CN108263505B - Wall climbing trolley and method for grabbing foreign matters between secondary side tube plates of steam generator - Google Patents
Wall climbing trolley and method for grabbing foreign matters between secondary side tube plates of steam generator Download PDFInfo
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- CN108263505B CN108263505B CN201611258956.7A CN201611258956A CN108263505B CN 108263505 B CN108263505 B CN 108263505B CN 201611258956 A CN201611258956 A CN 201611258956A CN 108263505 B CN108263505 B CN 108263505B
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- 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
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Abstract
The invention relates to the technical field of foreign matter inspection between secondary side tube plates of a steam generator, and particularly discloses a wall climbing trolley for grabbing foreign matters between secondary side tube plates of the steam generator and a wall climbing method. In the wall climbing trolley, the front end and the rear end of the trolley body are respectively hinged with the deflection assembly and the line concentration box through shafts, so that the assemblies can swing relatively for a certain angle; the flexible steel belt is sleeved on the deflection assembly and the trolley main body, the swing assembly is used for guiding the flexible steel belt, the trolley main body is used for moving between the secondary side tube plates of the steam generator, pushing and pulling the flexible steel belt, and loosening and grabbing tools on the flexible steel belt are sent to the appointed position. The crawling trolley realizes full inspection and foreign matter grabbing among tubes of the secondary side tube plate of the steam generator; meanwhile, the wall climbing trolley adopts remote wired control and remote monitoring, so that the irradiation dose of personnel in an irradiation environment is reduced or even avoided; in addition, the wall climbing trolley is high in reliability, simple to operate and capable of reducing the skill requirements of personnel.
Description
Technical Field
The invention belongs to the technical field of foreign matter inspection between secondary side tube plates of a steam generator, and particularly relates to a wall climbing trolley for grabbing foreign matter between secondary side tube plates of the steam generator and a wall climbing trolley method.
Background
During construction, installation, operation and shutdown maintenance of the steam generator, some foreign matters enter the secondary side of the Steam Generator (SG) due to various reasons and are deposited on the surface of the tube plate, and during operation, the foreign matters are mixed with the tube plate sludge and even stuck with hard or sub-hard sludge, so that the clamping foreign matters are clamped between the tubes, and the grabbing difficulty is extremely high. When the unit operates, the residual foreign matters on the tube plate can cause certain hidden dangers (such as impact, vibration, extrusion, abrasion, corrosion and the like of the foreign matters on the heat transfer tube) of the steam generator to the heat transfer tube, so that the safety and the reliability of the heat transfer tube are affected. Due to the serious consequences that the residual foreign matters on the tube plate can cause to the steam generator, the inspection of the foreign matters and the taking out of an important component part of the maintenance management of the steam generator of the nuclear power station.
At present, the work of grabbing the foreign matters on the tube plate of the steam generator is mainly aimed at loosening type foreign matters, and a small part of fixed foreign matters mixed in sludge can be loosened by adopting a manual tool such as a nylon Long Bantiao tool and the like in parallel with the direction of a central tube gallery or loosened by flushing the foreign matters by high-pressure water perpendicular to the direction of the central tube gallery, and then the foreign matters are taken out of the steam generator. However, the hand tools such as nylon battens are flexible structures, the high-pressure water flushing action distance is short, the achievable loosening effect of the foreign matters is limited, and the hand tools are mainly applicable to a plurality of rows of heat transfer tubes near hand holes of the steam generator, and cannot be suitable for checking and grabbing the foreign matters among all tubes of the steam generator.
Disclosure of Invention
The invention aims to provide a wall climbing trolley for grabbing foreign matters among secondary side tube plates of a steam generator and a method thereof, which solve the problem that fixed foreign matters among tubes cannot be loosened and the steam generator cannot be taken out in the prior art, and simultaneously expand the working range of checking, grabbing and taking out the foreign matters on the secondary side tube plates of the steam generator.
The technical scheme of the invention is as follows: the wall climbing trolley comprises a deflection assembly, a trolley main body, a line concentration box and a flexible steel belt, wherein the front end and the rear end of the trolley main body are respectively hinged with the deflection assembly and the line concentration box through shafts, so that the assemblies can swing relatively for a certain angle; the flexible steel belt is sleeved on the deflection assembly and the trolley main body, the swing assembly is used for guiding the flexible steel belt, the trolley main body is used for moving between the secondary side tube plates of the steam generator, pushing and pulling the flexible steel belt, and loosening and grabbing tools on the flexible steel belt are sent to the appointed position.
