CN101364452B - Nuclear power steam generator pipe detection robot - Google Patents
Nuclear power steam generator pipe detection robot Download PDFInfo
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- CN101364452B CN101364452B CN2008101372063A CN200810137206A CN101364452B CN 101364452 B CN101364452 B CN 101364452B CN 2008101372063 A CN2008101372063 A CN 2008101372063A CN 200810137206 A CN200810137206 A CN 200810137206A CN 101364452 B CN101364452 B CN 101364452B
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- cylinder
- fixed
- lifting cylinder
- fixed head
- steam generator
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- 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
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- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention provides a pipeline inspection robot for a nuclear steam generator, which comprises two pawing mechanisms hinged with an upper cantilever via a driving shaft and a lower cantilever via a driven shaft. The upper cantilever is composed of two segments which are hinged with each other via a driving shaft; the lower cantilever is composed of two segments which are hinged with each other via a driven shaft; a motor is connected with the lower ends of both the driving shaft between the upper cantilever and the two pawing mechanisms and the driving shaft between the two segments of the upper cantilever; and a potentiometer is arranged at the upper end of each driving shaft and is connected with a sensor guide arm which is hinged with a fixed column fixed on the upper cantilever. The pipeline inspection robot has the following advantages: small volume, so as to be easy to be put into the steam generator by an operator through a narrow manhole; convenient energy availability, and flexible and reliable control; cantilever structure with a relatively large working radius after being unfolded; low requirements for the motor, and reliable operation; and good adaptability of replacement parts to different apertures and aperture plates.
Description
(1) technical field
That the present invention relates to is a kind of detection machine people, particularly a kind of power tool carrying equipment.
(2) background technology
Steam generator (SG) is the connection hinge in the nuclear power unit one, between the secondary circuit, also is nuclear power unit one of maximum equipment that breaks down in service.The serviceability of steam generator and safe reliability are vital for the safe and stable operation of total system.Because there is radiomaterial in the steam generator the inside, when taking place to leak, the maintenance personal can not enter maintenance, at this moment just needs smart machine to replace the people to finish maintenance job.Because work space is narrow in the steam generator, the robot manipulator structure complexity, and factor such as the weight of mechanical arm is big, moment is big, make that the application of this type of mechanical arm is not too convenient, and be easy to generate and detect the blind area, so to finish the equipment of this task at a kind of people of assisting of this respect application specific design.
A kind of " for the robot system of steam heat-exchange tube maintenance " disclosed among the U.S. patent documents US005355063A, that this robot system adopts is a kind of detection machine people of form of mechanical arm, have two pawls, alternately be fixed on the steam generator orifice plate.This robot has 3 rotary joints, and wherein two joints axes are parallel and vertical with the 3rd joints axes.But the shortcoming of this kind structure is the weight of load and is born by motor, and is heavier to the burden of motor and speed reduction unit like this, therefore reliable inadequately.
Disclose a kind of " the small manipulater of pipe in the maintenance steam generator " among the U.S. patent documents US20040131462A1, be to insert, extract expansion mechanism, and move with the swelling of cover air cylinder driven expansion mechanism therein with a cylinder control.Aspect mobile, this system realizes the translation of robot by a cocainine thick stick nut body, and utilizes one group of two-way oil cylinder to realize the rotation of robot, the aggregate motion by these two degree of freedom realize robot on the pore plane move.This kind structure has solved the problem that load force is born by driving element, but because the size of manhole, this robot size can not be too big, so the sensing range after the one-time positioning is little, so detection efficiency is lower.And this system adopts hydraulic pressure, pneumatic mixing control, so use comparatively trouble, provide pneumatic supply and hydraulic power source, in case and hydraulic system leak, hydraulic oil will pollute steam generator.
(3) summary of the invention
The object of the present invention is to provide a kind of can be on the steam generator orifice plate moving arbitrarily, and can efficiently, reliably carry out the nuclear power steam generator pipe detection robot of the work such as plugging, inwall maintenance of steam generator.
