CN108263505A - Foreign body grabbing climbs wall trolley and method between steam generator secondary side tube sheet pipe - Google Patents
Foreign body grabbing climbs wall trolley and method between steam generator secondary side tube sheet pipe Download PDFInfo
- Publication number
- CN108263505A CN108263505A CN201611258956.7A CN201611258956A CN108263505A CN 108263505 A CN108263505 A CN 108263505A CN 201611258956 A CN201611258956 A CN 201611258956A CN 108263505 A CN108263505 A CN 108263505A
- Authority
- CN
- China
- Prior art keywords
- steel band
- steam generator
- flexible steel
- tube sheet
- secondary side
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The present invention relates to inspection of foreign substance technical field between steam generator secondary side tube sheet pipe, specifically disclose foreign body grabbing between a kind of steam generator secondary side tube sheet pipe climbs wall trolley and method.This is climbed in wall trolley, and small vehicle main body rear and front end is articulated and connected respectively with yoke assembly, cable concentrator by axis, makes each inter-module can relative swing certain angle；Flexible steel band is inserted in yoke assembly and small vehicle main body, wobble component is used to be oriented to flexible steel band, small vehicle main body to flexible steel band push away and pulls out movement, and the loosening in flexible steel band and gripping tool are sent into designated position for being moved between steam generator secondary side tube sheet.The crawl trolley realizes total inspection and foreign body grabbing between steam generator secondary side tube sheet pipe；Meanwhile this climbs wall trolley using remotely there is line traffic control, remote monitoring reduces and even avoids irradiation dose of the personnel under radiation environment；In addition, this climbs wall trolley reliability height, and it is easy to operate, reduce personnel's skill set requirements.
Description
Technical field
The invention belongs to inspection of foreign substance technical fields between steam generator secondary side tube sheet pipe, and in particular to a kind of steam hair
Foreign body grabbing climbs wall trolley and method between raw device secondary side tube sheet pipe.
Background technology
Steam generator is being built, during installation, operation and Shutdown, due to various reasons, causes some different
Object enters steam generator (SG) secondary side, and is deposited on tube sheet surface, during operation foreign matter mixed with tube sheet body refuse in addition with
Rigid or secondary rigid body refuse dirt sticks together, and is formed and clamps class foreign matter between pipe, crawl difficulty is very big.Remaining foreign matter on tube sheet
Steam generator heat-transfer pipe can be caused in unit operation centainly break pipe hidden danger (such as foreign matter to heat-transfer pipe shock and vibration, squeeze
Pressure, abrasion, corrosion etc.), influence the security reliability of heat-transfer pipe.Since foreign matter remaining on tube sheet may cause steam generator
Serious consequence, the inspection of foreign matter and an important component for taking out nuclear power station steam generator maintenance management.
The foreign body grabbing on steam generator tube sheet works mainly for loosening type foreign matter at present, and small part is mixed in body refuse
Interior fixed foreign matter may be used that the hand-operated tools such as nylon lath are parallel with center piping lane direction to be loosened foreign matter or hang down
Directly the high pressure water washing in center piping lane direction loosens foreign matter, then by foreign body steam generator.However, nylon
The hand-operated tools such as lath are flexible structure, high pressure water washing operating distance it is short, it can be achieved that foreign matter to loosen effect limited and main
Suitable between several row's heat-transfer pipes near steam generator hand hole, can not adapt between the full pipe of steam generator inspection of foreign substance and
Crawl.
Invention content
The purpose of the present invention is to provide between a kind of steam generator secondary side tube sheet pipe foreign body grabbing climb wall trolley and
Method solves the problems, such as fixed foreign matter to be loosened between pipe in the prior art and take out steam generator, meanwhile, expand
The working range of inspection of foreign substance, crawl and the taking-up on steam generator secondary side tube sheet is opened up.
Technical scheme is as follows：Foreign body grabbing climbs wall trolley between a kind of steam generator secondary side tube sheet, should
Climb wall trolley include yoke assembly, small vehicle main body, cable concentrator and flexible steel band, wherein, small vehicle main body rear and front end respectively with
Yoke assembly, cable concentrator are articulated and connected by axis, make each inter-module can relative swing certain angle；Flexible steel band is inserted in deflection group
On part and small vehicle main body, for being oriented to flexible steel band, small vehicle main body is used in steam generator secondary side wobble component
It is moved between tube sheet, and flexible steel band push away and pulls out movement, and specific bit is sent into the loosening in flexible steel band and gripping tool
It puts.