The deflection assembly comprises a deflection box body, a deflection motor, an output gear A, a swing arm and a pressing wheel I, wherein the deflection motor is arranged in the deflection box body, a sealing seat is arranged at the head part of the deflection motor and is provided with a copper sleeve I in an interference press mode, an inner hole of the copper sleeve I is provided with the output gear A, the output gear A is matched with an output shaft of the deflection motor through a flat hole in the center, the upper side of the sealing seat is pressed by the copper sleeve III to form a lead screw arranged in the deflection box body, the optical axis section at the other end of the lead screw is arranged in an inner hole of the copper sleeve IV on the deflection box body, and a lead screw nut is arranged on the lead screw; the driven gear meshed with the output gear A is matched with the flat shaft of the screw head through the flat hole in the center and is tightly attached to a copper sleeve II arranged on the upper side of the sealing seat; the cover plate is fixedly arranged on the deflection box body through a cover plate sealing gasket, and 2 boss structures processed in the cover plate are made to properly compress the output gear A and the driven gear; the swing arm is connected to two sides of the deflection box body through 2 hinged shafts with threads, and 2 connecting rods pass through long waist round holes on the swing arm and are installed and fixed in screw holes on the screw rod nut; the upper part of the deflection box body is also provided with a compression wheel I; the deflection motor drives the driven gear to drive the screw rod to rotate through the gear transmission A, the screw rod nut is driven to move back and forth, the connecting rods arranged on the two sides of the screw rod nut push the swinging rods and the tug swinging arms to swing back and forth, and the guiding function of the flexible steel belt is realized, so that the flexible steel belt is aligned to the heat transfer pipe, and the flexible steel belt is convenient to enter and exit the pipe.
The trolley body comprises a swing motor, a trolley box body, a driving motor and a permanent magnet wheel, wherein a deflection supporting shaft is fixed on the upper side of the front end of the trolley box body, movable connection of the trolley box body and the deflection box body in the swing assembly is achieved, a push-pull motor is fixed on the lower side of the front end of the trolley box body, an output shaft of the push-pull motor is matched with an output gear B, a driven gear mounted on a gear supporting seat is driven to rotate, and a push-pull chain wheel is finally driven to rotate, so that a push-pull function of a flexible steel belt is achieved.
The upper surface of the trolley box body is provided with an opening and is provided with a sealing ring installation camera for observing the image of the heat transfer tube of the steam generator, and video signals are transmitted to a control system display to reflect the azimuth state of the trolley for determining the wall climbing; the hinged pinch roller on the upper surface of the trolley box body compresses tightly and installs the flexible steel belt to ensure the grid on both sides of the flexible steel belt and the gear teeth of the push-pull chain wheel mesh normally.
The middle part of the trolley box body is provided with 2 groups of driving motors which are respectively fixed on two sides of the trolley box body, the output shafts of the driving motors are directly connected with permanent magnet wheels, the permanent magnet wheels are arranged on two sides of the trolley box body, and the permanent magnet wheels protrude out of the bottom of the trolley box body; the 2 groups of driving motors are independently controlled, and can synchronously move and differentially move, so that the functions of linear operation and steering of the whole equipment are realized.
The wire collecting box comprises a wire collecting box body, a wire collecting box cover plate, a compression wheel II and a permanent magnet, wherein the wire collecting box body is connected with the box body of the trolley through a supporting rotating shaft, the supporting rotating shaft is fixed at the rear end of the box body of the trolley, the supporting rotating shaft is of a hollow and grooved structure, and an opening of the supporting rotating shaft is communicated with the opening of the wire collecting box body and is used as a cable wiring channel of all electronic elements; the permanent magnet is sleeved on a central boss of the line concentration box body, the nylon sleeve is sleeved outside the permanent magnet, then the yoke iron is mounted on the permanent magnet, the supporting roller is mounted in an opening at the bottom of the line concentration box body, and then the supporting roller is fixed by using a hexagon nut from the line concentration box body, and meanwhile the yoke iron is compressed; the support roller protrudes out of the bottom of the line concentration box body, the permanent magnet and the inner wall of the steam generator generate adsorption force to enable the line concentration box body to be pressed inside the steam generator, the protruding support roller ensures that the line concentration box body and the inner wall keep a certain gap, and the line concentration box does not rub the inside of the steam generator when the wall climbing trolley is kept running, and the integral movement of the wall climbing trolley is not influenced.
