CN103486402A - Mechanical foot of heat transmission pipe detecting robot for vapor generators - Google Patents
Mechanical foot of heat transmission pipe detecting robot for vapor generators Download PDFInfo
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- CN103486402A CN103486402A CN201310430174.7A CN201310430174A CN103486402A CN 103486402 A CN103486402 A CN 103486402A CN 201310430174 A CN201310430174 A CN 201310430174A CN 103486402 A CN103486402 A CN 103486402A
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- piston
- stage piston
- transfer pipe
- robot
- steam generator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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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
Abstract
The invention provides a mechanical foot of a heat transmission pipe detecting robot for vapor generators. The mechanical foot comprises a primary air cylinder, a secondary air cylinder and a claw. The primary air cylinder is provided with a primary piston guide bushing, a secondary piston of the secondary air cylinder is arranged in an inner cavity of a primary piston of the primary air cylinder and divides the same into a front cavity and a rear cavity, the front cavity is connected with a second air port, and the rear cavity is connected with a third air port. A secondary piston rod of the secondary air cylinder extends into the primary piston guide bushing. The primary air cylinder is provided with a first air port. A compressed spring is arranged between an end cap of the primary air cylinder and the secondary piston. The claw comprises a base, a support rod, a plurality of matched sliders and a plurality of pull rods. The support rod is provided with a conical surface. The rear end of the support rod is connected with an end of the primary piston guide bushing through the base. The sliders are hinged with one ends of the pull rods. The other ends of the pull rods penetrate the base to be connected with the end of the secondary piston rod. The sliders are in sliding fit with the conical surface of the support rod. The mechanical foot can enable the detection robot to stably crawl at the lower end of a pipe plate but does not damage heat transmission pipes in the pipe plate.
Description
Technical field
The present invention relates to a kind of machinery foot of robot, relate in particular to a kind of machinery foot of the detection robot of firmly grasping for the steam generator heat-transfer pipe endoporus.
Background technique
The major function of the steam generator of nuclear power station is as heat-exchange apparatus, the heat of one circuit cools agent to be passed to the water of secondary circuit, makes the water vapor of secondary circuit produce saturated vapour supply secondary plant.Steam generator is also that steam generator forms the second safety sereen that prevents that radioactivity from leaking between a loop and secondary circuit as the equipment that connects a loop and secondary circuit.Steam generator heat-transfer pipe is the important component part on pressurized water reactor one circuit pressure border, is the main barrier that prevents that radioactive fission product from leaking.Once heat-transfer pipe breaks, the radioactivity freezing mixture in a loop will enter secondary circuit, and loss-of-coolant accident occurs.Radioactive fission product can enter conventional island, or by safety valve discharged to atmosphere, cause nuclear pollution.Therefore steam generator heat-transfer pipe make regular check on very important.
At present, the main method of using in the steam generator heat-transfer pipe inspection has eddy current and two kinds of Dynamic Non-Destruction Measurements of helium leak test.According to the radiation proof requirement of nuclear power station, automatic measuring unit need to be stretched into to vaporizer inside heat-transfer pipe is detected, the heat-transfer pipe that detect is arranged in the hole of steam generator tube sheet.The method that automatic measuring unit is stretched into to steam generator has two kinds: a kind of is by the big machinery arm, automatic measuring unit directly to be extend into to the tube sheet below from the steam generator outside heat-transfer pipe is detected, the system that this method is used is comparatively complicated, although complete function, but because need supporting equipment more in testing process, thereby heavier; Another kind method is that the robot by creeping is detected, robot is with detection device and be provided with a plurality of machinery foots, robot is delivered to the below of steam generator tube sheet, robot is inserted in the heat-transfer pipe endoporus and is hung in tube sheet and issues and creeped by machinery foot, detect and need the heat-transfer pipe of steam generator can bear enough large lifting power in this way, make automatic measuring unit the heat-transfer pipe of the special position of steam generator inside be detected by creeping of robot.The machinery of the robot that uses is to realize to the heat-transfer pipe endoporus promptly by the monocline wedge enough at present, and then realize the purpose creep in the tube sheet lower end, but in view of the heat-transfer pipe endoporus is circular hole, monocline wedge mechanism can not reliably adapt to its inwall, and can cause the heat-transfer pipe inwall to damage because of unbalance stress, the operation of whole steam generator has also been caused to trouble.For the deficiency of climbing robot machinery foot when creeping, need a kind of machinery foot structure of more reliable climbing robot.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of heat-transfer pipe that can make to detect more stable the creeping in the tube sheet lower end of robot, and the heat-transfer pipe endoporus that prevents from damaging heat-transfer pipe machinery foot promptly, to overcome the above-mentioned defect of prior art.