The yoke assembly includes deflection babinet, deflection motor, output gear A, swing arm and contact roller I, inclined
Deflection motor is equipped in turnning box body, seal receptacle is mounted on the head of deflection motor, and interference is pressed with copper sheathing I, I endoporus of copper sheathing peace
Equipped with output gear A, output gear A is coordinated by the flat hole at center and the output shaft of deflection motor, is passed through on the upside of seal receptacle
Copper sheathing III compresses the leading screw being mounted in deflection babinet, and leading screw other end optical axis section is mounted on IV endoporus of deflection babinet upper copper sheathing
In, and feed screw nut is equipped on screw；The flat hole and screw head for passing through center with the driven gear that output gear A is engaged
Plat shaft cooperation, and snugly fit on the copper sheathing II installed on the upside of seal receptacle；Cover board is installed by cover plate for sealing pad and fixed
On deflection babinet, and 2 boss structures processed in cover board is made suitably to compress output gear A and driven gear；Swing arm leads to
It crosses 2 threaded hinging supporting shafts and is connected to deflection babinet both sides, 2 connecting rods pass through the long waist round hole on swing arm, and installation is fixed
In screw hole on to feed screw nut；The deflection babinet top is additionally provided with contact roller I；Deflection motor passes through gear drive A bands
Dynamic driven gear driving leading screw rotation, drives feed screw nut to be moved forward and backward, the connecting rod of feed screw nut both sides installation push swing rod and
Tugboat swings swing arm reciprocally swinging, realizes the guide function of flexible steel band, so that flexible steel band is made to be directed at heat-transfer pipe, facilitates soft
Between property steel band inlet/outlet pipe.
The small vehicle main body includes oscillating motor, small box body, driving motor and permanent magnetic wheels, wherein, deflection support
Axis is fixed on the upside of small box body front end, and realization small box body is flexibly connected with the deflection babinet in wobble component, is pushed away and is pulled out electricity
Machine is fixed on the downside of small box body front end, is pushed away and is pulled out motor output shaft and output gear B cooperations, drives and be mounted on gear support base
Driven gear rotation, final driving, which pushes away, pulls out sprocket wheel rotation, realizes that pushing away for flexible steel band pulls out function.
The small box body upper surface open simultaneously sets sealing ring to install camera, for observing steam generator heat transfer
Pipe image, video signal transmission determine to climb the orientation mode of wall trolley to the reflection of control system display；Small box body upper surface
Hinged pinch roller compress installation flexible steel band, and ensure that the grid of flexible steel band both sides pulls out the gear teeth of sprocket wheel with pushing away and normally engages.
2 groups of driving motors are equipped in the middle part of the small box body, and are fixed respectively to small box body both sides, driving motor is defeated
Shaft is directly connected to permanent magnetic wheels, and permanent magnetic wheels are mounted on small box body both sides, and permanent magnetic wheels protrude small box body bottom；Described 2 groups
Driving motor takes independent control, can be synchronized with the movement and differential motion, realizes the linear running of whole equipment and the function of steering.
The cable concentrator includes cable concentrator babinet, line concentration lid plate, contact roller II and permanent magnet, wherein, cable concentrator
For babinet by the way that shaft is supported to be connect with small box body, support shaft is fixed on small box body rear end, and support shaft is hollow, fluting
Structure, split shed are connected with cable concentrator box opening, the cable wiring channel as all electronic components；Permanent magnet is sleeved on
It in the central boss of cable concentrator babinet, is installed on permanent magnet in permanent magnetism extracorporeal set nylon jacket, then by yoke, back-up roller wheel peace
In cable concentrator bottom of box trepanning, then back-up roller wheel is fixed using hex nut out of cable concentrator babinet, while compress yoke
Iron；The back-up roller wheel protrudes the cable concentrator bottom of box, and permanent magnet generates adsorption capacity with steam generator inner wall makes line concentration carton and crate
Body is pressed on inside steam generator, and the back-up roller wheel of protrusion ensures that cable concentrator babinet keeps certain interval with inner wall, both keeps
Cable concentrator nor affects on not with rubbing inside steam generator and climbs wall trolley mass motion when climbing wall trolley travelling.
The flexible steel band includes guide plate, steel band, specific purpose tool and steel wire rope, wherein, guide plate is by two block pressur plates
Composition, steel band are made of the basically identical steel band piece of two chip architectures, and according to actual demand, 2~3 specific purpose tools are placed on one
Piece steel band on piece, then two panels steel band is snapped together, and a circular channel is formed in steel band both sides, using 2 steel wire ropes
Two panels steel band piece is together in series, adjusts the tool heads of specific purpose tool, and is fixedly mounted in the mounting hole in guide plate, and profit
It is connected and fixed with sunk screw, simultaneously clamp on steel band.
The specific purpose tool includes foreign matter and loosens tool and foreign body grabbing tool；The foreign matter loosens tool and includes hook
Son, scoop, screw conic or the flushing flexible steel band with high pressure washing head；The foreign body grabbing tool includes hook, three
Pawl, sweep-up pipe, magnet, lasso, crocodile clip.
The deflection babinet lower end is provided with multigroup screw hole, and several support wheels are mounted on difference using anti-loosing screw
In the screw hole of position, the initial deflection of yoke assembly different angle is realized.
