0＜L01-L1≤2mm，0＜L02-L2≤2mm，三者宽度相同最佳，此时可以最好的利用第一通道和第二通道对驱动架111进行限位，进一步保证其沿检查通道的长度方向移动。
柔性导向机构12，其用于使驱动机构11沿着检查通道在顶面01上移动，其包括收卷架121、绕于收卷架121上的链条122，链条122的自由端部与驱动架111的前端部相固定连接，与驱动架111上端面平行且与前后方向垂直的方向为左右方向。固定于收卷架121的收卷轴1211上的端部为链条122的固定端部，另一端部为其自由端部，如图8所示，链条122包括若干个依次相转动连接的链板123、穿设于相邻的两个链板123上的销轴124、用于将前后相邻的两个销轴124连接的连接片126，连接片126的前后端部与相邻的两个销轴124的同侧端部分别转动连接；销轴124的两端部上转动连接有防止链板123磨损顶盖的滚轮125，滚轮125位于链板123和与滚轮125自身处于链板123同一侧的连接片126之间；链板123上形成有连接槽1231和连接头1232，链板123的连接头1232位于在其前侧的链板123的连接槽1231内，销轴124穿过链板123的连接头1232以及位于前侧的链板123使链板123和位于前侧的链板123相转动连接；连接槽1231上方的链板123上形成有沿链条122长度方向贯通的收纳槽1233，不仅降低了链条122的整体重量，还能收纳驱动装置、定位机构和检查机构的电缆，使布线更容易，同时由于链板弯曲角度存在限制，可以防止电缆被过度弯曲而造成损伤。链条122的宽度L2不大于第一通道的宽度L01和第二通道的宽度L02，当链条122的宽度L2小于第一通道的宽度L01和第二通道的宽度L02时，0＜L01-L2≤2mm、0＜L02-L2≤2mm，三者宽度相同最佳，此时可以最好的利用第一通道和第二通道对链条122进行限位，进一步保证其沿检查通道的长度方向移动。
定位机构2，其包括激光发射器21和摄像头22、定位安装板23，激光发射器21发射的激光的射出方向与检查通道在第一底面02上的投影相垂直；
检查机构3，其用于检查顶盖0及顶盖0上的部件的缺陷，其包括安装于驱动机构11的后端部上用于检测的探头31、用于带动探头31调整位置的调节组件32，调节组件32包括固定于驱动架111上且沿左右方向设置的第一滑轨33、滑动连接于第一滑轨33上的第一安装壳34、固定于第一安装壳34内且输出轴伸出于第一安装壳34外的第二驱动电机35和探头架36、安装于第二驱动电机35上的驱动齿轮37、安装于驱动架111上且与驱动齿轮37相啮合的齿条38，探头31安装于探头架36上，齿条38位于齿轮下方且沿左右方向设置，第二驱动电机35转动，带动齿轮在齿条38上滚动，进而使第一安装壳34在第一滑轨33上移动，最终带动探头架36左右移动。探头架36包括固定于滑块上且具有 部分伸出于驱动架111外的第一支撑臂361、至少两个固定于第一支撑臂361上且相互对称设置的第二滑块362、分别滑动连接于第二滑块362上的第二滑轨363、固定于第一支撑臂361上且与探头31相连接的伸缩件364，伸缩件364带动探头31和第二滑轨363在第二滑块362上移动，即在平行于第一底面02的平面上沿垂直于驱动架111移动的方向移动，伸缩件364可以是能使探头31始终贴合顶盖表面的气缸、液压缸、或弹簧等。如图9所示，探头包括探头本体311、固定于第二滑轨363之间的第一探头安装框312、转动连接于第一探头安装框312上的第二探头安装框313、安装于探头本体311上且用于向探头本体311提供耦合剂的耦合剂接头314，第二探头安装框313在第一探头安装框312上的转轴沿前后方向延伸，探头本体311转动连接于第二探头安装框313上，探头本体311在第二探头安装框313上的转轴沿左右方向延伸，相垂直的两个转动轴线，使得探头本体311能自主适应顶盖上端面弧形的变化，配合伸缩件364可以进一步确保探头本体311始终贴合顶盖表面。
限位组件4包括安装于驱动架上且位于第一安装壳34左右两侧的压紧片41、固定于第一安装壳34上的触发器42、被压紧片41固定在驱动架111上的限位开关43，当位于第一安装壳34左侧的触发器42随第一安装壳34从右向左移动进入位于驱动架111左侧的限位开关43的触发范围内时，第二驱动电机35停止工作，第一安装壳34到达左极限位置，当位于第一安装壳34右侧的触发器42随第一安装壳34从左向右移动进入位于驱动架111右侧的限位开关的触发范围内时，第二驱动电机35停止工作，第一安装壳34到达右极限位置。