The flexible steel belt comprises a guide plate, steel belts, special tools and steel ropes, wherein the guide plate consists of two pressing plates, the steel belts consist of two steel belt sheets with basically consistent structures, 2-3 special tools are placed on one steel belt sheet according to actual requirements, the two steel belts are buckled together, a circular channel is formed on two sides of each steel belt, the two steel belt sheets are connected in series by adopting 2 steel ropes, tool heads of the special tools are adjusted and fixedly installed in installation holes in the guide plate, and the steel belts are fixedly connected by countersunk head screws, and clamped.
The special tool comprises a foreign matter loosening tool and a foreign matter grabbing tool; the foreign matter loosening tool comprises a hook, a shovel and a spiral cone, or a flushing flexible steel belt with a high-pressure flushing head; the foreign matter grabbing tool comprises a hook, three claws, a dust collection pipe, a magnet, a ferrule and an alligator clip.
The lower end of the deflection box body is provided with a plurality of groups of screw holes, and a plurality of supporting wheels are arranged in the screw holes at different positions by adopting anti-drop screws, so that the initial deflection of deflection components at different angles is realized.
A wall climbing trolley operation method for grabbing foreign matters between secondary side tube plates of a steam generator comprises the following steps:
step 1, installing a flexible steel belt with a video probe on a wall climbing trolley, installing the wall climbing trolley on the inner wall of a cylinder from a hand hole of a steam generator, and adjusting the wall climbing trolley to be horizontal through video images fed back by a camera;
step 2, controlling the wall climbing trolley to horizontally move to a designated position, controlling a guide arm of a swinging assembly to swing, adjusting the bending angle of the head of the flexible steel belt, matching with the whole back and forth operation fine adjustment of the wall climbing trolley, enabling the head of the flexible steel belt to be aligned with the heat transfer pipe, and conveying the flexible steel belt to the heat transfer pipe;
and step 3, checking and determining foreign matter conditions among the heat transfer pipes by utilizing image information fed back by a camera carried on the flexible steel belt, and grabbing a foreign matter loosening agent.
The invention has the remarkable effects that: the wall climbing trolley and the method for grabbing the foreign matters among the tubes of the secondary side tube plates of the steam generator realize the full inspection and the grabbing of the foreign matters among the tubes of the secondary side tube plates of the steam generator; meanwhile, the wall climbing trolley adopts remote wired control and remote monitoring, so that the irradiation dose of personnel in an irradiation environment is reduced or even avoided; in addition, the wall climbing trolley is high in reliability, simple to operate and capable of reducing the skill requirements of personnel.
Drawings
FIG. 1 is a schematic diagram of a wall climbing trolley for grabbing foreign matters among pipes of a secondary side pipe plate of a steam generator;
FIG. 2 is a cross-sectional view of a wall climbing trolley for grabbing foreign matters among pipes of a secondary side pipe plate of a steam generator;
FIG. 3 is a bottom view of a wall climbing trolley for capturing foreign matters between pipes of a secondary side pipe plate of a steam generator according to the invention;
FIG. 4 is a schematic view of the flexible steel strip of FIG. 1;
FIG. 5 is a cross-sectional view of the flexible steel strip of FIG. 4;
FIG. 6 is a schematic view of a wall climbing trolley for checking, loosening or grabbing foreign matters among pipes of a secondary side pipe plate of a steam generator according to the invention;
FIG. 7 is a schematic view of a wall climbing trolley for checking, loosening or grabbing foreign matters among pipes of a secondary side pipe plate of another steam generator according to the invention;
FIG. 8 is a flow chart of a method for operating a wall climbing trolley for grabbing foreign matters between pipes of a secondary side pipe plate of a steam generator according to the invention;
in the figure: 1. a deflection assembly; 2. a lower car body; 3. a line concentration box; 4. a flexible steel strip; 101. a deflection box; 102. a deflection motor; 10. a support wheel; 104. a sealing seat; 105. an output gear A; 106. copper bush I; 107. an O-shaped sealing ring; 108. an inner hexagon screw A; 109. a cover plate; 110. a screw rod; 111. a driven gear; 112. copper bush II; 113. a cover plate sealing gasket; 114. copper sleeves III, 115 and swing arms; 116. a screw nut; 117. copper bush IV; 118. a compression wheel I; 119. a connecting rod; 120. a hinged shaft; 121. an inner hexagon screw B; 201. a pinch roller; 202. a cover plate; 203. countersunk head screws; 204. o-shaped sealing rings I; 205. a swing support shaft; 206. a swing motor; 207. a trolley case; 208. a camera; 209. a side cover plate I; 210. a bearing; 211. pushing and pulling the chain wheel; 212. a driving motor; 213. a permanent magnet wheel; 14. copper bush I; 