Foreign body grabbing climbs wall trolley operating method between a kind of steam generator secondary side tube sheet, includes the following steps：
Flexible steel band with video probe is mounted on and climbs on wall trolley, and will climb wall trolley from steam generation by step 1
Device hand hole is mounted on cylinder inboard wall, will be climbed wall trolley by the video image of cam feedback and be adjusted to level；
Step 2, control climb wall trolley and are moved horizontally to designated position, control the guiding arm swing of wobble component, and adjustment is soft
Property steel band head bending angle, cooperation climbs the whole front and rear operation fine tuning of wall trolley, flexible steel band head made to be directed at heat-transfer pipe pipe
Between, and flexible steel band is delivered between heat-transfer pipe pipe；
Step 3, determined using the image information inspection of cam feedback entrained in flexible steel band it is different between heat-transfer pipe pipe
Principle condition, and carry out foreign matter loosening agent crawl.
The remarkable result of the present invention is：Foreign body grabbing between a kind of steam generator secondary side tube sheet pipe of the present invention
Climb wall trolley and method, realize total inspection and foreign body grabbing between steam generator secondary side tube sheet pipe；Meanwhile this climbs wall trolley
There is line traffic control using long-range, remote monitoring reduces and even avoids irradiation dose of the personnel under radiation environment；In addition, this climbs wall
Trolley reliability is high, easy to operate, reduces personnel's skill set requirements.
Description of the drawings
Fig. 1 wall vehicle structures of climbing of foreign body grabbing between a kind of steam generator secondary side tube sheet pipe of the present invention show
It is intended to；
Fig. 2 foreign body grabbings between a kind of steam generator secondary side tube sheet pipe of the present invention climb wall trolley section view
Figure；
Fig. 3 wall trolleies of climbing of foreign body grabbing between a kind of steam generator secondary side tube sheet pipe of the present invention are looked up
Figure；
Fig. 4 is flexible steel band structure diagram in Fig. 1；
Fig. 5 is flexible steel band sectional view in Fig. 4；
Fig. 6 wall trolley foreign matters of climbing of foreign body grabbing between a kind of steam generator secondary side tube sheet pipe of the present invention are examined
The schematic diagram looked into, loosen or captured；
Fig. 7 is that foreign body grabbing climbs wall trolley foreign matter between another steam generator secondary side tube sheet pipe of the present invention
The schematic diagram for checking, loosening or capturing；
Fig. 8 foreign body grabbings between a kind of steam generator secondary side tube sheet pipe of the present invention climb wall trolley operation side
Method flow chart；
In figure：1st, yoke assembly；2nd, lower vehicle main body；3rd, cable concentrator；4th, flexible steel band；101st, babinet is deflected；102nd, it deflects
Motor；10th, support wheel；104th, seal receptacle；105th, output gear A；106th, copper sheathing I；107th, O-ring seal；108th, interior hexagonal spiral shell
Follow closely A；109th, cover board；110th, screw；111st, driven gear；112nd, copper sheathing II；113rd, cover plate for sealing pad；114th, copper sheathing III, 115,
Swing arm；116th, feed screw nut；117th, copper sheathing IV；118th, contact roller I；119th, connecting rod；120th, hinging supporting shaft；121st, soket head cap screw
B；201st, pinch roller；202nd, cover board；203rd, sunk screw；204th, O-ring seal I；205th, swinging support axis；206th, oscillating motor；
207th, small box body；208th, camera；209th, side cover plate I；210th, bearing；211st, it pushes away and pulls out sprocket wheel；212nd, driving motor；213rd, forever
Magnet-wheel；14th, copper sheathing I；215th, O-ring seal II；216th, copper sheathing II；217th, soket head cap screw I；218th, soket head cap screw II；
219th, gasket I；220；Gasket II；221st, O-ring seal III, 222, support shaft；223rd, side cover plate II；224th, axle sleeve；225、
Gland；226th, it pushes away and pulls out gear；227th, soket head cap screw III；228th, gear support shaft；229th, driven gear；230th, soket head cap screw
Ⅳ；231st, output gear B；232nd, soket head cap screw V；233rd, gasket III；301st, cable concentrator babinet；302nd, line concentration lid plate；
303rd, contact roller II；304th, soket head cap screw C；305th, waterproof connector；306th, yoke；307th, permanent magnet；308th, back-up roller wheel；
309th, hex nut；310th, nylon jacket；410th, guide plate；411st, mounting hole；420th, steel band；430th, specific purpose tool；440th, steel wire
Rope.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail the present invention.
As shown in Figure 1, foreign body grabbing climbs wall trolley between a kind of steam generator secondary side tube sheet pipe, including yoke assembly
1st, small vehicle main body 2, cable concentrator 3 and flexible steel band 4, wherein, small 2 rear and front end of vehicle main body respectively with yoke assembly 1, cable concentrator
3 are articulated and connected by axis, make each inter-module can relative swing certain angle；Flexible steel band 4 is inserted in yoke assembly 1 and small vehicle main body
On 2, for being oriented to flexible steel band 4, small vehicle main body 2 is used to transport between steam generator secondary side tube sheet wobble component 1
It is dynamic, and flexible steel band 4 push away and pulls out movement.