用于曲面顶盖上的定位检查器的定位方法，定位方法包括以下步骤：
a.将收卷架固定于顶盖法兰上，收卷架卷绕链条的转轴与第一底面相平行；
b.将驱动机构置于顶盖上，使链条沿第一通道设置；
c.将定位安装板安装于顶盖上，激光发射器和摄像头安装于定位安装板上，使激光发射器的激光O沿第二方向射出，开启摄像头，启动驱动机构驱动探头前进，链条确保驱动机构沿第一通道前进；
d.通过摄像头观察激光线与探头相应标记点的位置关系，直至两者重合，即完成了第一方向上的位置标定，探头标记点位于探头上；
e.再驱动探头沿第二通道运动，即可完成当前第一通道在第二方向上的位置标定；
f.依次将驱动机构和柔性导向机构安装到其他第一通道对应的位置上，重 复步骤A-E，实现所有第一通道的位置标定；
g.同理，将激光发射器和摄像头以及驱动机构和柔性导向机构的安装位置以顶盖中心为圆心同向旋转90°后，按上述步骤a-e重复标定，完成所有第二通道的位置标定。
基于上述定位方法的检测方法包括以下步骤：
A.将收卷架固定于顶盖法兰上，收卷架卷绕链条的转轴与第一底面相平行；
B.将驱动机构置于顶盖上，使链条沿第一通道设置；
C.将激光发射器和摄像头安装于定位安装板上，使激光发射器的激光沿第二方向射出，开启摄像头，启动驱动机构驱动探头前进，链条确保驱动机构沿第一通道前进；
D.通过摄像头观察激光线与探头相应标记点的位置关系，直至两者重合，即完成了第一方向上的位置标定，在标定的同时即可完成第一通道内第一方向上的检测；
E.再驱动探头沿第二通道运动，即可完成当前第一通道在第二方向上的位置标定，在标定的同时即可完成第一通道内第二方向上的检测；
F.依次将驱动机构和柔性导向机构安装到其他第一通道对应的位置上，重复步骤A-E，即可完成所有第一通道的检测；
G.同理，将激光发射器和摄像头以及驱动机构和柔性导向机构的安装位置以顶盖中心为圆心同向旋转90°后，按上述步骤A-E重复检测，完成所有第二通道的位置检测。
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明精神所作的等效变化或修饰，都涵盖在本发明的保护范围之内。

Claims (19)

  1. 一种用于曲面顶盖的驱动装置，所述顶盖包括第一底面以及位于第一底面上呈曲面状的顶面，所述顶面上具有多个检查通道，所述检查通道在所述第一底面上的投影沿直线延伸，其特征在于，所述驱动装置包括：
    驱动机构，其包括驱动架、安装于所述驱动架上的驱动组件、安装于所述驱动架的底部用于使驱动架在所述顶盖上保持与所述第一底面平行状态的楔块组件；
    柔性导向机构，其用于使驱动机构沿着所述检查通道在所述顶面上移动，其包括收卷架、绕于所述收卷架上的链条，所述链条的自由端部与所述驱动架的前端部相固定连接，与所述驱动架上端面平行且与前后方向垂直的方向为左右方向；
    所述驱动组件包括转动连接于所述驱动架上的磁轮、带动所述磁轮转动的第一驱动电机；所述驱动架在左右方向上的尺寸为其宽度，链条在左右方向上的尺寸为其宽度，所述链条包括若干个依次相转动连接的链板、穿设于相邻的两个链板上的销轴、用于将前后相邻的两个销轴连接的连接片，所述连接片的前后端部与相邻的两个销轴的同侧端部分别转动连接；所述销轴的两端部上转动连接有防止链板磨损顶盖的滚轮，所述滚轮位于所述链板和与其处于同一侧的所述连接片之间；所述链板上形成有连接槽和连接头，所述链板的连接头位于在其前侧的所述链板的连接槽内，所述销轴穿过所述链板的连接头以及位于前侧的所述链板使所述链板和位于前侧的所述链板相转动连接；所述连接槽上方的所述链板上形成有沿链条长度方向贯通的收纳槽；
    所述楔块组件包括固定于所述驱动架底部的楔块、安装于所述楔块下方且始终具有背离所述驱动架方向伸出的运动趋势的支撑脚、安装于所述支撑脚和所述楔块之间使所述支撑脚始终具有背离所述驱动架方向伸出的运动趋势的弹性件；支撑脚分别设于所述楔块上且位于所述楔块下端面的左右两侧，左右两侧的所述支撑脚在各自伸缩后能达到的最大高度差不小于各检查通道的宽度方向上的顶盖上端面的高度差；楔块有多个，每个所述楔块的下端面呈弧形面，每个所述楔块的弧形面分别与一个检查通道内顶盖的上端面相匹配。
