CN106853849B

CN106853849B - Stepping crawling device for automatic cleaning and checking equipment of pressure vessel bolt holes

Info

Publication number: CN106853849B
Application number: CN201510905665.1A
Authority: CN
Inventors: 杨斌; 蒋兴福; 毕昆; 李莉
Original assignee: Research Institute of Nuclear Power Operation; China Nuclear Power Operation Technology Corp Ltd
Current assignee: Research Institute of Nuclear Power Operation; China Nuclear Power Operation Technology Corp Ltd
Priority date: 2015-12-09
Filing date: 2015-12-09
Publication date: 2020-10-23
Anticipated expiration: 2035-12-09
Also published as: CN106853849A

Abstract

The invention belongs to the technology of maintenance and detection of nuclear power plants, and particularly discloses a stepping crawling device for automatic cleaning and checking equipment of a pressure vessel bolt hole. Including the automobile body, fix the drive structure on the automobile body, still including being fixed in the support on the automobile body, along the gliding guide rail of support, the cylinder of fixed locating the guide rail both ends and the location section of thick bamboo of being connected with the cylinder: the middle part of the guide rail is provided with an internal gear, and the driving structure can drive the internal gear to rotate; the positioning cylinder is coaxial with the bolt hole. The arc-shaped traveling of the equipment is realized by designing the supports distributed in an arc shape and matching the arc-shaped guide rails to move in the arc shape of the supports; through cylinder and the location section of thick bamboo of installing on the guide rail, realize the locking to the bolt hole after crawling of a step length, location section of thick bamboo on the guide rail directly uses the bolt hole as the location benchmark, does not rely on outside location structure, can guarantee that the location is reliable, does not have the off tracking risk.

Description

Stepping crawling device for automatic cleaning and checking equipment of pressure vessel bolt holes

Technical Field

The invention belongs to the maintenance and detection technology of a nuclear power plant, and particularly relates to a moving device of screw hole cleaning and inspection equipment during cleaning and detection of a screw hole of a pressure vessel.

Background

Cleaning and video inspection of a bolt hole of a reactor pressure vessel (hereinafter referred to as 'RPV') are necessary work during overhaul, and aims to remove residual anti-seizing agent and other impurities in the bolt hole, perform video inspection on threads, and create conditions for smooth screwing of a main bolt if defects are found to require thread repair so as to avoid bolt seizing. At present, power plants at home and abroad commonly use bolt hole cleaning machines to clean, and then use bolt hole video inspection instruments to inspect threads.

The screw hole cleaning and inspecting equipment is required to move on the flange surface along an arc track strictly so as to inspect and clean the screw holes distributed in the radial direction.

Disclosure of Invention

The invention aims to provide a stepping crawling device for automatic cleaning and checking equipment of a pressure vessel bolt hole, which can ensure that the automatic cleaning and checking equipment of the bolt hole can strictly advance along the arc shape of the bolt hole on the flange surface of a reactor pressure vessel without deviation.

The technical scheme of the invention is as follows:

the utility model provides a step-by-step device of crawling of pressure vessel bolt hole self-cleaning check-out set, includes the automobile body, fixes the drive structure on the automobile body, still including being fixed in the support on the automobile body, along the gliding guide rail of support, the cylinder of fixed locating the guide rail both ends and the a location section of thick bamboo of being connected with the cylinder: the middle part of the guide rail is provided with an internal gear, and the driving structure can drive the internal gear to rotate; the positioning cylinder is coaxial with the bolt hole.

In the step climbing device of the automatic cleaning and inspecting equipment for the bolt holes of the pressure vessel, the support is distributed on the vehicle body in an arc shape, the vehicle body is in an arc structure, and the outer circles of the flange surfaces of the arc-shaped reactor pressure vessel are concentric.

In the step-by-step climbing device of the automatic cleaning and inspecting equipment for the bolt holes of the pressure vessel, the vehicle body comprises a vehicle body lower plate, a vehicle body upper plate, a supporting rod and walking wheels, and the supporting rod is positioned between the vehicle body lower plate and the vehicle body upper plate and is fixedly connected with the vehicle body lower plate and the vehicle body upper plate.

In the step climbing device of the automatic cleaning and inspecting equipment for the bolt hole of the pressure vessel, the support and the driving mechanism are fixedly arranged on the lower plate of the vehicle body.