The object of the present invention is achieved like this: it comprises two paw mechanisms, two paws are hinged by driving shaft and upper cantilever, two paws are hinged by driven shaft and lower cantalever, upper cantilever is formed by two sections that are hinged by driving shaft, lower cantalever is formed by two sections that are hinged by driven shaft, the lower end of the driving shaft between the driving shaft between upper cantilever and two paws and the two sections upper cantilevers all is connected with motor, the upper end of each driving shaft is provided with potentiometer, potentiometer links to each other with the sensor guide arm, the sensor guide arm is hinged on the fixed leg that is fixed on the upper cantilever, described paw comprises the fixed head two that links to each other with lower cantalever with upper cantilever, be fixed on the lifting cylinder on the fixed head two, lifting air cylinder driven one slide rail, the two ends of slide rail link to each other with fixed head one by sliding rail fixing piece, push cylinder is installed in bottom at fixed head one, the cylinder rod of last push cylinder connects the tension cylinder, the cylinder rod cylinder lever connecting rod of tension cylinder, rod outer sleeve has the swelling lobe, the top of fixed head one is equipped with the upper plate that has the hole, and the swelling lobe is installed in the hole on the upper plate.
The present invention can also comprise some architectural features like this:
1, be fixed with support member on the tension cylinder, swelling lobe fixed head is installed on the support member, the lower end of swelling lobe is fixed on the swelling lobe fixed head.
2, on the fixed head two, the two ends of lifting cylinder respectively are fixed with a slide rail bearing fixing part, and the slide rail bearing is installed on the slide rail bearing fixing part, the cylinder rod of described lifting cylinder is arranged in sliding bearing.
3, the lifting cylinder is fixed on the fixed head two by lifting cylinder fixture, and the cylinder rod of lifting cylinder links to each other with fixed head one by lifting cylinder upper fixing element, realizes the action of lifting with this.
4, link to each other by screw mandrel between two sections of the correspondence up and down of upper cantilever and lower cantalever.
The present invention produces thrust by the lifting cylinder, make fixed head one and on the tote lifting, make the upper surface of upper plate overlap with the steam generator orifice surface.Go up push cylinder then and will strain cylinder and above tote lifting thereof, mainly make in pull bar and the swelling lobe patchhole plate hole.After this action was finished, the drop-down pull bar web joint of tension cylinder spurred pull bar with this, makes to reach fixing effect with this by swelling lobe distending in orifice bore.This action is a fixing action.
Finish once fixing after, three motors drive three driving shafts rotations respectively, make each joint angles of cantilever change, the variation of these angles can drive potentiometer by the sensor guide arm finish surveying work.The position takes place to change relatively between such two paws, and is detected, and two purposes are arranged like this, and the first, when being equipped with sensor or power tool, will finish free end the testing of orifice bore; The second, when robot need move, can free end be moved over according to path planning algorithm, against separating the relative position coordinates that algorithm calculates, then the free end paw is finished a fixing action.The former stiff end paw in fixing back is finished one and is unclamped action.Unclamping action is at first to strain on the cylinder to push away, and the swelling lobe that makes unclamps.It is drop-down then to go up push cylinder, will strain the cylinder fixture and leave behind both with pull bar swelling lobe pull-out-hole plate hole.Then the lifting cylinder produces pulling force, with fixed head one and on tote put down, so just finished one and unclamped action.Detection and shift action both can have been finished by these several motion combination.
By replacing with the steam generator that top board, swelling lobe fixed head, pull bar web joint both can adapt to different pitch-rows.
By changing the steam generator that both can adapt to different apertures by replacing pull bar, swelling lobe, upper plate, swelling lobe fixed head, pull bar web joint.