  2. 一种用于曲面顶盖的驱动装置，所述顶盖包括第一底面以及位于第一底面上呈曲面状的顶面，所述顶面上具有多个检查通道，所述检查通道在所述第一底面上的投影沿直线延伸，其特征在于，所述驱动装置包括：
    驱动机构，其包括驱动架、安装于所述驱动架上的驱动组件、安装于所述 驱动架的底部用于使驱动架在所述顶盖上保持与所述第一底面平行状态的楔块组件；
    柔性导向机构，其用于使驱动机构沿着所述检查通道在所述顶面上移动，其包括收卷架、绕于所述收卷架上的链条，所述链条的自由端部与所述驱动架的前端部相固定连接，与所述驱动架上端面平行且与前后方向垂直的方向为左右方向。
  3. 根据权利要求2所述的用于曲面顶盖的驱动装置，其特征在于：所述驱动组件包括转动连接于所述驱动架上的磁轮、带动所述磁轮转动的第一驱动电机。
  4. 根据权利要求2所述的用于曲面顶盖的驱动装置，其特征在于：所述驱动架在左右方向上的尺寸为其宽度，所述链条在左右方向上的尺寸为其宽度，所述驱动架以及所述链条的宽度均不大于所述检查通道的宽度。
  5. 根据权利要求4所述的用于曲面顶盖的驱动装置，其特征在于：所述驱动架和链条的宽度均比所述检查通道的宽度小0.5-2mm。
  6. 根据权利要求2所述的用于曲面顶盖的驱动装置，其特征在于：所述链条包括若干个依次相转动连接的链板、穿设于相邻的两个链板上的销轴、用于将前后相邻的两个销轴连接的连接片，所述连接片的前后端部与相邻的两个销轴的同侧端部分别转动连接。
  7. 根据权利要求6所述的用于曲面顶盖的驱动装置，其特征在于：所述销轴的两端部上转动连接有防止链板磨损顶盖的滚轮，所述滚轮位于所述链板和与其处于同一侧的所述连接片之间。
  8. 根据权利要求6所述的用于曲面顶盖的驱动装置，其特征在于：所述链板上形成有连接槽和连接头，所述链板的连接头位于在其前侧的所述链板的连接槽内，所述销轴穿过所述链板的连接头以及位于前侧的所述链板使所述链板和位于前侧的所述链板相转动连接。
  9. 根据权利要求6所述的用于曲面顶盖的驱动装置，其特征在于：所述连接槽上方的所述链板上形成有沿链条长度方向贯通的收纳槽。
  10. 根据权利要求2所述的用于曲面顶盖的驱动装置，其特征在于：所述楔块组件包括固定于所述驱动架底部的楔块、安装于所述楔块下方且始终具有背离所述驱动架方向伸出的运动趋势的支撑脚、安装于所述支撑脚和所述楔块之间使所述支撑脚始终具有背离所述驱动架方向伸出的运动趋势的弹性件。
  11. 根据权利要求10所述的用于曲面顶盖的驱动装置，其特征在于：支撑脚分别设于所述楔块上且位于所述楔块下端面的左右两侧，左右两侧的所述支撑脚在各自伸缩后能达到的最大高度差不小于各检查通道的宽度方向上的顶盖上端面的高度差。
  12. 根据权利要求10所述的用于曲面顶盖的驱动装置，其特征在于：楔块有多个，每个所述楔块的下端面呈弧形面，每个所述楔块的弧形面分别与一个检查通道内顶盖的上端面相匹配。
  13. 一种用于曲面顶盖上的定位检查器，其特征在于，它包括：
    权利要求1-12中任一所述驱动装置；
    定位机构，其包括激光发射器和摄像头，所述激光发射器发射的激光的射出方向与所述检查通道在第一底面上的投影相垂直；
    检查机构，其用于检查顶盖及顶盖上的部件的缺陷，其包括安装于所述驱动机构的后端部上用于检测的探头，所述探头可在平行于所述第一底面的平面上沿垂直于所述驱动架移动的方向移动。
  14. 根据权利要求13所述的用于曲面顶盖上的定位检查器，其特征在于：所述检查机构包括用于带动所述探头调整位置的调节组件，所述调节组件包括固定于所述驱动架左右两侧的第一侧板、沿左右方向设置在所述第一侧板之间的第一滑轨、滑动连接于所述第一滑轨上的第一安装壳、固定于所述第一安装壳内且输出轴伸出于第一安装壳的第二驱动电机和探头架、安装于所述第二驱动电机上的驱动齿轮、安装于所述驱动架上且与所述驱动齿轮相啮合的齿条，所述探头安装于所述探头架上，所述齿条位于所述齿轮下方且沿左右方向设置，所述第二驱动电机转动，带动所述齿轮在齿条上滚动，进而使所述第一安装壳在所述第一滑轨上移动，最终带动所述探头架左右移动。