In order to solve the problems of the technologies described above, the present invention adopts following technological scheme: a kind of steam generator heat-transfer pipe detects the machinery foot of robot, comprises one-level cylinder, secondary cylinder and claw, and described secondary cylinder is in the one-level cylinder; Described one-level cylinder comprises cylinder body, end cap, first stage piston guide pin bushing and is provided with the first stage piston of inner chamber, the front end of first stage piston is connected with the first stage piston guide pin bushing, the rear end of first stage piston is connected with end cap, and the first stage piston guide pin bushing stretches out from the cylinder body front end, and described cylinder body is provided with the first gas port; The second piston of described secondary cylinder is divided into front chamber and rear chamber in the inner chamber of first stage piston and by inner chamber, the front end of the second piston rod on second piston passes first stage piston and stretches in the first stage piston guide pin bushing, be provided with stage clip between described end cap and second piston, front chamber is connected with the second gas port, and rear chamber is connected with the 3rd gas port; Described claw comprises base, pole and a plurality of slide blocks that match, a plurality of pull bar, described pole is provided with conical surface, the rear end of pole is led end by base and first stage piston and is connected, described slide block and described pull bar one end are hinged, the pull bar the other end is connected with the second piston boom end through base, and described slide block all is slidably matched with the conical surface of pole.
Preferably, the surface of described pole has many chutes, and described slide block is arranged in chute, and the bottom surface of described chute is conical surface.
Preferably, described slide block and pull bar are respectively equipped with three.
Preferably, the front end of described second piston rod connects three guide rods, and described pole is provided with the pilot hole matched with guide rod, is provided with damping spring in pilot hole.
Preferably, be connected with reset tension spring between described end cap and cylinder body.
Preferably, be provided with the claw guide pin bushing between described pull bar and base.
Preferably, between described second piston and described first stage piston inner chamber, be provided with guidance tape, also be provided with guidance tape between first stage piston and inboard wall of cylinder block.
Preferably, be provided with seal ring between described first stage piston guide pin bushing and cylinder body.
As mentioned above, steam generator heat-transfer pipe of the present invention detects the machinery foot of robot, has following beneficial effect:
Under normal conditions, because the effect of extension spring, claw is in stretching out and being to firmly grasp state, so when work, the first gas port passes into pressurized air, first allows whole machinery foot retraction be moved, after moving to precalculated position again, the first gas port communicates with atmosphere, because the extension spring effect, claw can extend in heat-transfer pipe, now by the effect of the second gas port and the 3rd gas port, first allow claw in releasing orientation, the endoporus hole wall of heat-transfer pipe promptly again when the pole of claw and slide block enter into heat-transfer pipe; And if lower compressed-air actuated supply suddenly disappears or while being attenuated to a certain degree in working order, because stage clip can be given thrust forward of second piston, make claw still can remain on working state, prevent that unnecessary accident from occurring, so the present invention is highly stable in when work, and unbalance stress and damage heat-transfer pipe can not contact with heat-transfer pipe endoporus hole wall because of the slide block on claw the time.
The accompanying drawing explanation
Fig. 1 is structural drawing of the present invention.
Fig. 2 is right elevation of the present invention.
Fig. 3 is that in Fig. 2, A-A is in the partial sectional view under working state.
Fig. 4 is claw shaft side figure in the present invention.
The end view that Fig. 5 is claw in the present invention.
Fig. 6 is B-B place sectional view in Fig. 5.
In figure: 11 cylinder body 12 end caps
13 first stage piston guide pin bushing 131 seal rings
14 first stage piston 15 first gas ports
21 second piston 211 front chamber
212 rear chamber's 22 second piston rods
23 second gas port 24 the 3rd gas ports
3 stage clip 4 claws
41 base 42 poles
421 chute 43 slide blocks
44 pull bar 45 guide rods
46 damping spring 5 Returnning springs
6 claw guide pin bushing 7 guidance tapes
8 heat-transfer pipes
Embodiment
The structure that Figure of description illustrates, ratio, size etc., equal contents in order to coordinate specification to disclose only, understand and read for person skilled in the art scholar, not in order to limit the enforceable qualifications of the present invention, therefore the technical essential meaning of tool not, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under the effect that the present invention can produce and the purpose that can reach, all should still drop in the scope that disclosed technology contents can contain.Simultaneously, in this specification, quote as " on ", the term such as D score, 'fornt', 'back', " centre ", also only for ease of understanding of narrating, but not in order to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under without essence change technology contents, when also being considered as the enforceable category of the present invention.