215. o-shaped sealing rings II; 216. copper bush II; 217. an inner hexagon screw I; 218. an inner hexagon screw II; 219. a gasket I; 220; a gasket II; 221. o-shaped sealing rings III and 222 for supporting the rotating shaft; 223. a side cover plate II; 224. a shaft sleeve; 225. a gland; 226. pushing and pulling the gear; 227. an inner hexagon screw III; 228. a gear support shaft; 229. a driven gear; 230. an inner hexagon screw IV; 231. an output gear B; 232. an inner hexagon screw V; 233. a gasket III; 301. a hub box body; 302. a hub cover plate; 303. a compression wheel II; 304. an inner hexagon screw C; 305. a waterproof joint; 306. a yoke; 307. a permanent magnet; 308. supporting rollers; 309. a hexagonal nut; 310. a nylon sleeve; 410. a guide plate; 411. a mounting hole; 420. a steel strip; 430. a special tool; 440. a wire rope.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in figure 1, the wall climbing trolley for grabbing foreign matters between pipes of a secondary side pipe plate of a steam generator comprises a deflection assembly 1, a trolley main body 2, a line concentration box 3 and a flexible steel belt 4, wherein the front end and the rear end of the trolley main body 2 are respectively hinged with the deflection assembly 1 and the line concentration box 3 through shafts, so that the assemblies can swing relatively for a certain angle; the flexible steel belt 4 is sleeved on the deflection assembly 1 and the trolley main body 2, the swing assembly 1 is used for guiding the flexible steel belt 4, and the trolley main body 2 is used for moving between the secondary side tube plates of the steam generator and performing push-pull movement on the flexible steel belt 4.
As shown in fig. 2 and 3, the deflection assembly 1 comprises a deflection box body 101, a deflection motor 102, an output gear a105, a swing arm 115 and a pressing wheel i 118, wherein a plurality of groups of screw holes are formed in the lower end of the deflection box body 101, and a plurality of support wheels 103 are installed in the screw holes in different positions by adopting anti-falling screws, so that initial deflection of the deflection assembly at different angles is realized; a deflection motor 102 is arranged in a deflection box body 101, a sealing seat 104 is arranged at the head part of the deflection motor 102, is fixed by an inner hexagon screw A108, is provided with a copper sleeve I106 in an interference press mode, an output gear A105 is arranged in an inner hole of the copper sleeve I106, the output gear A105 is matched with an output shaft of the deflection motor 102 through a central flat hole, a sealing groove is formed in a section, matched with the inner hole of the copper sleeve I106, of the output gear A105, and an O-shaped sealing ring 107 is arranged; the upper side of the sealing seat 104 is tightly pressed against a screw rod 110 arranged in the deflection box body 101 through a copper sleeve III 114, the optical axis section at the other end of the screw rod 110 is arranged in an inner hole of a copper sleeve IV 117 on the deflection box body 101, and a screw rod nut 116 is arranged on the screw rod 110; the driven gear 111 meshed with the output gear A105 is matched with a flat shaft at the head of the lead screw 110 through a flat hole in the center and is tightly attached to a copper sleeve II 112 arranged on the upper side of the sealing seat 104; the cover plate 109 is fixedly arranged on the deflection box body 101 through a cover plate sealing gasket 113, and 2 boss structures processed in the cover plate 109 are made to properly compress the output gear A105 and the driven gear 111; the swing arm 115 is connected to two sides of the deflection box body 101 through 2 hinged shafts 120 with threads, and 2 connecting rods 119 pass through long waist round holes on the swing arm 115 and are installed and fixed in screw holes on the screw nut 116; the compression wheel I118 is fixedly arranged on the upper part of the deflection box body 101 from two sides through 2 inner hexagon screws 121B; the deflection motor 102 drives the driven gear 111 to drive the screw rod 110 to rotate through the gear transmission A105 to drive the screw rod nut 116 to move forwards and backwards, and the connecting rods 119 arranged on two sides of the screw rod nut 116 push the swing rod and the tug swing arm 115 to swing reciprocally, so that the guiding function of the flexible steel belt is realized, the flexible steel belt 4 is aligned to the heat transfer pipe, and the flexible steel belt 4 is convenient to enter and exit from the pipe;
the trolley body 2 comprises a swing motor 206, a trolley box 207, a driving motor 212 and a permanent magnet wheel 213, wherein the trolley box 207 is connected with the deflection box 101 through a deflection support shaft 205, the deflection support shaft 205 is fixed on the upper side of the front end of the trolley box 207 through an inner hexagon screw V232 and a gasket III 233, and a sealing groove is processed on the box 207 and is used for installing an O-shaped sealing ring I204 to seal and waterproof the deflection support shaft 205; the deflection support shaft 205 is of a hollow and grooved structure, wherein an opening of the deflection support shaft is communicated with an inclined hole in a mounting hole of the deflection motor 102 on the deflection box body 101 and is used as a cable routing channel of the deflection motor 102; the push-pull motor 206 is fixedly arranged at the lower side of the front end of the trolley box 207 through an inner hexagon screw IV 230, and the motor output shaft is matched with an output gear B231 to drive a driven gear 229 arranged on a gear support seat 228 to rotate, so that the push-pull chain wheel 211 is finally driven to rotate, and the push-pull function of the flexible steel belt 4 is realized;
