CN108986941B - Heat transfer pipe overhauls positioner structure - Google Patents
Heat transfer pipe overhauls positioner structure Download PDFInfo
- Publication number
- CN108986941B CN108986941B CN201710406378.5A CN201710406378A CN108986941B CN 108986941 B CN108986941 B CN 108986941B CN 201710406378 A CN201710406378 A CN 201710406378A CN 108986941 B CN108986941 B CN 108986941B
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- heat transfer
- main body
- arm part
- body part
- guide rail
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- 210000000078 claw Anatomy 0.000 claims abstract description 46
- 238000007689 inspection Methods 0.000 claims description 16
- 239000000523 sample Substances 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 13
- 238000009659 non-destructive testing Methods 0.000 abstract description 2
- 239000000306 component Substances 0.000 description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 239000008358 core component Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229940002988 pegasys Drugs 0.000 description 1
- 108010092853 peginterferon alfa-2a Proteins 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Heat-Exchange Devices With Radiators And Conduit Assemblies (AREA)
Abstract
The invention relates to the technical field of nondestructive testing and maintenance of heat transfer tubes of steam generators and similar equipment, and particularly discloses a structure of a heat transfer tube overhauling and positioning device; the device comprises a main body part, an arm part and a tool end part, wherein the main body part is fixed on the arm part and can slide back and forth along the straight line of the arm part; the main body part is provided with a claw A, and two ends of the arm part are provided with claws B; the clamping claw A and the clamping claw B can be fastened to the pipe holes of the heat transfer pipe of the evaporator through expansion clamps; when the clamping claw A on the main body part is fixed on the pipe hole of the heat transfer pipe of the evaporator, the tool end part arranged at the end part of the arm part is driven to rotate to a designated position by the rotation of the main body part relative to the arm part. The positioning device can be used for checking the overhauling edge heat transfer pipe or the small-diameter evaporator heat transfer pipe, and the positioning efficiency of the positioning device on the edge heat transfer pipe or the small-diameter evaporator heat transfer pipe is remarkably improved.
Description
Technical Field
The invention belongs to the technical field of nondestructive testing and maintenance of heat transfer tubes of steam generators and similar equipment, and particularly relates to a heat transfer tube maintenance positioning device structure.
Background
It is counted that about 1/4 of the unplanned shutdown times of the foreign pressurized water reactor nuclear power plant are caused by steam generator accidents, and each shutdown can cause hundreds of millions of economic losses and generate great potential safety hazards. The main reason for steam generator accident is that the heat transfer pipe breaks, and corrosion, thinning and wear of the heat transfer pipe are unavoidable in nuclear power operation, and periodic in-service overhaul and assessment of the steam generator including the heat transfer pipe are main means for avoiding unplanned shutdown. The primary side in-service maintenance work of the steam generator is mainly carried out in the water chamber, and is positioned on a 'critical path' of nuclear power maintenance, and has strict time limit. The steam generator water chamber is a high-emissivity area, and in-service maintenance or leakage treatment needs to be completed by remotely controlling a special automatic device or robot.
The positioning device is used as a core component of a heat transfer tube maintenance system of the steam generator, and has the main function of providing a movable platform for a tool end component on a tube plate of the steam generator, carrying the guiding device in a specific moving mode by the positioning device to walk and position on the tube plate of the heat transfer tube through path planning, and positioning an inspection probe or a maintenance tool to a target heat transfer tube by the tool end component after the positioning device reaches a preset position to carry out maintenance tasks.
The structure of the positioning device directly influences the maintenance work efficiency. The main stream positioning device at present is a device capable of walking on a tube plate of a heat transfer tube, a positioner is arranged on the tube plate heat transfer tube of a steam generator through a manhole, and the positioner is used for conveying a guiding device to the position right below the tube orifice of the overhauled heat transfer tube according to the arrangement mode and the tube spacing of the tube plate heat transfer tube and the planned moving path. Thereby realizing the maintenance task of the steam generator.
Pegasys, western house corporation of the united states, due to the structural limitations of the cross, occupies a large space, is limited in movement in the rim or small diameter water chamber,
the ZR100 type positioning robot of the United states Jiett company is in a box structure, the tool end of the ZR100 type positioning robot is arranged on the ZR100 machine body, and the number of the heat transfer tubes inspected at the same positioning position is small.