A kind of machinery foot of firmly grasping for the heat-transfer pipe endoporus of the present invention, be arranged on the climbing robot with detection device, and climbing robot is moved in steam generator tube sheet lower end by the machinery foot, and the machinery foot plays the effect of firmly grasping heat-transfer pipe in tube sheet.
This device comprises one-level cylinder, secondary cylinder and claw, and described secondary cylinder is in the one-level cylinder.
As shown in Figure 1, described one-level cylinder comprises cylinder body 11, end cap 12, first stage piston guide pin bushing 13 and is provided with the first stage piston 14 of inner chamber, the front end of described first stage piston 14 is connected with first stage piston guide pin bushing 13, the rear end of first stage piston 14 is connected with end cap 12, and first stage piston guide pin bushing 13 stretches out from cylinder body 11 front ends.In order to guarantee sealing, between described first stage piston guide pin bushing 13 and cylinder body 11, be provided with seal ring 131.Described cylinder body 11 is provided with the first gas port 15, in the present embodiment, first stage piston 14 moves in the inner chamber of cylinder block of cylinder body 11, described the first gas port 15 is connected with the front end of inner chamber of cylinder block, when the first gas port 15 passes into pressurized air, first stage piston 14 drives end cap 12 motion backward together with first stage piston guide pin bushing 13, and when the first gas port 15 communicates with atmosphere, in order to facilitate resetting of first stage piston 14, between described end cap 12 and cylinder body 11, be connected with reset tension spring 5.Further, in order to guarantee tension equalizer, the reset tension spring 5 that connects end cap 12 and cylinder body 11 is provided with three groups.
The second piston 21 of described secondary cylinder is divided into front chamber 211 and rear chamber 212 in the inner chamber of first stage piston 14 and by the inner chamber of first stage piston 14, and described first stage piston 14 is equivalent to the cylinder part of secondary cylinder.Second piston rod 22 front ends on second piston 21 pass first stage piston 14 and stretch in first stage piston guide pin bushing 13, between described end cap 12 and second piston 21, are provided with stage clip 3, and front chamber 211 is connected with the second gas port 23, and rear chamber 212 is connected with the 3rd gas port 24.In the present embodiment, described the second gas port 23 is opened on end cap 12 and the sidewall by first stage piston 14 finally is connected with front chamber 211, and described the 3rd gas port 24 directly is opened on end cap 12 and with rear chamber 212 and is connected.
As shown in Fig. 2,3,4,5,6, described claw 4 comprises base 41, pole 42 and a plurality of slide blocks 43 that match, a plurality of pull bar 44, described pole 42 is provided with conical surface, the rear end of pole 42 is fixedly connected on base 41, base 41 is connected with the front end of first stage piston guide pin bushing 13, described slide block 43 is hinged with described pull bar 44 front ends, and pull bar 44 rear ends are connected with the front end of second piston rod 22 through base 41, and each slide block 43 all contacts with the conical surface of pole 42.Further, for the ease of the motion guide of slide block 43,43 skews of anti-limited slip block, the surface of described pole 42 has many chutes 421, and described slide block 43 is arranged in chute 421, and the bottom surface of chute 421 is conical surface; Preferably, described slide block 43 and pull bar 44 are respectively equipped with three.As shown in Figure 5 and Figure 6, in the present embodiment, the front end of second piston rod 22 connects three guide rods 45, and described pole 42 is provided with the pilot hole matched with guide rod 45, is provided with damping spring 46 in pilot hole.Be provided with claw guide pin bushing 6 between described pull bar 44 and base 41, the effect of claw guide pin bushing 6 is that second piston rod 22 and pull bar 44 are constrained in the particular space of claw guide pin bushing 6 inside, guarantee the reliable movement of second piston rod 22 and pull bar 44, and the length of claw guide pin bushing 6 is greater than the movement travel of second piston rod 22.
This device is that in the present embodiment, claw 4 seesaws, and in Fig. 3, take the right side as front by the claw 4 heat-transfer pipe endoporus hole wall in tube sheet be hung in the tube sheet lower end promptly when real work, take a left side as after.This device mainly comprises following action when concrete the use:
Next climbing robot of ordinary circumstance is provided with four machinery foots, when climbing robot is creeped in the tube sheet lower end, needs claw on each machinery foot to shrink with extend action and completes movement.In conjunction with Fig. 1 and Fig. 3, the contractive action process of claw 4: claw 4 be by base 41 and first stage piston guide pin bushing 13 connect together, first stage piston guide pin bushing 13 connects together with first stage piston 14, first stage piston 14 connects together and forms an integral body with end cap 12.When needs claw 4 retraction, the first gas port 15 passes into pressurized air, and first stage piston 14 moves backward under compressed-air actuated effect, thereby drive claw 4, moves backward, in order to guarantee the reliability of first stage piston 14 motions, between first stage piston 14 and cylinder body 11 inwalls, also be provided with guidance tape 7.
In conjunction with Fig. 1,2,3, shown in the extend action of claw 4: reset tension spring 5 one ends are connected with cylinder body 11, an end is connected with end cap 12, when the first gas port 15 communicates with atmosphere, under the pulling force effect of reset tension spring 5, end cap 12, first stage piston 14 move forward with first stage piston guide pin bushing 13 integral body, be claw 4 in stretching out state, in order to guarantee the balance of reset tension spring 5 pulling force, reset tension spring 5 is equally distributed with three tie points of end cap 12.More than comprehensive, claw 4 stretch out and the course of action of retracting repeatedly in, stretch out with retract action and mainly match with the turnover gaseity of the first gas port 15, the first gas port 15 exhaust that communicates with atmosphere when claw 4 stretches out, when claw 4 is retracted, the first gas port 15 passes into pressurized air.
In conjunction with Fig. 1,2,3, when claw 4 extend in heat-transfer pipe 8, need the promptly inwall of heat-transfer pipe 8 of claw 4, the promptly course of action of claw 4 is:
The second gas port 23 and atmosphere communicate, and the 3rd gas port 24 passes into pressurized air, because the pressurized air effect, second piston 21 drives second piston rod 22 and moves forward.For reducing the frictional force of second piston 21 and first stage piston 14 inner chambers, second piston 21 and and piston 14 between be provided with the guidance tape 7 made from self lubricating material, guaranteed the reliability of second piston 21 motions.Second piston 21 pushing drawing rods 44 move forward, because be hinged between pull bar 44 and slide block 43, so promoting slide block 43, pull bar 44 slides on the conical surface of pole 42, utilize wedge to compress principle, heat-transfer pipe 8 endoporus apertures are certain, three slide blocks 43 are during simultaneously along conical surface to front slide, its external envelope circular diameter can increase, between slide block 43 and heat-transfer pipe 8 endoporus hole walls, for line, contact, produce wedge impacting force and frictional force very large, and then the endoporus of heat-transfer pipe 8 promptly, what make that whole climbing robot can be firm is lifted on the tube sheet lower end.
The effect of stage clip 3 is the reliabilities for guaranteeing that in using process, claw 4 is firmly grasped, in the situation that losing suddenly pressurized air, the 3rd gas port 24 supplies with, claw 4 still can rely on the elastic force of stage clip 3 and the endoporus of heat-transfer pipe 8 promptly, therefore under normal conditions, claw 4 is in firmly grasping state, and stage clip 3 is always in compressive state.
In sum, the machinery foot of firmly grasping for the heat-transfer pipe endoporus of the present invention, the climbing robot of can the dealing with problems unsettled problem of creeping in the tube sheet lower end.So, thereby the present invention has effectively overcome practical problems more of the prior art, in the steam generator context of detection, very high value is arranged and uses meaning.
Above-mentioned mode of execution is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.The present invention also has many aspects to be improved under the prerequisite without prejudice to overall thought, for person skilled in the art scholar, all can, under spirit of the present invention and category, can be modified or change above-described embodiment.Therefore, such as in affiliated technical field, have and usually know that the knowledgeable, not breaking away from all equivalence modifications that complete under disclosed spirit and technological thought or changing, must be contained by claim of the present invention.