  15. 根据权利要求14所述的用于曲面顶盖上的定位检查器，其特征在于：所述探头架包括固定于所述第一安装壳上且具有部分伸出于所述驱动架外的第一支撑臂、至少两个固定于所述第一支撑臂上且相互对称设置的第二滑块、分别滑动连接于所述第二滑块上的第二滑轨、固定于所述第一支撑臂上且与所述探头相连接的伸缩件，所述伸缩件带动所述探头和第二滑轨在第二滑块上移动。
  16. 根据权利要求15所述的用于曲面顶盖上的定位检查器，其特征在于：所述定位检查器包括限位组件，所述限位组件包括安装于所述驱动架上且位于所述第一安装壳左右两侧的压紧片、固定于所述第一安装壳上的触发器、被所 述压紧片固定在所述驱动架上的限位开关，当位于第一安装壳左侧的所述触发器随第一安装壳从右向左移动进入位于驱动架左侧的限位开关的触发范围内时，所述第二驱动电机停止工作，所述第一安装壳到达左极限位置，当位于第一安装壳右侧的所述触发器随第一安装壳从左向右移动进入位于驱动架右侧的限位开关的触发范围内时，所述第二驱动电机停止工作，所述第一安装壳到达右极限位置。
  17. 根据权利要求15所述的用于曲面顶盖上的定位检查器，其特征在于：所述探头包括探头本体、固定于所述第二滑轨之间的第一探头安装框、转动连接于所述第一探头安装框上的第二探头安装框，所述第二探头安装框在所述第一探头安装框上的转轴沿前后方向延伸，所述探头本体转动连接于所述第二探头安装框上，所述探头本体在所述第二探头安装框上的转轴沿左右方向延伸。
  18. 一种用于曲面顶盖上的定位检查器的定位方法，所述顶盖上的贯穿件在第一底面上的投影能沿第一方向分为多组，还能沿第二方向分为多组，沿第一方向分布的相邻两组贯穿之间形成第一通道，沿第二方向分布的相邻两组贯穿之间形成第二通道，所述检查通道包括所述第一通道和所述第二通道，第一方向和第二方向相交且均与所述第一底面相平行，其特征在于，所述定位检查器为权利要求13所述定位检查器，所述定位方法包括以下步骤：
    a.将收卷架固定于顶盖法兰上，收卷架卷绕链条的转轴与第一底面相平行；
    b.将驱动机构置于顶盖上，使链条沿第一通道设置；
    c.将激光发射器和摄像头安装于定位安装板上，使激光发射器的激光沿第二方向射出，开启摄像头，启动驱动机构驱动探头前进，链条确保驱动机构沿第一通道前进；
    d.通过摄像头观察激光线与探头相应标记点的位置关系，直至两者重合，即完成了第一方向上的位置标定，探头标记点位于探头上；
    e.再驱动探头沿第二方向运动，即可完成当前第一通道在第二方向上的位置标定；
    f.依次将驱动机构和柔性导向机构安装到其他第一通道对应的位置上，重复步骤a-e，实现所有第一通道的位置标定；
    g.同理，将激光发射器和摄像头以及驱动机构和柔性导向机构的安装位置以顶盖中心为圆心同向旋转第一通道和第二通道所呈的角度后，按上述步骤a-e重复标定，完成所有第二通道的位置标定。
  19. 一种基于权利要求18中所述的定位方法的检测方法，其特征在于：它包括以下步骤：
    A.将收卷架固定于顶盖法兰上，收卷架卷绕链条的转轴与第一底面相平行；
    B.将驱动机构置于顶盖上，使链条沿第一通道设置；
    C.将激光发射器和摄像头安装于定位安装板上，使激光发射器的激光沿第二方向射出，开启摄像头，启动驱动机构驱动探头前进，链条确保驱动机构沿第一通道前进；
    D.通过摄像头观察激光线与探头相应标记点的位置关系，直至两者重合，即完成了第一方向上的位置标定；
    E.再驱动探头沿第二方向运动，即可完成当前第一通道在第二方向上的位置标定，在标定完成当前第一通道内第二方向上的标定后，基于标定结果，以任一点为起点，利用驱动架和调节组件依次带动探头在第一方向和第二方向上移动，从而完成当前第一通道内的所有位置的检测；
    F.依次将驱动机构和柔性导向机构安装到其他第一通道对应的位置上，重复步骤A-E，即可完成所有第一通道的检测；
    G.同理，将激光发射器和摄像头以及驱动机构和柔性导向机构的安装位置以顶盖中心为圆心同向旋转第一通道和第二通道所呈的角度后，按上述步骤A-E重复检测，完成所有第二通道的位置检测。
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