In the step climbing device of the automatic cleaning and inspecting equipment for the bolt hole of the pressure container, the driving mechanism comprises a bottom plate and two gear shafts arranged on the bottom plate, wherein each gear shaft is provided with a gear, the two gears are meshed with each other, one gear IV is meshed with an internal gear in the cleaning and inspecting equipment, and a turbine is fixedly arranged on the gear shaft where the other gear is positioned; the driving mechanism further comprises a motor and a worm, wherein a gear I is arranged on the motor, the worm is connected with a gear shaft I, a gear II is arranged on the gear shaft I, and the gear I is meshed with the gear II; the worm is meshed with the worm wheel.

The invention has the following remarkable effects:

the arc-shaped traveling of the equipment is realized by designing the supports distributed in an arc shape and matching the arc-shaped guide rails to move in the arc shape of the supports; the cylinder and the positioning cylinder are arranged on the guide rail, so that the bolt holes are locked after crawling in one step length, the positioning cylinder on the guide rail directly takes the bolt holes as a positioning reference, an external positioning structure is not relied on, the positioning reliability can be ensured, and the deviation risk is avoided;

the guide rail assemblies on the upper plate and the lower plate of the car body can be in arc structures, and the arcs are concentric with the outer circle of the flange surface of the reactor pressure vessel, so that the running track is ensured to be matched with the distribution circle of the screw holes of the pressure vessel.

Furthermore, by designing the driving mechanism, the motor drives a series of gears to move in a meshing manner, and finally, the driving force is transmitted to the inner gear to drive the guide rail assembly to move in an arc manner, so that the driving force is provided for the guide rail assembly, and the guide rail assembly is guaranteed to move along the arc track on the flange surface.

Drawings

FIG. 1 is a top view of a step crawling apparatus for automatic cleaning and inspecting equipment for screw holes of a pressure vessel;

FIG. 2 is a front view of a step crawling device of the automatic cleaning and inspecting equipment for the screw hole of the pressure vessel;

FIG. 3 is a schematic top view of a driving structure;

FIG. 4 is a front view of the driving structure;

in the figure: 1. a vehicle body lower plate; 2. a guide rail; 3. a drive mechanism; 4. a support; 5. an internal gear; 6. braking; 7. a support bar; 8. a vehicle body upper plate; 9. a cylinder; 10. a positioning cylinder; 11. a traveling wheel; 12. bolt holes;

301. a motor; 302. an upper cover; 303. a base plate; 304. a gear IV; 305. a gear shaft III; 306. a gear I; 307. a gear II; 308. a gear shaft I; 309. a worm; 3010. a turbine; 3011. a gear shaft II; 3012. and a gear III.

Detailed Description

The invention is described in further detail below with reference to the figures and the embodiments.

As shown in fig. 1 and 2, the vehicle body lower plate 1, the vehicle body upper plate 8, the support bar 7, and the road wheels 11 are connected to form a vehicle body structure. The relative positions of the three parts are kept fixed. To control the vehicle body structure, a brake 6 is installed under the vehicle body lower panel 1.

The support rod 7 is fixedly connected with the lower vehicle body plate 1 and the upper vehicle body plate 8.

The support 4 and the driving mechanism 3 are fixedly mounted on the vehicle body lower plate 1, and the relative positions of the support and the driving mechanism and the vehicle body lower plate 1 are fixed.

In this embodiment, 5 supports 4 are selected and distributed in a circular arc shape at positions on the vehicle body lower panel 1. The guide rail 2 is installed above the vehicle body lower plate 1 through the support 4, and the guide rail 2 slides back and forth along the arc distributed on the support 4.

The hollow arc-shaped plate structure of the guide rail 2 is solid plate-shaped at two ends, the middle part of the guide rail 2 is hollow, and the hollow part consists of an inner arc-shaped strip and an outer arc-shaped strip.

A group of cylinders 9 and a positioning cylinder 10 are respectively arranged at two ends of the guide rail 2, the cylinders 9 are arranged on the solid plate-shaped structures at the two ends of the guide rail 2, and the cylinders 9 drive the positioning cylinder 10 to move up and down.

The middle part of the guide rail 2 is fixedly provided with an internal gear 5 which is arranged on an external arc-shaped strip.

As shown in fig. 3 and 4, the driving structure 3 includes a motor 301, a gear i 306, a gear ii 307, a gear shaft i 308, a worm 309, a worm gear 3010, a gear shaft ii 3011, a gear iii 3012, an upper cover 302, a gear shaft iii 305, a gear iv 304, and a bottom plate 303.

A bottom plate 303 is installed on the vehicle body lower plate 1, and two gear shafts, namely a gear shaft II 11 and a gear shaft III 305 are installed on the bottom plate 303 and are installed on the bottom plate 303 through bearings. A gear III 3012 is mounted on the gear shaft II 3011, a gear IV 304 is mounted on the gear shaft III 305, and the two gears are meshed. Gear shaft II 3011 is also equipped with turbine 3010 above gear III 3012. The upper ends of the gear shaft II 11 and the gear shaft III 305 are connected with the upper cover 302 through bearings. The gear iv 304 meshes with the internal gear 5 on the guide rail 2.