Claims (8)
1. the machinery of a steam generator heat-transfer pipe detection robot is sufficient, and it is characterized in that: comprise one-level cylinder, secondary cylinder and claw (4), described secondary cylinder is in the one-level cylinder;
Described one-level cylinder comprises cylinder body (11), end cap (12), first stage piston guide pin bushing (13) and is provided with the first stage piston (14) of inner chamber, the front end of first stage piston (14) is connected with first stage piston guide pin bushing (13), the rear end of first stage piston (14) is connected with end cap (12), first stage piston guide pin bushing (13) stretches out from cylinder body (11) front end, and described cylinder body (11) is provided with the first gas port (15);
The second piston of described secondary cylinder (21) is divided into front chamber (211) and rear chamber (212) in the inner chamber of first stage piston (14) and by inner chamber, the front end of the second piston rod (22) on second piston (21) passes first stage piston (14) and stretches in first stage piston guide pin bushing (13), be provided with stage clip (3) between described end cap (12) and second piston (21), front chamber (211) is connected with the second gas port (23), and rear chamber (212) is connected with the 3rd gas port (24);
Described claw (4) comprises base (41), pole (42) and a plurality of slide blocks (43) that match, a plurality of pull bar (44), described pole (42) is provided with conical surface, the rear end of pole (42) is connected with first stage piston guide pin bushing (13) end by base (41), described slide block (43) is hinged with described pull bar (44) one ends, pull bar (44) the other end is connected with second piston rod (22) end through base (41), and described slide block (43) all is slidably matched with the conical surface of pole (42).
2. steam generator heat-transfer pipe according to claim 1 detects the machinery foot of robot, it is characterized in that: the surface of described pole (42) has many chutes (421), described slide block (43) is arranged in chute (421), and the bottom surface of described chute (421) is conical surface.
3. steam generator heat-transfer pipe according to claim 1 detects the machinery foot of robot, and it is characterized in that: described slide block (43) and pull bar (44) are respectively equipped with three.
4. steam generator heat-transfer pipe according to claim 1 detects the machinery foot of robot, it is characterized in that: the front end of described second piston rod (22) connects three guide rods (45), described pole (42) is provided with the pilot hole matched with guide rod (45), is provided with damping spring (46) in pilot hole.
5. steam generator heat-transfer pipe according to claim 1 detects the machinery foot of robot, it is characterized in that: between described end cap (12) and cylinder body (11), be connected with reset tension spring (5).
6. steam generator heat-transfer pipe according to claim 1 detects the machinery foot of robot, it is characterized in that: between described pull bar (44) and base (41), be provided with claw guide pin bushing (6).
7. steam generator heat-transfer pipe according to claim 1 detects the machinery foot of robot, it is characterized in that: be provided with guidance tape (7) between described second piston (21) and described first stage piston (14) inner chamber, between first stage piston (14) and cylinder body (11) inwall, also be provided with guidance tape (7).
8. steam generator heat-transfer pipe according to claim 1 detects the machinery foot of robot, it is characterized in that: between described first stage piston guide pin bushing (13) and cylinder body (11), be provided with seal ring (131).
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| CN201310430174.7A CN103486402B (en) | 2013-09-18 | 2013-09-18 | The machinery foot of steam generator heat-transfer pipe measuring robots |
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| CN201310430174.7A CN103486402B (en) | 2013-09-18 | 2013-09-18 | The machinery foot of steam generator heat-transfer pipe measuring robots |
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| CN103486402A true CN103486402A (en) | 2014-01-01 |
| CN103486402B CN103486402B (en) | 2015-08-26 |
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| CN104007664A (en) * | 2014-05-20 | 2014-08-27 | 中科华核电技术研究院有限公司 | Nuclear power plant wall-climbing robot three-dimensional scene simulation motion method |
| CN104279384A (en) * | 2014-10-29 | 2015-01-14 | 爱发科东方真空(成都)有限公司 | High-reliability special connector for helium leak detection |
| CN105736510A (en) * | 2016-04-26 | 2016-07-06 | 武汉大学 | Single-cylinder dual-piston manipulator for inner hole |
| CN105945962A (en) * | 2016-05-19 | 2016-09-21 | 哈尔滨工业大学 | Joint type crawling robot for detecting heat pipe of steam generator |
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| CN106239543A (en) * | 2016-09-30 | 2016-12-21 | 中广核检测技术有限公司 | A kind of superfine pipe diameter heat-transfer pipe of evaporator tube sheet many fingers locking gas pawl |
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Denomination of invention: Mechanical Foot of Steam Generator Heat Transfer Tube Inspection Robot Effective date of registration: 20230628 Granted publication date: 20150826 Pledgee: China Construction Bank Corporation Shanghai Xuhui sub branch Pledgor: STATE NUCLEAR POWER PLANT SERVICE Co. Registration number: Y2023310000317 |
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