the upper surface of the trolley box 207 is opened and is provided with a sealing ring installation camera 208 for observing the image of the heat transfer tube of the steam generator, and video signals are transmitted to a control system display to reflect the azimuth state of the determined wall climbing trolley; the hinged pinch roller 201 on the upper surface of the trolley box 207 compresses and installs the flexible steel belt, and ensure the grid on two sides of the flexible steel belt 4 to be meshed with the gear teeth of the push-pull chain wheel 211 normally; the cover plate 202 is fixed on the upper surface of the trolley case 207 through countersunk screws 203 for cable routing and checking internal structures;
the middle part of the trolley box 207 is provided with 2 groups of driving motors 212 which are respectively fixed to two sides of the trolley box 207 by adopting inner hexagon screws I217, the output shafts of the driving motors 212 are directly connected with permanent magnet wheels 213, and the two sides of the permanent magnet wheels 213 are respectively supported by adopting copper sleeves I214 and II 216, wherein the supporting bearings of the permanent magnet wheels 213 are provided with sealing grooves, O-shaped sealing rings II 215 are arranged, and the driving motors 212 are waterproof sealed. Permanent magnet wheels 213 are mounted on both sides of the wagon box 207, and the permanent magnet wheels 213 protrude from the bottom of the wagon box 207. The 2 driving motors 212 are independently controlled, can synchronously move and differentially move, and realize the functions of linear operation and steering of the whole equipment; 2 copper sleeves I214 are respectively arranged and fixed on a side cover plate I209 and a side cover plate II 223 to support and fix the permanent magnet wheel 213; the side cover plate I209 and the side cover plate II 223 are respectively provided with a spigot structure, are matched with the trolley box 207 and are fixed on the trolley box 207 by adopting screws. And then the electronic component is combined with other sealing designs, so that the electronic component in the whole equipment is in a sealing state, external water vapor can be effectively prevented from entering the equipment, the electronic component is damaged, and the running reliability and the service life of the equipment are improved.
The line concentration box 3 comprises a line concentration box body 301, a line concentration box cover plate 302, a pressing wheel II 303 and a permanent magnet 307, wherein the line concentration box body 301 is connected with the trolley box body 207 through a supporting rotating shaft 222, the supporting rotating shaft 222 is fixed at the rear end of the trolley box body 207 through an inner hexagon screw II 218 and a gasket I219, a plurality of sealing grooves are formed in the supporting rotating shaft 222, a plurality of O-shaped sealing rings III 221 are installed, and the supporting rotating shaft 222 is sealed and waterproof. The supporting shaft 222 has a hollow, grooved structure, and the opening thereof is communicated with the opening of the hub box 301, so as to serve as a cable routing channel for all electronic components. The permanent magnet 307 is sleeved on the central boss of the wire concentration box body 301, the nylon sleeve 310 is sleeved outside the permanent magnet 307, the yoke 306 is mounted on the permanent magnet 307, finally the supporting roller 308 is mounted in the opening at the bottom of the wire concentration box body 301, the supporting roller 308 is fixed by using the hexagonal nut 309 from the inside of the wire concentration box body 301, and meanwhile, the yoke 306 is pressed. The supporting rollers 308 protrude out of the bottom of the line concentration box body 301, the permanent magnets 307 and the inner wall of the steam generator generate adsorption force to enable the line concentration box body 301 to be compressed inside the steam generator, the protruding supporting rollers 308 ensure that a certain gap is kept between the line concentration box body and the inner wall, and the line concentration box is not rubbed with the inside of the steam generator when the wall climbing trolley runs, and the integral movement of the wall climbing trolley is not influenced; the wiring box cover plate 302 is fixed on the wiring box body 301 through an inner hexagon screw 304, and a waterproof joint 305 is installed and fixed at the tail of the wiring box body 301. In the junction box housing 301, all the electronic component cables on the wall climbing trolley are integrated together and connected to a multi-core cable which is finally connected with a control system, wherein the multi-core cable is fixed on the junction box by adopting a waterproof joint 305.
As shown in fig. 4 and 5, the flexible steel belt 4 comprises a guide plate 410, a steel belt 420, a special tool 430 and a steel wire rope 440, wherein the guide plate 410 is composed of two pressing plates, the steel belt 420 is composed of two steel belt sheets with basically consistent structures, the special tool 430 in 2-3 is placed on one steel belt sheet according to actual requirements, the two steel belts are buckled together, a circular channel is formed on two sides of the steel belt 420, the two steel belt sheets are connected in series by adopting 2 steel wire ropes 440, tool heads of the special tool 430 are adjusted and fixedly installed in installation holes in the guide plate 410, and the steel belt 420 is clamped simultaneously by using countersunk screws; the special tool comprises a foreign matter loosening tool and a foreign matter grabbing tool, wherein the foreign matter loosening tool comprises a hook, a shovel, a spiral cone and the like, or a flushing flexible steel belt with a high-pressure flushing head; the foreign matter grabbing tool comprises a hook, three claws, a dust collection pipe, a magnet, a ferrule, a crocodile clip and the like.
Referring to fig. 6 to 8, a method for operating a wall climbing trolley for grabbing foreign matters between pipes of a secondary side pipe plate of a steam generator specifically comprises the following steps:
step 1, installing a flexible steel belt with a video probe on a wall climbing trolley, installing the wall climbing trolley on the inner wall of a cylinder from a hand hole of a steam generator, and adjusting the wall climbing trolley to be horizontal through video images fed back by a camera;
step 2, controlling the wall climbing trolley to horizontally move to a designated position, controlling a guide arm of a swinging assembly to swing, adjusting the bending angle of the head of the flexible steel belt, matching with the whole back and forth operation fine adjustment of the wall climbing trolley, enabling the head of the flexible steel belt to be aligned with the heat transfer pipe, and conveying the flexible steel belt to the heat transfer pipe;
step 3, checking and determining foreign matter conditions among the heat transfer pipes by utilizing image information fed back by a camera carried on the flexible steel belt, and grabbing a foreign matter loosening agent;
step 3.1, checking and determining the type, material, size and position information of the foreign matters among the heat transfer pipes by utilizing camera feedback image information carried on the flexible steel belt;
and 3.2, if the foreign matters are loose, directly replacing the foreign matter grabbing tool to grab, otherwise, firstly adopting the foreign matter loosening tool to loosen and then grabbing until the steam generator is taken out.
Claims (9)
1. Wall climbing trolley for grabbing foreign matters between secondary side tube plates of steam generator, and is characterized in that: the wall climbing trolley comprises a deflection assembly (1), a trolley main body (2), a line concentration box (3) and a flexible steel belt (4), wherein the front end and the rear end of the trolley main body (2) are respectively connected with the deflection assembly (1) and the line concentration box (3) through shaft hinge joints, so that the assemblies can swing relatively for a certain angle; the flexible steel belt (4) is sleeved on the deflection assembly (1) and the trolley main body (2), the swing assembly (1) is used for guiding the flexible steel belt (4), the trolley main body (2) is used for moving between the secondary side tube plates of the steam generator, pushing and pulling the flexible steel belt (4), and sending loosening and grabbing tools on the flexible steel belt (4) to a designated position; the wire concentration box (3) comprises a wire concentration box body (301), a wire concentration box cover plate (302), a pressing wheel II (303) and a permanent magnet (307), wherein the wire concentration box body (301) is connected with a trolley box body (207) through a supporting rotating shaft (222), the supporting rotating shaft (222) is fixed at the rear end of the trolley box body (207), the supporting rotating shaft (222) is of a hollow and grooved structure, and an opening of the supporting rotating shaft is communicated with an opening of the wire concentration box body (301) and is used as a cable routing channel of all electronic elements; the permanent magnet (307) is sleeved on a central boss of the line concentration box body (301), the nylon sleeve (310) is sleeved outside the permanent magnet (307), then the yoke iron (306) is installed on the permanent magnet (307), the supporting roller (308) is installed in an opening at the bottom of the line concentration box body (301), and then the supporting roller (308) is fixed by using a hexagonal nut (309) from the line concentration box body (301) and simultaneously the yoke iron (306) is pressed; the support roller (308) protrudes out of the bottom of the line concentration box body (301), the permanent magnet (307) and the inner wall of the steam generator generate adsorption force to enable the line concentration box body (301) to be tightly pressed inside the steam generator, and the protruding support roller (308) ensures that the line concentration box body and the inner wall keep a certain gap.
2. The wall climbing trolley for grabbing foreign matters between secondary side tube plates of steam generator according to claim 1, wherein the wall climbing trolley comprises: the deflection assembly (1) comprises a deflection box body (101), a deflection motor (102), an output gear A (105), a swing arm (115) and a pressing wheel I (118), wherein the deflection motor (102) is arranged in the deflection box body (101), a sealing seat (104) is arranged at the head of the deflection motor (102) and is provided with a copper sleeve I (106) in an interference press mode, the output gear A (105) is arranged in an inner hole of the copper sleeve I (106), the output gear A (105) is matched with an output shaft of the deflection motor (102) through a flat hole in the center, the upper side of the sealing seat (104) is pressed against a lead screw (110) arranged in the deflection box body (101) through a copper sleeve III (114), and an optical axis section at the other end of the lead screw (110) is arranged in an inner hole of a copper sleeve IV (117) on the deflection box body (101) and is provided with a lead screw nut (116); the driven gear (111) meshed with the output gear A (105) is matched with a flat shaft at the head of the screw rod (110) through a flat hole in the center and is tightly attached to a copper sleeve II (112) arranged on the upper side of the sealing seat (104); the cover plate (109) is fixedly arranged on the deflection box body (101) through a cover plate sealing gasket (113), and 2 boss structures processed in the cover plate (109) are made to properly compress the output gear A (105) and the driven gear (111); the swing arm (115) is connected to two sides of the deflection box body (101) through 2 hinged shafts (120) with threads, and 2 connecting rods (119) penetrate through long waist round holes in the swing arm (115) and are installed and fixed in screw holes in the screw rod nut (116); the upper part of the deflection box body (101) is also provided with a compression wheel I (118); the deflection motor (102) drives the driven gear (111) to drive the screw rod (110) to rotate through the output gear A (105), drives the screw rod nut (116) to move back and forth, and the connecting rods (119) arranged on two sides of the screw rod nut (116) push the swing rod and the tug to drive the swing arm (115) to swing back and forth, so that the guiding function of the flexible steel belt is realized, the flexible steel belt (4) is aligned with the heat transfer pipe, and the flexible steel belt (4) can conveniently enter and exit the pipe.
3. The wall climbing trolley for grabbing foreign matters between secondary side tube plates of steam generator according to claim 1, wherein the wall climbing trolley comprises: the trolley body (2) comprises a swing motor (206), a trolley box body (207), a driving motor (212) and a permanent magnet wheel (213), wherein a deflection supporting shaft (205) is fixed on the upper side of the front end of the trolley box body (207), movable connection of the trolley box body (207) and the deflection box body (101) in the swing assembly (1) is achieved, the push-pull motor (206) is fixed on the lower side of the front end of the trolley box body (207), an output shaft of the push-pull motor is matched with an output gear B (231), a driven gear (229) mounted on a gear supporting seat (228) is driven to rotate, and finally a push-pull chain wheel (211) is driven to rotate, so that a push-pull function of the flexible steel belt (4) is achieved.
4. A wall climbing trolley for capturing foreign matter between secondary side tube plates of a steam generator according to claim 3, wherein: the upper surface of the trolley box body (207) is opened, and a sealing ring installation camera (208) is arranged for observing the image of the heat transfer tube of the steam generator, and video signals are transmitted to a control system display to reflect the azimuth state of the wall climbing trolley; the hinged pinch roller (201) on the upper surface of the trolley box (207) compresses and installs the flexible steel belt, and ensure the grid on both sides of the flexible steel belt (4) to be meshed with the gear teeth of the push-pull chain wheel (211) normally.