Other prior art rotation generally can only rotate to a fixed angle, can not be positioned at any angle of 360 degrees, and in addition, the prior art has the problems of one-time positioning and a small number of heat transfer tube inspection. And when the inspection operation is carried out, two groups of clamping jaws of the main body part and the arm part need to be clamped on the heat transfer tube at the same time, and the inspection efficiency is seriously affected.
Disclosure of Invention
The invention aims to provide a heat transfer tube overhauling and positioning device structure which can inspect overhauling edge heat transfer tubes or small-diameter evaporator heat transfer tubes on the basis of meeting the requirements of conventional overhauling tasks, and the positioning efficiency of the positioning device on the edge heat transfer tubes or the small-diameter evaporator heat transfer tubes is remarkably improved.
The technical scheme of the invention is as follows: the device comprises a main body part, an arm part and a tool end part, wherein the main body part is fixed on the arm part and can slide back and forth along the straight line of the arm part; the main body part is provided with a claw A, and two ends of the arm part are provided with claws B; the clamping claw A and the clamping claw B can be fastened to the pipe holes of the heat transfer pipe of the evaporator through expansion clamps; when the clamping claw A on the main body part is fixed on the pipe hole of the heat transfer pipe of the evaporator, the tool end part arranged at the end part of the arm part is driven to rotate to a designated position by the rotation of the main body part relative to the arm part.
The main body part include jack catch A, cavity rotary platform and lift jar, wherein, a plurality of jack catch A is fixed on the jack catch tray, jack catch tray passes through cavity rotary platform and lift jar fixed connection, wherein, lift jar is on lift double guide rail and lift lead screw, can drive lift jar and reciprocate along lift double guide rail through the lift lead screw.
The arm part comprises a sliding electric cylinder, a translation screw rod and a translation double guide rail, wherein the sliding electric cylinder is sleeved on the translation screw rod and the translation double guide rail which are arranged in parallel, and two sides of the translation screw rod and the translation double guide rail are clamped and fixed through end plates; the sliding electric cylinder is fixedly connected with the main body part.
And an auxiliary guide rail is also arranged in the arm part, wherein the auxiliary guide rail is positioned on the opposite side of the translation double guide rail and is fixed on end plates on two sides of the translation double guide rail.
And clamping jaws B are respectively arranged on end plates on two sides of the translation double guide rail.
The tool end part comprises a swing motor and a tool rack, and the tool rack is arranged on an end plate at one side of the arm part and is driven by the swing motor to rotate relative to the arm part; or tool holders are arranged on two sides of the arm part.
The main body part in still be equipped with the rotating electrical machines, can drive the jack catch tray and rotate for the lift jar through the rotating electrical machines.
The claw tray is provided with a plurality of claws A, and the arrangement mode and the number of the claws A are determined according to the arrangement mode of the evaporator heat transfer tubes and the load weight of the whole overhauling and positioning device.
4 clamping claws A are arranged on the clamping claw tray.
The tail end of the tool rack is provided with a guide pipe for conveying the inspection probe to the port of the heat transfer pipe to be inspected; the guide tube can cover all heat transfer tubes which take the center of the main body part as the center of a circle, and the length of the arm part is less than the self structural interference, so that the inspection of a plurality of heat transfer tubes is completed by one-time positioning.
The invention has the remarkable effects that: the heat transfer tube overhauling and positioning device has the following advantages: (1) When the positioning function of the positioning device is implemented, the heat transfer tubes are alternately gripped by the two groups of clamping components of the main body component and the arm component, and the positioning device can walk on the regularly arranged heat transfer tubes according to a planned track in cooperation with the linear movement and rotation of the main body component and the arm component; (2) When the tool end part positioning operation is implemented, the clamping jaw of the main body part is clamped on the heat transfer pipe, the clamping jaw of the arm part is loosened and can linearly move and rotate relative to the main body part at any time, and the overhaul tool end part is conveyed to the target hole site; (3) The whole positioning device is in a straight shape, so that the structure of the positioning device occupies smaller space, the movement is flexible, the movement is less influenced by the volume of the positioning device, and the positioning efficiency of the positioning device on the edge heat transfer pipe or the heat transfer pipe of the small-diameter evaporator can be remarkably improved; (4) The tool end part is connected to the arm part, so that the guiding device can cover all heat transfer pipes which are positioned in the length of the arm and interfere with the structure of the arm by taking the center of the main part as the center of the circle, and the inspection efficiency of a plurality of heat transfer pipes is greatly improved; (5) Because the arm part has symmetry, the tool end parts can be arranged at the two ends of the arm part, and when the guide devices are arranged at the two ends, the efficiency is doubled; (6) When the heat transfer tube is overhauled, only the main body part is needed to be clamped on the heat transfer tube, the tool end part can rotate by itself, and the tool end part is adjusted to any position movement track in the coverage range by matching with the relative linear displacement and rotation of the main body part and the arm part, so that an optimal path can be found out by optimizing a movement track algorithm; (7) The electric cylinder structure that can take among the positioner, cavity rotation platform structure all can reduce device overall weight and occupation space to a certain extent. The chamber structure of the small evaporator or heat exchanger is more suitable.
Drawings
FIG. 1 is a rear view of a heat transfer tube service locating device according to the present invention;
FIG. 2 is a rear view of another heat transfer tube service locating device according to the present invention;
FIG. 3 is a schematic perspective view of a heat transfer tube inspection and positioning device according to the present invention;
FIG. 4 shows a state A of use of a heat transfer tube inspection and positioning device according to the present invention;
FIG. 5 shows a state B of use of the heat transfer tube inspection and positioning device according to the present invention;
FIG. 6 shows a state C of use of the heat transfer tube inspection and positioning device according to the present invention;
FIG. 7 shows a state D of use of the heat transfer tube inspection and positioning device according to the present invention;
in the figure: 1. a body member; 2. an arm part; 3. a tool end piece; 4. a claw A; 5. a claw B; 6. an auxiliary guide rail; 7. translating the screw rod; 8. sliding the electric cylinder; 9. a rotating electric machine; 10. a hollow rotating platform; 11. lifting electric cylinders; 12. a swing motor; 13. translating the double guide rails; 14. lifting the double guide rail; 15. lifting a screw rod; 16. a claw tray; 17. a guide tube; 18. a tool holder; 19. an evaporator heat transfer tube.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in fig. 1 to 7, a heat transfer tube inspection positioning device comprises a main body part 1, an arm part 2 and a tool end part 3, wherein the main body part 1 is fixed on the arm part 2, the main body part 1 can move back and forth along the straight line of the arm part 2, a claw A4 is fixed on the main body part 1, claws B5 are fixed at two ends of the arm part 2, the claw A4 and the claw B5 can be fastened between evaporator heat transfer tubes 19 through expansion cards, the claw A4 on the main body part 1 is fixed between the evaporator heat transfer tubes 19, the arm part 2 can be driven to rotate through the rotation of the main body part 1, the tool end part 3 is arranged at the end part of the arm part 2, and the tool end part 3 can rotate along the axis of the end part 2, so that the tool end part 3 covers the arc position swept by the tool end part 3; the main body part 1 comprises a claw A4, a hollow rotary platform 10 and a lifting electric cylinder 11, wherein a plurality of claws A4 fixed on a claw tray 16 are fixedly connected with the lifting electric cylinder 11 through the hollow rotary platform 10, a reasonable number of claws A4 are arranged on the claw tray 16 according to the arrangement mode of the heat pipes and the load weight, for example, four claws A4 are arranged on the claw tray 16; the lifting electric cylinder 11 sleeved in the lifting double guide rail 14 and the lifting screw rod 15 is fixed below the hollow rotating platform, the hollow rotating platform is driven to move up and down along the lifting double guide rail 14 by the rotation of the lifting screw rod 15, and the claw tray 16 is driven to rotate relative to the lifting electric cylinder 11 by the rotating motor 9; the arm part 2 comprises a sliding electric cylinder 8, a translation screw rod 7 and an auxiliary guide rail 6, wherein the sliding electric cylinder 8 is sleeved on the translation screw rod 7 and the translation double guide rail 13, so that the sliding electric cylinder 8 moves left and right along the translation double guide rail 13 under the rotation of the translation screw rod 7; the two ends of the translation screw rod 7 and the two translation double guide rails 13 are clamped and fixed through end plates, and an auxiliary guide rail 6 is arranged between the two end plates on the opposite sides of the two translation double guide rails 13 and is used for adapting to larger load weight; the clamping jaws B5 are respectively arranged on the end plates at the two ends of the arm part 2, and the tool end part 3 is arranged outside one side end plate, wherein the tool end part 3 comprises a swing motor 12, a guide pipe 17 and a tool rack 18, the tool rack 18 is arranged on one side end plate of the arm part 2, the tool rack 18 is driven by the swing motor 12 to rotate relative to the arm part 2, and the guide pipe 17 is arranged at the tail end of the tool rack 18 and used for conveying an inspection probe to a port of a heat transfer pipe to be inspected.
According to the heat transfer tube overhauling and positioning device, after a target heat transfer tube to be overhauled is confirmed, namely, when the positioning device is required to be moved and a carrier end part 3 is made to reach a target hole site, firstly, as shown in fig. 4, a claw A4 in a main body part 1 and a claw B5 in an arm part 2 are both clamped on an evaporator heat transfer tube 19, the claw A4 in the main body part 1 in fig. 5 is loosened, and a lifting electric cylinder 11 is utilized to drive a lifting screw rod 15 and a lifting double guide rail 14 to act, so that the claw 4A on a driving part 1 is driven to withdraw from the evaporator heat transfer tube 19; the sliding electric cylinder 8 drives the translation screw rod 7 and the translation double guide rail 13 to enable the main body part 1 to move to the vicinity of the hole site of the corresponding heat transfer pipe along the auxiliary guide rail 6; the claw A4 in the main body part 1 is aligned with a corresponding hole in the evaporator heat transfer tube 19, the lifting cylinder 11 sends the claw A4 into the evaporator heat transfer tube 19 for gripping, then the claw B5 in the arm part 2 is loosened, and the lifting motor 14 acts again to drive the claw B5 in the arm part 2 to withdraw from the evaporator heat transfer tube 19; the arm part 2 translates the claw B5 on the arm part to a hole site aligned with the evaporator heat transfer tube 1 under the drive of the sliding electric cylinder 8, and the lifting motor 11 grasps the claw B5 in the arm part 2 on the evaporator heat transfer tube 1, so that the tool end part 3 is carried to a target position; when the target heat transfer pipe needs to be replaced, according to the path planning, the above-mentioned movement mode is alternated, and the tool end part 3 can be replaced to reach different target hole sites; when the tool end part 3 is positioned, after the clamping jaw A4 of the main body part 1 is clamped in the inner hole of the evaporator heat transfer pipe 19, the clamping jaw B5 of the arm part 2 is loosened, the clamping jaw B5 of the arm part 2 is withdrawn from the evaporator heat transfer pipe 1 through the lifting electric cylinder 11, the arm part 2 rotates around the center of the main body part 1 through the rotating motor 9, the rotating angle of the arm part 2 can be steplessly adjusted, meanwhile, the arm part 2 can linearly displace relative to the main body part 1, and the tool end part 3 connected to the arm part 2 can be accurately moved to the position below the corresponding evaporator heat transfer pipe hole through the two movement modes. In addition, the tool end part 3 can rotate through the swing motor 12, so that the paths of the tool end part 3 reaching the target hole sites become diversified, the optimal-efficiency running mode can be selected through a path planning algorithm, and the tool end part 3 can carry all the hole sites which are not interfered by the body structure of the positioning device within the length range of the arm part 2 under the condition that the position of the main body part 1 is unchanged. So reciprocating, with proper trajectory planning, the positioning device can cover the maintenance tasks of all the evaporator heat transfer tubes 19, and can greatly improve the maintenance efficiency.
Claims (9)
1. A heat transfer tube overhauls positioner, its characterized in that: the device comprises a main body part (1), an arm part (2) and a tool end part (3), wherein the main body part (1) is fixed on the arm part (2), and the main body part (1) slides back and forth along the arm part (2) in a straight line; the main body part (1) is provided with a claw A (4), and two ends of the arm part (2) are provided with claws B (5); the clamping jaw A (4) and the clamping jaw B (5) are tightly clamped and fixed on the pipe hole of the evaporator heat transfer pipe (19) through expansion; when the clamping jaw A (4) on the main body part (1) is fixed on the pipe hole of the evaporator heat transfer pipe (19), the tool end part (3) arranged at the end part of the arm part (2) is driven to rotate to a designated position by rotating the main body part (1) relative to the arm part (2); the main body part (1) include jack catch A (4), cavity rotary platform (10) and lift jar (11), wherein, a plurality of jack catch A (4) are fixed on jack catch tray (16), jack catch tray (16) are through cavity rotary platform (10) and lift jar (11) fixed connection, wherein, lift jar is on lift double guide rail (14) and lift lead screw (15), drives lift jar (11) and reciprocates along lift double guide rail (14) through lift lead screw (15).
2. A heat transfer tube service locating device according to claim 1, wherein: the arm part (2) comprises a sliding electric cylinder (8), a translation screw rod (7) and a translation double guide rail (13), wherein the sliding electric cylinder (8) is sleeved on the translation screw rod (7) and the translation double guide rail (13) which are arranged in parallel, and two sides of the translation screw rod (7) and the translation double guide rail (13) are clamped and fixed through end plates; the sliding electric cylinder (8) is fixedly connected with the main body part (1).
3. A heat transfer tube service locating device according to claim 2, wherein: an auxiliary guide rail (6) is further arranged in the arm part (2), wherein the auxiliary guide rail (6) is positioned at the opposite side of the translation double guide rail (13) and is fixed on end plates at two sides of the translation double guide rail (13).
4. A heat transfer tube service locating device according to claim 2 or 3, wherein: and clamping jaws B (5) are respectively arranged on end plates at two sides of the translation double guide rail (13).
5. A heat transfer tube service locating device according to claim 1, wherein: the tool end part (3) comprises a swing motor (12) and a tool rack (18), wherein the tool rack (18) is arranged on one side end plate of the arm part (2) and is driven by the swing motor (12) to rotate relative to the arm part (2); or the tool racks (18) are arranged on both sides of the arm part (2).
6. A heat transfer tube service locating device according to claim 1, wherein: the main body part (1) is also provided with a rotating motor (9), and the rotating motor (9) drives the claw tray (16) to rotate relative to the lifting cylinder (11).
7. A heat transfer tube service locating device according to claim 1, wherein: the jaw tray (16) is provided with a plurality of jaws A (4), and the arrangement mode and the number of the jaws A are determined according to the arrangement mode of the evaporator heat transfer tubes (19) and the load weight of the whole overhaul positioning device.
8. A heat transfer tube service locating device according to claim 1 or 7, wherein: 4 clamping claws A (4) are arranged on the clamping claw tray (16).
9. The heat transfer tube repair locating device according to claim 5, wherein: the tail end of the tool rack (18) is provided with a guide pipe (17) for conveying the inspection probe to the heat transfer pipe end to be inspected; the guide tube (17) can cover all heat transfer tubes which are interfered by the structure of the arm part (2) except for the length of the arm part (2) by taking the center of the main part (1) as the center of a circle, and can be positioned at one time to finish the inspection of a plurality of heat transfer tubes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406378.5A CN108986941B (en) | 2017-06-02 | 2017-06-02 | Heat transfer pipe overhauls positioner structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406378.5A CN108986941B (en) | 2017-06-02 | 2017-06-02 | Heat transfer pipe overhauls positioner structure |
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| CN108986941A CN108986941A (en) | 2018-12-11 |
| CN108986941B true CN108986941B (en) | 2024-02-09 |
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| CN201710406378.5A Active CN108986941B (en) | 2017-06-02 | 2017-06-02 | Heat transfer pipe overhauls positioner structure |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111482913A (en) * | 2020-04-07 | 2020-08-04 | 中核武汉核电运行技术股份有限公司 | Steam generator positioning device |
| CN112509717B (en) * | 2020-11-27 | 2023-05-02 | 中广核检测技术有限公司 | Source guiding pipe lifting device for in-service inspection of claw gaskets of control rod driving mechanism |
| CN114346955B (en) * | 2021-12-31 | 2024-02-09 | 核动力运行研究所 | A hold in palm style mounting tool for positioning robot |
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| CN108986941A (en) | 2018-12-11 |
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