Advantage of the present invention is as follows: 1, volume is little, is convenient to the operator it is put into steam generator by narrow and small manhole.And in its inside cavity work; 2, gas, electricity drive, and the energy obtains conveniently, uses cleaning, the control flexibility and reliability.3, cantilever structure, become to launch to obtain the bigger radius of clean-up after the smaller volume security protection; 4, load and machine operation face quadrature, motor does not bear load torque, and load is born by mechanism fully, and motor is required low and reliable operation; 5, replaceable part adapts to aperture, the orifice plate of different pitch-rows.
(4) description of drawings
Fig. 1 is an one-piece construction stereographic map of the present invention;
Fig. 2 is a structural representation of the present invention;
Fig. 3 is the structural representation of handgrip.
(5) embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
The composition of nuclear power steam generator pipe detection robot and fit are:
In conjunction with Fig. 3, at first will strain cylinder 3-5 and support member 3-8 by screw retention, then pull bar web joint 3-6 and pad 3-7 are fixed by screw and tension cylinder 3-5 cylinder rod.Swelling lobe 3-10 is fixed on the swelling lobe fixed head 3-9 by the form in riveting jail, again swelling lobe fixed head 3-9 is fixedlyed connected with support member 3-8 with screw.Then connecting rod 3-12 is passed one by one swelling lobe 3-10, be fixed on the pull bar web joint 3-6, and touch glue and prevent to get loose with its terminal screw thread.To go up push cylinder 3-2 by 3-3 on the last push cylinder fixture, down 3-1 by screw retention on fixed head one 3-13, then will strain cylinder fixture 3-4 by screw retention on the cylinder rod of last push cylinder 3-2, the tension cylinder 3-5 that will assemble just now after finishing, by screw retention on the firm fixture 3-4 of strainer.And last four borehole jacks of upper plate 3-11 are gone into pull bar 3-12, and and being screwed on fixed head one 3-13, the screw at this place is the fixed mount of fixed test and implement simultaneously.Then with lifting cylinder fixture upper fixing element 3-20 by screw retention on fixed head one 3-13.Lifting cylinder 3-22 is fixed on the fixed head two by fixture 3-23 under fixture 3-18 in the lifting cylinder and the lifting cylinder, and then the cylinder rod with this part lifting cylinder 3-22 inserts lifting cylinder upper fixing element 3-20, and is screwed.Then slide rail bearing fixing part 3-15 and slide rail bearing 3-16 are assembled, be inserted in slide rail.And with slide rail fixed cover 3-14 with slide rail 3-21 fixing after, again integral body is filled in the space between fixed head one 3-13 and fixed head two 3-24, and with socket head cap screw sliding rail fixing piece 3-14 is fixed on fixed head one 3-13 again, can screw with curved allen key.Equally slide rail bearing fixing part 3-15 is fixed on fixed head two 3-24.
In conjunction with Fig. 2, at the assembling of cantilever.At first assemble master arm.Two thrust bearings are clipped on cantilever one 4-11, place fixed arm (sensor) 4-6 that has put into transverse bearing then respectively up, fixed arm (motor) 4-4 is placed in the below.Main drive shaft 4-3 is penetrated end cap 4-20, again main drive shaft 4-3 is inserted in a transverse bearing and then fixes, after fixing this integral body is inserted cantilever one 4-11 that has just assembled from the below with key 4-23.Then the top transverse bearing is inserted in main drive shaft 4-3, upper and lower end cap 4-20 is passed through screw retention.Then one section two groove of cantilever three (fixing) 4-17 are put into thrust bearing, and cooperate cushion block 4-13 to clamp these two thrust bearings and cantilever one 4-11 with cantilever two (motor) cantilever two (sensor) 4-12.For another example with the described method of the preamble driving shaft of packing into.Then remaining fixed arm (sensor) 4-6, two bearings of fixed arm (motor) folder are penetrated driving shaft 4-3 and fix, get final product with end cap 4-20 solid bearing at last as previously described method.So just finished the installation of actuating arm.