The front end of the motor 301 is provided with a gear I306. The worm 309 is in threaded connection with a gear shaft I308, and a gear II 307 is mounted on the gear shaft I308. Gear i 306 meshes with gear ii 307.

The worm 309 meshes with the worm gear 3010.

Gear iv 304 meshes with internal gear 5, so that drive mechanism 3 can transmit drive force to internal gear 5, and since internal gear 5 is fixedly mounted with guide rail 2, guide rail 2 can be driven to move back and forth along an arc-shaped track relative to the vehicle body structure.

In operation, the positioning cylinder 10 of the positioning assembly 2 is inserted into the bolt hole 12 and is in a positioning state. The brake 6 is now in a released state.

The screw hole cleaning and checking kinetic energy can be carried out under the positioning state, and all functions are completed. The brake 6 is actuated downward, relying on frictional forces to hold the body structure stationary with respect to the flange face under small disturbances. Then, the cylinder 9 on the guide rail 2 is ventilated to move the positioning cylinder 10 upward and draw out from the bolt hole 12.

After the action is finished, the driving mechanism 3 drives the inner gear 5 to rotate, the guide rail 2 moves together for one step length, after the guide rail assembly 2 is in place, the positioning cylinders 10 at the two ends of the guide rail assembly 2 move to be right above the bolt holes 12, and the positioning cylinders 10 and the bolt holes 12 are coaxial in the vertical direction.

After the above actions are completed, the cylinder 9 is ventilated, and the positioning cylinder 10 on the guide rail 2 moves downwards under the thrust of the cylinder 9 and is inserted into the bolt hole 12. After the positioning action is finished, the brake 6 is released.

The guide rail 2 will remain stationary relative to the flange surface. And finally, controlling the motor on the driving mechanism 3 to rotate reversely. The car body structure moves clockwise by a step length, and the cleaning and checking functional component on the car body moves to the position above the bolt hole 12, so that the kinetic energy of cleaning and checking the bolt hole can be realized.

And the stepping crawling action is completed, the actions are circularly performed, and the equipment can be driven to move on the flange surface along the arc track strictly.

Claims

1. The utility model provides a step-by-step device of crawling of pressure vessel bolt hole self-cleaning check-out set, includes the automobile body, fixes actuating mechanism (3) on the automobile body, its characterized in that: still including being fixed in support (4) on the automobile body, along support (4) gliding guide rail (2), fixed cylinder (9) of locating the guide rail both ends and with cylinder (9) be connected location section of thick bamboo (10): an internal gear (5) is fixedly arranged in the middle of the guide rail (2), and the driving mechanism (3) can drive the internal gear (5) and the guide rail to slide along the support (4); the positioning cylinder (10) is coaxial with the bolt hole (12);

the driving mechanism (3) comprises a bottom plate (303) and two gear shafts (3011 and 305) arranged on the bottom plate (303), wherein each gear shaft is provided with a gear, the two gears (3012 and 304) are meshed with each other, one gear IV (304) is meshed with an internal gear (5) in the cleaning and checking equipment, and a worm gear (3010) is fixedly arranged on the gear shaft where the other gear is located; the driving mechanism further comprises a motor (301) and a worm (309), a gear I (306) is arranged on the motor (301), the worm (309) is connected with a gear shaft I (308), a gear II (307) is arranged on the gear shaft I (308), and the gear I (306) is meshed with the gear II (307); the worm (309) is meshed with the worm wheel (3010).

2. The step crawling device for the automatic cleaning and inspection equipment for the bolt holes of the pressure vessel as claimed in claim 1, wherein: the support (4) is distributed on the vehicle body in an arc shape, the vehicle body is of an arc-shaped structure, and the arc shape is concentric with the outer circle of the flange surface of the reactor pressure vessel.

3. The step-by-step crawling device for the automatic cleaning and inspection equipment for the bolt holes of the pressure vessel as claimed in claim 1 or 2, wherein: the automobile body include automobile body hypoplastron (1), automobile body upper plate (8), bracing piece (7) and walking wheel (11), bracing piece (7) be located with automobile body hypoplastron (1) and automobile body upper plate (8) between, and fixed connection.

4. The step crawling device for the automatic cleaning and inspection equipment of the bolt holes of the pressure vessel as claimed in claim 3, wherein: the support (4) and the driving mechanism (3) are fixedly arranged on the lower plate (1) of the vehicle body.