As shown in Figure 2 and Figure 3, yoke assembly 1 includes deflection babinet 101, deflection motor 102, output gear A105, swings
Arm 115 and contact roller I 118, wherein, 101 lower end of deflection babinet is provided with multigroup screw hole, and is propped up several using anti-loosing screw
Support wheel 103 is mounted in the screw hole of different location, realizes the initial deflection of yoke assembly different angle；In babinet 101 is deflected
Deflection motor 102 is installed, seal receptacle 104 is mounted on the head of deflection motor 102, is fixed using soket head cap screw A108, and
Interference is pressed with copper sheathing I 106, and I 106 endoporus of copper sheathing is equipped with output gear A105, and output gear A105 passes through the flat of center
The output shaft of hole and deflection motor 102 coordinates, output gear A105 with I 106 inner hole section of copper sheathing in be machined with seal groove,
O-ring seal 107 is installed；104 upside of seal receptacle compresses the leading screw being mounted in deflection babinet 101 by copper sheathing III 114
110,110 other end optical axis section of leading screw is mounted in 101 upper copper sheathing of deflection babinet, IV 117 endoporus, and is equipped on screw 110
Feed screw nut 116；The driven gear 111 engaged with output gear A105 is flat by the flat hole at center and 110 head of leading screw
Flat axis cooperation, and snugly fit on the copper sheathing II 112 that 104 upside of seal receptacle is installed；Cover board 109 passes through cover plate for sealing pad 113
Be fixed on deflection babinet 101, and make 2 boss structures processed in cover board 109 suitably compress output gear A105 and
Driven gear 111；Swing arm 115 is connected to 101 both sides of deflection babinet, 2 connecting rods 119 by 2 threaded hinging supporting shafts 120
Across the long waist round hole on swing arm 115, installation is fixed in the screw hole on feed screw nut 116；Contact roller I 118 passes through in 2
Hex screw 121B is fixed to 101 top of deflection babinet from both sides installation；Deflection motor 102 by gear drive A105 drive from
Moving gear 111 drives leading screw 110 to rotate, and feed screw nut 116 is driven to be moved forward and backward, the connecting rod 119 of 116 both sides of feed screw nut installation
Swing rod and tugboat is pushed to swing 115 reciprocally swinging of swing arm, the guide function of flexible steel band is realized, to make flexible steel band 4 right
Quasi- heat-transfer pipe facilitates between 4 inlet/outlet pipe of flexible steel band；
Small vehicle main body 2 includes oscillating motor 206, small box body 207, driving motor 212 and permanent magnetic wheels 213, wherein, it is small
Box body 207 is connect by deflecting support shaft 205 with deflection babinet 101, and deflection support shaft 205 passes through soket head cap screw V 232
It is fixed on the upside of 207 front end of small box body with gasket III 233, seal groove is machined in middle case 207, it is close for mounting O-shaped
Seal I 204 seals waterproof to deflection support shaft 205；Deflection support shaft 205 is hollow, notching construction, split shed and deflection
Inclined hole unicom on babinet 101 in 102 mounting hole of deflection motor, the cable wiring channel as deflection motor 102；It pushes away and pulls out motor
206 are fixed on by soket head cap screw IV 230 on the downside of 207 front end of small box body, motor output shaft and output gear B231
Cooperation drives the driven gear 229 being mounted on gear support base 228 to rotate, and final driving, which pushes away, pulls out sprocket wheel 211 and rotate, and realizes
Function is pulled out in pushing away for flexible steel band 4；
207 upper surface open of small box body simultaneously sets sealing ring to install camera 208, for observing steam generator heat transfer
Pipe image, video signal transmission determine to climb the orientation mode of wall trolley to the reflection of control system display；207 upper table of small box body
The hinged pinch roller 201 in face compresses installation flexible steel band, and ensures the grid of 4 both sides of flexible steel band and push away the gear teeth for pulling out sprocket wheel 211
Normal engagement；Cover board 202 is fixed on 207 upper surface of small box body by sunk screw 203, in cable wiring and inspection
Portion's structure；
The middle part of small box body 207, which is equipped with 2 groups of driving motors 212 soket head cap screw I 217 is respectively adopted, to be fixed to small railway carriage
207 both sides of body, 212 output shaft of driving motor is directly connected to permanent magnetic wheels 213, and copper sheathing I is respectively adopted in 213 both sides of permanent magnetic wheels
214 and copper sheathing II 216 support, the spring bearing of wherein permanent magnetic wheels 213 is machined with seal groove, and mounting O-shaped sealing ring II 215 is right
Driving motor 212 carries out waterproof sealing.Permanent magnetic wheels 213 are mounted on 207 both sides of small box body, and permanent magnetic wheels 213 protrude small railway carriage
207 bottom of body.2 driving motors 212 take independent control, can be synchronized with the movement and differential motion, realize the straight line of whole equipment
Operation and the function of turning to；2 copper sheathings I 214 are fixed on side cover plate I 209, on side cover plate II 223 respectively, to permanent magnetic wheels
213 provide support and fix；Side cover plate I 209, side cover plate II 223 have fixing structure, coordinate with small box body 207, and use
Screw is fixed in small box body 207.Combine again with other Seal Designs, make the electronic component in whole equipment in sealing
State can effectively avoid extraneous steam and enter inside equipment, electronic component is caused to damage, improves equipment reliability of operation
And the service life.