The installation of slave arm is basic identical with the installation of actuating arm, and just its two ends are fixed with jump ring 4-26 after driven shaft 4-2 is installed.
Motor fixedly be with motor 4-21 with screw and motor fixing frame 4-18 fixing after, motor shaft is inserted below the driving shaft 4-3 in the axis hole, the usefulness jackscrew is very good.With screw motor fixing frame is fixed on the fixing as above step of all the other motors of fixed arm (motor) 4-4. again.
Sensor fixedly be that the copper post is fixed on fixed arm (sensor) 4-6, then will be fixed thereon with the circuit board that potentiometer 4-8 connects.Adjust angle, sensor guide arm 4-7 is fixed with jackscrew and potentiometer 4-8.Then copper post and sensor link are fixed on cantilever one 4-11, and sliding sleeve are inserted in the fluting of sensor guide arm, be screwed on the sensor link.Sensor just installs like this, the installation of all the other sensors mode like this.
All assemble the existing fixed arm with actuating arm one end in the back that finishes at paw, actuating arm, slave arm and be screwed on fixed head two 3-24 at paw, screw does not screw.The other end so connects another paw, and screw does not screw.Two nuts are screwed in the middle of the screw mandrel 4-15, and two screw mandrels are all so handled.Respectively two screw mandrels are inserted in the hole of cantilever one 4-11 and cantilever three 4-17.Then as actuating arm is installed slave arm and two paws are fixed, screw does not screw.Then adjust angle, two screw mandrels are inserted respectively in the hole of cantilever one (non-sensor) 4-25 and cantilever three 4-22 again.And two nuts on it are threaded to two-piece surface respectively.This moment, the attachment screw with actuating arm, slave arm and paw screwed.Then add nut at the screw mandrel two ends, two nuts on its inner screw mandrel are screwed out make up and down two to prop up, external nut is tightened then.
Claims (9)
1. nuclear power steam generator pipe detection robot, it comprises two paw mechanisms, it is characterized in that: two paws are hinged by driving shaft and upper cantilever, two paws are hinged by driven shaft and lower cantalever, upper cantilever is formed by two sections that are hinged by driving shaft, lower cantalever is formed by two sections that are hinged by driven shaft, the lower end of the driving shaft between the driving shaft between upper cantilever and two paws and the two sections upper cantilevers all is connected with motor, the upper end of each driving shaft is provided with potentiometer, potentiometer links to each other with the sensor guide arm, the sensor guide arm is hinged on the fixed leg that is fixed on the upper cantilever, described paw comprises the fixed head two that links to each other with lower cantalever with upper cantilever, be fixed on the lifting cylinder on the fixed head two, lifting air cylinder driven one slide rail, the two ends of slide rail link to each other with fixed head one by sliding rail fixing piece, push cylinder is installed in bottom at fixed head one, the cylinder rod of last push cylinder connects the tension cylinder, the cylinder rod cylinder lever connecting rod of tension cylinder, rod outer sleeve has the swelling lobe, the top of fixed head one is equipped with the upper plate that has the hole, and the swelling lobe is installed in the hole on the upper plate.
2. nuclear power steam generator pipe detection robot according to claim 1 is characterized in that: be fixed with support member on the tension cylinder, swelling lobe fixed head is installed on the support member, the lower end of swelling lobe is fixed on the swelling lobe fixed head.
3. nuclear power steam generator pipe detection robot according to claim 1 and 2, it is characterized in that: on the fixed head two, the two ends of lifting cylinder respectively are fixed with a slide rail bearing fixing part, the slide rail bearing is installed on the slide rail bearing fixing part, and the cylinder rod of described lifting cylinder is arranged in sliding bearing.
4. nuclear power steam generator pipe detection robot according to claim 1 and 2 is characterized in that: linked to each other by screw mandrel between two sections of the correspondence up and down of upper cantilever and lower cantalever.
5. nuclear power steam generator pipe detection robot according to claim 3 is characterized in that: linked to each other by screw mandrel between two sections of the correspondence up and down of upper cantilever and lower cantalever.
6. nuclear power steam generator pipe detection robot according to claim 1 and 2 is characterized in that: the lifting cylinder is fixed on the fixed head two by lifting cylinder fixture, and the cylinder rod of lifting cylinder links to each other with fixed head one by lifting cylinder upper fixing element.
7. nuclear power steam generator pipe detection robot according to claim 3 is characterized in that: the lifting cylinder is fixed on the fixed head two by lifting cylinder fixture, and the cylinder rod of lifting cylinder links to each other with fixed head one by lifting cylinder upper fixing element.
8. nuclear power steam generator pipe detection robot according to claim 4 is characterized in that: the lifting cylinder is fixed on the fixed head two by lifting cylinder fixture, and the cylinder rod of lifting cylinder links to each other with fixed head one by lifting cylinder upper fixing element.
9. nuclear power steam generator pipe detection robot according to claim 5 is characterized in that: the lifting cylinder is fixed on the fixed head two by lifting cylinder fixture, and the cylinder rod of lifting cylinder links to each other with fixed head one by lifting cylinder upper fixing element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101372063A CN101364452B (en) | 2008-09-27 | 2008-09-27 | Nuclear power steam generator pipe detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101372063A CN101364452B (en) | 2008-09-27 | 2008-09-27 | Nuclear power steam generator pipe detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101364452A CN101364452A (en) | 2009-02-11 |
| CN101364452B true CN101364452B (en) | 2011-01-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101372063A Expired - Fee Related CN101364452B (en) | 2008-09-27 | 2008-09-27 | Nuclear power steam generator pipe detection robot |
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| Country | Link |
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| CN (1) | CN101364452B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103890491A (en) * | 2011-02-18 | 2014-06-25 | 通用电气公司 | Low row steam generator inspection probe |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101667465B (en) * | 2009-11-27 | 2011-11-16 | 哈尔滨工程大学 | Robot for overhauling primary side of steam generator of nuclear power plant |
| KR101109140B1 (en) * | 2010-10-25 | 2012-02-24 | 한국수력원자력 주식회사 | Finger grip type heat pipe inspection robot of steam generation |
| CN102890489B (en) * | 2012-09-25 | 2014-07-23 | 中广核检测技术有限公司 | Eddy current inspection equipment mounting control system of heat transfer pipe of steam generator of nuclear power plant |
| CN114914873B (en) * | 2022-04-19 | 2023-06-02 | 上海工程技术大学 | Traversing arrangement and trailer bearing device for nested moving cables of track walking robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5355063A (en) * | 1990-11-01 | 1994-10-11 | Westinghouse Electric Corp. | Robotic system for servicing the heat exchanger tubes of a nuclear steam generator |
| CN1544212A (en) * | 2003-11-13 | 2004-11-10 | 上海交通大学 | Multifunctional composite paw |
-
2008
- 2008-09-27 CN CN2008101372063A patent/CN101364452B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5355063A (en) * | 1990-11-01 | 1994-10-11 | Westinghouse Electric Corp. | Robotic system for servicing the heat exchanger tubes of a nuclear steam generator |
| CN1544212A (en) * | 2003-11-13 | 2004-11-10 | 上海交通大学 | Multifunctional composite paw |
Non-Patent Citations (2)
| Title |
|---|
| JP特开2006-160175A 2006.06.22 |
| 鲁守银等.电站锅炉热交换承压管自动无损检测技术.《热力发电》.2004, * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103890491A (en) * | 2011-02-18 | 2014-06-25 | 通用电气公司 | Low row steam generator inspection probe |
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| Publication number | Publication date |
|---|---|
| CN101364452A (en) | 2009-02-11 |
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