5. A wall climbing trolley for capturing foreign matter between secondary side tube plates of a steam generator according to claim 3, wherein: the middle part of the trolley box body (207) is provided with 2 groups of driving motors (212) which are respectively fixed at two sides of the trolley box body (207), the output shafts of the driving motors (212) are directly connected with permanent magnet wheels (213), the permanent magnet wheels (213) are arranged at two sides of the trolley box body (207), and the permanent magnet wheels (213) protrude out of the bottom of the trolley box body (207); the 2 groups of driving motors (212) are independently controlled, and can synchronously move and differentially move, so that the functions of linear operation and steering of the whole equipment are realized.
6. The wall climbing trolley for grabbing foreign matters between secondary side tube plates of steam generator according to claim 1, wherein the wall climbing trolley comprises: the flexible steel belt (4) comprises a guide plate (410), steel belts (420), special tools (430) and steel wire ropes (440), wherein the guide plate (410) is composed of two pressing plates, the steel belts (420) are composed of two steel belt sheets with basically consistent structures, 2-3 special tools (430) are placed on one steel belt sheet according to actual requirements, the two steel belts are buckled together, a circular channel is formed in two sides of the steel belts (420), the two steel belt sheets are connected in series by adopting the 2 steel wire ropes (440), tool heads of the special tools (430) are adjusted and fixedly installed in installation holes in the guide plate (410), and the steel belts (420) are clamped simultaneously by using countersunk screw connection.
7. The wall climbing trolley for grabbing foreign matters between secondary side tube plates of steam generator as claimed in claim 6, wherein: the special tool comprises a foreign matter loosening tool and a foreign matter grabbing tool; the foreign matter loosening tool comprises a hook, a shovel and a spiral cone, or a flushing flexible steel belt with a high-pressure flushing head; the foreign matter grabbing tool comprises a hook, three claws, a dust collection pipe, a magnet, a ferrule and an alligator clip.
8. The wall climbing trolley for grabbing foreign matters between secondary side tube plates of steam generator according to claim 2, wherein: the lower end of the deflection box body (101) is provided with a plurality of groups of screw holes, and a plurality of supporting wheels (103) are arranged in the screw holes at different positions by adopting anti-drop screws, so that the initial deflection of the deflection assembly at different angles is realized.
9. A method of operating a wall climbing trolley for foreign object capture between secondary side tube sheets of a steam generator as claimed in claim 1, wherein: the method specifically comprises the following steps:
step 1, installing a flexible steel belt with a video probe on a wall climbing trolley, installing the wall climbing trolley on the inner wall of a cylinder from a hand hole of a steam generator, and adjusting the wall climbing trolley to be horizontal through video images fed back by a camera;
step 2, controlling the wall climbing trolley to horizontally move to a designated position, controlling a guide arm of a swinging assembly to swing, adjusting the bending angle of the head of the flexible steel belt, matching with the whole back and forth operation fine adjustment of the wall climbing trolley, enabling the head of the flexible steel belt to be aligned with the heat transfer pipe, and conveying the flexible steel belt to the heat transfer pipe;
and step 3, checking and determining foreign matter conditions among the heat transfer pipes by utilizing image information fed back by a camera carried on the flexible steel belt, and grabbing a foreign matter loosening agent.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| 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 |
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| CN108263505B true CN108263505B (en) | 2023-09-08 |
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Families Citing this family (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 |
| KR102212469B1 (en) * | 2019-04-23 | 2021-02-05 | 두산중공업 주식회사 | Inspection device for steam generator |
| CN115739871A (en) * | 2022-10-27 | 2023-03-07 | 中核武汉核电运行技术股份有限公司 | Hydraulic impact grinding device suitable for deposited sludge between heat transfer pipes |
| 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 |
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| US8418662B2 (en) * | 2008-07-18 | 2013-04-16 | Korea Plant Service & Engineering Co., Ltd. | 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 |
| ES2734290T3 (en) * | 2009-02-27 | 2019-12-05 | Rolls Royce Nuclear Field Services Inc | Inspection system and inspection process using a magnetic inspection vehicle |
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| 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 |
| 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 |
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