Cable concentrator 3 includes cable concentrator babinet 301, line concentration lid plate 302, contact roller II 303 and permanent magnet 307, wherein,
For cable concentrator babinet 301 by the way that shaft 222 is supported to be connect with small box body 207, support shaft 222 passes through soket head cap screw II 218
207 rear end of small box body is fixed on gasket I 219, supports and processes multiple-sealed groove in shaft 222, multiple O-ring seals are installed
III 221, waterproof is sealed to support shaft 222.Support shaft 222 is hollow, notching construction, split shed and cable concentrator babinet 301
Be open unicom, the cable wiring channel as all electronic components.Permanent magnet 307 is sleeved on the middle cardiac prominence of cable concentrator babinet 301
On platform, nylon jacket 310 is set with outside permanent magnet 307, then yoke 306 is installed on permanent magnet 307, last back-up roller wheel 308
In 301 bottom opening of cable concentrator babinet, then back-up roller wheel is fixed using hex nut 309 out of cable concentrator babinet 301
308, while compress yoke 306.Wherein, back-up roller wheel 308 protrudes 301 bottom of cable concentrator babinet, permanent magnet 307 and steam generation
Device inner wall, which generates adsorption capacity, makes cable concentrator babinet 301 be pressed on inside steam generator, and the back-up roller wheel 308 of protrusion ensures line concentration
Carton and crate body keeps certain interval with inner wall, and cable concentrator inside steam generator with not rubbing when both keeping climbing wall trolley travelling
It wipes, nor affects on and climb wall trolley mass motion；Line concentration lid plate 302 is fixed on cable concentrator babinet 301 by soket head cap screw 304
On, and fixed waterproof connector 305 is installed in 301 tail portion of cable concentrator babinet.In cable concentrator babinet 301, institute on wall trolley will be climbed
Some electronic component cables are integrated together, and are connected to a multi-core cable, are finally connect with control system, wherein multi-core cable
It is fixed on cable concentrator using waterproof connector 305.
Such as Fig. 4, Fig. 5, flexible steel band 4 includes guide plate 410, steel band 420, specific purpose tool 430 and steel wire rope 440, wherein,
Guide plate 410 is made of two block pressur plates, and steel band 420 is made of the basically identical steel band piece of two chip architectures, will according to actual demand
Specific purpose tool 430 is placed on a piece of steel band on piece in 2~3, then two panels steel band is snapped together, and in 420 both sides shape of steel band
Into a circular channel, two panels steel band piece is together in series using 2 steel wire ropes 440, adjusts the tool heads of specific purpose tool 430,
And be fixedly mounted in the mounting hole in guide plate 410, and fixed using sunk screw connection, simultaneously clamp on steel band 420；Its
In, specific purpose tool includes foreign matter and loosens tool and foreign body grabbing tool, and foreign matter loosens tool and includes hook, scoop, screw conic etc.,
Or the flushing flexible steel band with high pressure washing head；Foreign body grabbing tool includes hook, three-jaw, sweep-up pipe, magnet, lasso, crocodile
Fish folder etc..
Such as Fig. 6~8, foreign body grabbing climbs wall trolley operating method, the party between a kind of steam generator secondary side tube sheet pipe
Method specifically includes：
Flexible steel band with video probe is mounted on and climbs on wall trolley, and will climb wall trolley from steam generation by step 1
Device hand hole is mounted on cylinder inboard wall, will be climbed wall trolley by the video image of cam feedback and be adjusted to level；
Step 2, control climb wall trolley and are moved horizontally to designated position, control the guiding arm swing of wobble component, and adjustment is soft
Property steel band head bending angle, cooperation climbs the whole front and rear operation fine tuning of wall trolley, flexible steel band head made to be directed at heat-transfer pipe pipe
Between, and flexible steel band is delivered between heat-transfer pipe pipe；
Step 3, determined using the image information inspection of cam feedback entrained in flexible steel band it is different between heat-transfer pipe pipe
Principle condition, and carry out foreign matter loosening agent crawl；
Step 3.1, determined using cam feedback image information inspection entrained in flexible steel band it is different between heat-transfer pipe pipe
Species type, material, size and location information；
If step 3.2, foreign matter are to loosen, directly replace foreign body grabbing tool and captured, otherwise, first using foreign matter pine
Power driven tools are captured again after being loosened, until taking out steam generator.
Claims (10)
1. foreign body grabbing climbs wall trolley between a kind of steam generator secondary side tube sheet, it is characterised in that：This is climbed wall trolley and includes
Yoke assembly (1), small vehicle main body (2), cable concentrator (3) and flexible steel band (4), wherein, small vehicle main body (2) rear and front end difference
It is articulated and connected with yoke assembly (1), cable concentrator (3) by axis, makes each inter-module can relative swing certain angle；Flexible steel band
(4) it is inserted in yoke assembly (1) and small vehicle main body (2), wobble component (1) is for being oriented to flexible steel band (4), small car owner
Body (2) to flexible steel band (4) push away and pulls out movement for being moved between steam generator secondary side tube sheet, and by flexible steel
Designated position is sent into loosening and gripping tool on band (4).
2. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 1
It is：The yoke assembly (1) includes deflection babinet (101), deflection motor (102), output gear A (105), swing arm
(115) and contact roller I (118) deflection motor (102), is equipped in deflection babinet (101), seal receptacle (104) is mounted on inclined
The head of rotating motor (102), and interference is pressed with copper sheathing I (106), copper sheathing I (106) endoporus is equipped with output gear A (105),
Output gear A (105) is coordinated by the flat hole at center and the output shaft of deflection motor (102), is passed through on the upside of seal receptacle (104)
Copper sheathing III (114) compresses the leading screw (110) being mounted in deflection babinet (101), and leading screw (110) other end optical axis section is mounted on inclined
In IV (117) endoporus of turnning box body (101) upper copper sheathing, and feed screw nut (116) is equipped on screw (110)；With output gear A
(105) driven gear (111) of engagement is coordinated, and be close to pacify by the flat hole at center and the plat shaft on leading screw (110) head
On the copper sheathing II (112) installed on the upside of seal receptacle (104)；Cover board (109) is fixed on by cover plate for sealing pad (113)
It deflects on babinet (101), and 2 boss structures processed in cover board (109) is made suitably to compress output gear A (105) and driven
Gear (111)；Swing arm (115) is connected to deflection babinet (101) both sides, 2 companies by 2 threaded hinging supporting shafts (120)
Across the long waist round hole on swing arm (115), installation is fixed in the screw hole on feed screw nut (116) bar (119)；Described is inclined
101 top of turnning box body is additionally provided with contact roller I (118)；Deflection motor (102) drives driven gear by gear drive A (105)
(111) driving leading screw (110) rotates, and feed screw nut (116) is driven to be moved forward and backward, the connecting rod of feed screw nut (116) both sides installation
(119) swing rod and tugboat is pushed to swing swing arm (115) reciprocally swinging, the guide function of flexible steel band is realized, to make flexibility
Steel band (4) is directed at heat-transfer pipe, facilitates between flexible steel band (4) inlet/outlet pipe.
3. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 1
It is：The small vehicle main body (2) includes oscillating motor (206), small box body (207), driving motor (212) and permanent magnetic wheels
(213), wherein, deflection support shaft (205) is fixed on the upside of small box body (207) front end, realizes small box body (207) with swinging
The flexible connection of deflection babinet (101) in component (1) pushes away and pulls out motor (206) and be fixed on the downside of small box body (207) front end,
It pushes away and pulls out motor output shaft and output gear B (231) cooperations, drive the driven gear (229) being mounted on gear support base (228)
Rotation, final driving, which pushes away, pulls out sprocket wheel (211) rotation, realizes that pushing away for flexible steel band (4) pulls out function.
4. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 3
It is：Small box body (207) upper surface open simultaneously sets sealing ring to install camera (208), for observing steam hair
Raw device heat-transfer pipe image, video signal transmission determine to climb the orientation mode of wall trolley to the reflection of control system display；Small railway carriage
The hinged pinch roller (201) of body (207) upper surface compresses installation flexible steel band, and ensures the grid of flexible steel band (4) both sides with pushing away
The gear teeth for pulling out sprocket wheel (211) normally engage.
5. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 3
It is：2 groups of driving motors (212) are equipped in the middle part of the small box body (207), and are fixed respectively to small box body (207) two
Side, driving motor (212) output shaft are directly connected to permanent magnetic wheels (213), permanent magnetic wheels (213) mounted on small box body (207) both sides,
And permanent magnetic wheels (213) protrude small box body (207) bottom；2 groups of driving motors (212) take independent control, can synchronize fortune
Dynamic and differential motion, realizes the linear running of whole equipment and the function of steering.
6. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 1
It is：The cable concentrator (3) includes cable concentrator babinet (301), line concentration lid plate (302), contact roller II (303) and permanent magnetism
Body (307), wherein, cable concentrator babinet (301) supports shaft by the way that shaft (222) is supported to be connect with small box body (207)
(222) small box body (207) rear end is fixed on, support shaft (222) is hollow, notching construction, split shed and line concentration carton and crate
Body (301) open communication, the cable wiring channel as all electronic components；Permanent magnet (307) is sleeved on cable concentrator babinet
(301) in central boss, it is set with nylon jacket (310) outside, then yoke (306) is installed to permanent magnet in permanent magnet (307)
(307) on, back-up roller wheel (308) makes in cable concentrator babinet (301) bottom opening, then out of cable concentrator babinet (301)
Back-up roller wheel (308) is fixed, while compress yoke (306) with hex nut (309)；The back-up roller wheel (308) protrudes line concentration
Carton and crate body (301) bottom, permanent magnet (307) generates adsorption capacity with steam generator inner wall is pressed on cable concentrator babinet (301)
Inside steam generator, the back-up roller wheel (308) of protrusion ensures that cable concentrator babinet keeps certain interval with inner wall, has both kept climbing wall
Cable concentrator nor affects on not with rubbing inside steam generator and climbs wall trolley mass motion during trolley travelling.
7. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 1
It is：The flexible steel band (4) includes guide plate (410), steel band (420), specific purpose tool (430) and steel wire rope (440),
In, guide plate (410) is made of two block pressur plates, and steel band (420) is made of the basically identical steel band piece of two chip architectures, according to reality
2~3 specific purpose tools (430) are placed on a piece of steel band on piece, then two panels steel band is snapped together, and in steel band by demand
(420) both sides form a circular channel, and two panels steel band piece is together in series using 2 steel wire ropes (440), adjust specific purpose tool
(430) tool heads, and in the mounting hole being fixedly mounted in guide plate (410), and fixed using sunk screw connection, simultaneously
Clamp steel band (420).
8. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 7
It is：The specific purpose tool includes foreign matter and loosens tool and foreign body grabbing tool；The foreign matter loosen tool include hook,
Scoop, screw conic or the flushing flexible steel band with high pressure washing head；The foreign body grabbing tool includes hook, three-jaw, suction
Dirt pipe, magnet, lasso, crocodile clip.
9. foreign body grabbing climbs wall trolley, feature between a kind of steam generator secondary side tube sheet according to claim 2
It is：Described deflection babinet (101) lower end is provided with multigroup screw hole, and is pacified several support wheels (103) using anti-loosing screw
In the screw hole of different location, the initial deflection of yoke assembly different angle is realized.
10. foreign body grabbing climbs wall trolley operating method between a kind of steam generator secondary side tube sheet, it is characterised in that：This method
Specifically comprise the following steps：
Flexible steel band with video probe is mounted on and climbs on wall trolley, and will climb wall trolley from steam generator hand by step 1
Hole is mounted on cylinder inboard wall, will be climbed wall trolley by the video image of cam feedback and be adjusted to level；
Step 2, control climb wall trolley and are moved horizontally to designated position, control the guiding arm swing of wobble component, adjust flexible steel
The bending angle of headed, the whole front and rear operation fine tuning of wall trolley is climbed in cooperation, between making flexible steel band head alignment heat-transfer pipe pipe, and
Flexible steel band is delivered between heat-transfer pipe pipe；
Step 3 determines foreign matter feelings between heat-transfer pipe pipe using the image information inspection of cam feedback entrained in flexible steel band
Condition, and carry out foreign matter loosening agent crawl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258956.7A CN108263505B (en) | 2016-12-30 | 2016-12-30 | Wall climbing trolley and method for grabbing foreign matters between secondary side tube plates of steam generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258956.7A CN108263505B (en) | 2016-12-30 | 2016-12-30 | Wall climbing trolley and method for grabbing foreign matters between secondary side tube plates of steam generator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108263505A true CN108263505A (en) | 2018-07-10 |
| CN108263505B CN108263505B (en) | 2023-09-08 |
Family
ID=62754678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611258956.7A Active CN108263505B (en) | 2016-12-30 | 2016-12-30 | Wall climbing trolley and method for grabbing foreign matters between secondary side tube plates of steam generator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108263505B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540907A (en) * | 2018-12-21 | 2019-03-29 | 核动力运行研究所 | A kind of sonde configuration can be used for automatic video frequency inspection between steam generator |
| CN111830591A (en) * | 2019-04-23 | 2020-10-27 | 斗山重工业建设有限公司 | Steam generator inspection device |
| CN115739852A (en) * | 2022-10-27 | 2023-03-07 | 中核武汉核电运行技术股份有限公司 | Ultrasonic impact loosening device for hard sludge between heat transfer tubes of steam generator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1064560A (en) * | 1991-02-27 | 1992-09-16 | 电子研究所有限公司 | The search of foreign matter and withdrawing device in the tube bank |
| US20100011522A1 (en) * | 2008-07-18 | 2010-01-21 | Kim Gyung-Sub | Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator |
| US20110169938A1 (en) * | 2009-02-27 | 2011-07-14 | R. Brooks Associates, Inc. | Inspection system and inspection process utilizing magnetic inspection vehicle |
| CN104078088A (en) * | 2014-07-01 | 2014-10-01 | 中科华核电技术研究院有限公司 | Nuclear power station climbing robot system and method for detecting secondary side of steam generator |
| CN105806937A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Steam generator heat-transfer pipe ultrasonic inspection system |
| CN205441691U (en) * | 2015-12-30 | 2016-08-10 | 核动力运行研究所 | A transport mechanism for steam generator tubes intertube overhauls |
| CN206664747U (en) * | 2016-12-30 | 2017-11-24 | 核动力运行研究所 | Foreign body grabbing climbs wall dolly between steam generator secondary side tube sheet |
-
2016
- 2016-12-30 CN CN201611258956.7A patent/CN108263505B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1064560A (en) * | 1991-02-27 | 1992-09-16 | 电子研究所有限公司 | The search of foreign matter and withdrawing device in the tube bank |
| US20100011522A1 (en) * | 2008-07-18 | 2010-01-21 | Kim Gyung-Sub | Apparatus for visually inspecting and removing foreign substance from gap of heat tube bundle in upper part of tube sheet of second side of steam generator |
| US20110169938A1 (en) * | 2009-02-27 | 2011-07-14 | R. Brooks Associates, Inc. | Inspection system and inspection process utilizing magnetic inspection vehicle |
| CN104078088A (en) * | 2014-07-01 | 2014-10-01 | 中科华核电技术研究院有限公司 | Nuclear power station climbing robot system and method for detecting secondary side of steam generator |
| CN105806937A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Steam generator heat-transfer pipe ultrasonic inspection system |
| CN205441691U (en) * | 2015-12-30 | 2016-08-10 | 核动力运行研究所 | A transport mechanism for steam generator tubes intertube overhauls |
| CN206664747U (en) * | 2016-12-30 | 2017-11-24 | 核动力运行研究所 | Foreign body grabbing climbs wall dolly between steam generator secondary side tube sheet |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109540907A (en) * | 2018-12-21 | 2019-03-29 | 核动力运行研究所 | A kind of sonde configuration can be used for automatic video frequency inspection between steam generator |
| CN111830591A (en) * | 2019-04-23 | 2020-10-27 | 斗山重工业建设有限公司 | Steam generator inspection device |
| CN111830591B (en) * | 2019-04-23 | 2024-03-26 | 斗山重工业建设有限公司 | Steam generator inspection device |
| CN115739852A (en) * | 2022-10-27 | 2023-03-07 | 中核武汉核电运行技术股份有限公司 | Ultrasonic impact loosening device for hard sludge between heat transfer tubes of steam generator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108263505B (en) | 2023-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206664747U (en) | Foreign body grabbing climbs wall dolly between steam generator secondary side tube sheet | |
| CN108263505A (en) | Foreign body grabbing climbs wall trolley and method between steam generator secondary side tube sheet pipe | |
| CN105680789B (en) | A kind of solar panel automatic sweeping system | |
| CN106976763B (en) | A kind of movable type mine monitoring cable retracting device | |
| CN108488047A (en) | A kind of tower maintaining robot and its system | |
| CN102199914B (en) | Railway bridge detection trolley | |
| WO2012000210A1 (en) | Automatic electricity-acquisition system and method for tyre type container gantry crane | |
| CN206290288U (en) | A kind of mining tunnel automatic inspection device | |
| CN106984575A (en) | A kind of underwater works purging system and method | |
| CN101245975A (en) | High pressure bundle array automatic cleaning device | |
| CN112758287A (en) | Underwater remote control detection and disposal operation equipment and construction method thereof | |
| CN201702148U (en) | Hand-held flexible shaft cleaning equipment for cleaning pipeline | |
| CN113022812B (en) | Light-duty high-speed intelligent trailer | |
| CN210263352U (en) | Small-pipe-diameter sewer pipeline dredging device | |
| CN113042421A (en) | Solar dust removal device | |
| CN209603573U (en) | A kind of parking device structure | |
| CN209623764U (en) | A kind of crawler type wireless control routing inspection trolley | |
| CN217458054U (en) | Dust suppression system for stock yard | |
| CN112710350A (en) | Monitoring device for water conservancy construction management and using method thereof | |
| CN217568123U (en) | Variable cross-section guiding device | |
| CN218119200U (en) | Inspection device for hydrogen production station | |
| CN214918386U (en) | Solar dust removal device | |
| CN218082725U (en) | Photovoltaic board cleans equipment | |
| CN216275060U (en) | Full-automatic inclination measuring strain robot for subway and traffic track | |
| CN204866647U (en) | Cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |