CN113738999A - Robot for overhauling heat transfer tube of steam generator - Google Patents
Robot for overhauling heat transfer tube of steam generator Download PDFInfo
- Publication number
- CN113738999A CN113738999A CN202111075647.7A CN202111075647A CN113738999A CN 113738999 A CN113738999 A CN 113738999A CN 202111075647 A CN202111075647 A CN 202111075647A CN 113738999 A CN113738999 A CN 113738999A
- Authority
- CN
- China
- Prior art keywords
- walking
- base
- fine
- module
- tuning
- 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
- 238000012546 transfer Methods 0.000 title claims abstract description 34
- 238000013519 translation Methods 0.000 claims description 79
- 210000003371 toe Anatomy 0.000 claims description 49
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 abstract description 42
- 238000012423 maintenance Methods 0.000 abstract description 34
- 230000009193 crawling Effects 0.000 abstract description 19
- 230000009471 action Effects 0.000 description 37
- 230000003068 static effect Effects 0.000 description 20
- 229940002988 pegasys Drugs 0.000 description 8
- 108010092853 peginterferon alfa-2a Proteins 0.000 description 8
- 238000013461 design Methods 0.000 description 6
- 230000036544 posture Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 241001620634 Roger Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention relates to a crawling robot, in particular to a robot for overhauling a heat transfer tube of a steam generator, aiming at solving the problems that the SG heat transfer tube overhauling robot with the existing crawling robot configuration has inflexible motion mode and poor structural adaptability, and comprising a base module, a walking module and a tool module; the walking module is mounted on the base module, and the tool module is mounted on one end of the base module. The invention is used for the field of steam generator heat transfer pipe maintenance.
Description
Technical Field
The invention relates to a crawling robot, in particular to a robot for overhauling a heat transfer pipe of a steam generator, and belongs to the field of overhauling.
Background
Nowadays, nuclear power is being emphasized by various countries in the world, the generated energy of the current nuclear power in the world accounts for more than 10% of the total generated energy in the world, and the nuclear safety problem is increasingly important due to the high-speed development of the nuclear power industry. The steam generator, SG for short, is an important device and a safety barrier of a pressurized water reactor nuclear power station, and the heat transfer pipe is the easiest component in the SG, so that the regular in-service maintenance of the heat transfer pipe is of great importance. At present, SG heat transfer pipe overhaul robots with independent intellectual property rights are developed in countries such as America and French and are successfully applied on site, such as PEGASYS and ROSA-III of American West houses, ZR100 and SM-23G of American Jite, ROGER and FORENNER of French Ashi, and China is severely restricted by foreign countries in related fields, so that the design and manufacture of more excellent SG heat transfer pipe overhaul robot equipment with independent intellectual property rights have great research significance and industrial value.
The existing SG heat transfer pipe overhaul robot equipment mainly has two configurations, namely a series robot represented by ROSA-III and SM-23G, the robot is simple in structure, strong in load capacity and flexible and reliable in operation, is one of the most common robot configurations, mostly adopts a manhole installation mode, causes poor compatibility adaptability, difficult installation, disassembly and transportation, and generally has large integral volume and weight. Therefore, a novel crawling robot PEGASYS is introduced in US West House in 2003, a tube plate installation mode is adopted, movement walking and positioning installation are achieved simultaneously through alternate actions of a positioning and grasping mechanism, the crawling robot is relatively complex in design configuration structure and movement control, operation difficulty and operation time of operators are greatly reduced due to the simple installation mode and the small volume weight, and therefore the crawling robot becomes one of the current main configurations of SG heat transfer tube maintenance robot equipment and is also the hottest configuration, such as PEGASYS and ZR 100.
The PEGASYS is an SG heat transfer pipe overhaul robot with the structure of a crawling robot which is applied on site and most widely at present, the PEGASYS is simple in structural design and comprises two large modules BASE and FOOT, translation and rotation can be carried out between the two modules, so that the robot crawls, but the rotation of the PEGASYS can only reach two fixed angle positions through pneumatic control, so that the PEGASYS is single in movement mode and low in operation efficiency, and sometimes needs to be manually adjusted when facing pipe plates of different models, sometimes needs to be replaced by other robot models, and is poor in adaptability. ZR100 realizes robot "crawling" through translation and rotatory two degrees of freedom of motion equally, nevertheless with PEGASYS comparatively different be, its machinery and control system integrated level are high, and the outward appearance is succinct, can reach different angular position during rotary motion, has promoted the operating efficiency, but its too high integrated design leads to its reliability and maintainability to reduce, and the volume is great relatively, and just the adaptability in the face of different model tube sheets is still relatively poor.
Therefore, based on the current state of SG heat transfer pipe maintenance robot equipment in China and aiming at the problems, the self-adaptive crawling robot for SG heat transfer pipe maintenance is designed, and on the basis of a simple structural design, the self-adaptive crawling robot has the structural self-adaptive capacity, so that the crawling motion mode is more flexible and diversified, the maintenance operation efficiency is improved, and the self-adaptive capacity of the self-adaptive crawling robot in the face of SG pipe plates of different models is greatly improved.
Disclosure of Invention
The invention aims to solve the problems that an SG heat transfer tube overhauling robot with the existing crawling robot configuration is not flexible in movement mode and poor in structural adaptability, and further provides a robot for overhauling a heat transfer tube of a steam generator.
The technical problem is solved by the following scheme:
the walking device comprises a base module, a walking module and a tool module; the walking module is mounted on the base module, and the tool module is mounted on one end of the base module.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has five freedom degrees of movement, wherein four continuous freedom degrees of movement are provided, the four freedom degrees of movement comprise a rotational freedom degree between a base module and a walking module, a translational freedom degree of the walking module, and a fine-tuning translational freedom degree at one end of each of the base module and the walking module, the four freedom degrees of movement are driven by a motor and matched with position sensors such as a rotary encoder and a photoelectric switch, and an pneumoelectric slip ring is also arranged at the rotational freedom degree, so that each freedom degree of movement can be ensured to carry out accurate continuous movement, the invention has larger continuous working space, is flexible in movement mode, and can carry out free and flexible continuous movement in the working space.
2. The two fine adjustment degrees of freedom are designed, the independent self-adaptive change of the distance between the toes of the base module and the walking module in the movement operation is realized, so that when the base module and the walking module reach any angle positions, the toes can be always positioned to the nearest pipe holes and clamped and fixed through the continuous cooperation of the translation degrees of freedom and the fine adjustment degrees of freedom, the free crawling on the SG tube plate is realized, the diversity of movement paths is increased, the overhauling operation efficiency is improved, the device is not limited by the SG tube plate of a specific model, and the device has strong self-adaptive capacity and universality.
3. The invention has simple structure form and clear design of freedom of movement, and the driving part, the transmission part and the corresponding control part of each freedom of movement are designed and installed in a centralized way, thereby being beneficial to the modularized upgrade of the movement function structure and being convenient for daily use, maintenance, disassembly and assembly.
Drawings
Fig. 1 is a schematic view of the overall structure of the present application.
Fig. 2 is a bottom view of the overall structure of the present application.
Fig. 3 is a front view of the overall structure of the present application.
Fig. 4 is a left side view of the overall structure of the present application.
Fig. 5 is a view from a-a in fig. 3.
Fig. 6 is a schematic view of the base module 1.
Fig. 7 is a schematic view of the base module 1.
Fig. 8 is a front view of the base module 1.
Fig. 9 is a view from B-B in fig. 8.
Fig. 10 is a schematic view of the walking module 2.
Fig. 11 is a back view of the walking module 2.
Fig. 12 is a front view of the walking module 2.
Fig. 13 is a view from direction C-C in fig. 12.
Fig. 14 is a view from direction D-D in fig. 12.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1-14, and the robot for repairing the heat transfer tube of the steam generator comprises a base module 1, a walking module 2 and a tool module 3; the walking module 2 is installed on the base module 1, and the tool module 3 is installed on one end of the base module 1.
The tool module 3 can be quickly mounted or replaced according to the working requirements.
The base left toe 18, base right toe 19, walking left toe 28, walking right toe 29 are the same structural members and a clamping mechanism of patent application No. CN201910913239.0 is disclosed.
The second embodiment is as follows: referring to the embodiment described in conjunction with fig. 1-9, the base module 1 includes a base box 11, a base box cover 12, a base fine-tuning bracket 13, a base fine-tuning cover 14, a base fine-tuning module 15, a base guide rail 16, a base guide rail slider 17, a base left toe 18, a base right toe 19 and a quick-change connector male end 10; the base box cover 12 is installed on the bottom end of the base box body 11, the base fine-tuning support 13 is installed on one side of the base box body 11 through a base guide rail 16, two ends of the base guide rail 16 are installed on the base box body 11 and the base fine-tuning support 13 respectively, the base fine-tuning protective cover 14 is installed on the base fine-tuning support 13 in a covering mode, the base left toe 18 penetrates through the base fine-tuning protective cover 14 and is installed on the base fine-tuning module 15, the base fine-tuning module 15 is fixedly connected with one end of a base guide rail sliding block 17, the other end of the base guide rail sliding block 17 is arranged on the base guide rail 16 in a sliding mode, the base right toe 19 is installed on the other side of the base box body 11, and the quick-change connector male end 10 is installed on the bottom end of the base right toe 19. Other components and connection modes are the same as those of the first embodiment.
The third concrete implementation mode: referring to the embodiment described in conjunction with fig. 1 to 9, the robot for repairing heat transfer tubes of a steam generator according to the embodiment includes a base box 11 including a base box housing 111, a harmonic reducer 112, a frameless motor 113, an electro-pneumatic slip ring 114, and a rotating disk 115; the base box shell 111 is a shell with an opening at the lower end, the base box cover 12 is arranged at the lower end of the base box shell 111, the lower side of the fixed end of the harmonic reducer 112 is fixedly connected with the upper side of the stator shell of the frameless motor 113, the upper side of the fixed end of the harmonic reducer 112 is fixedly connected with the opening at the upper part of the base box shell 111, the rotor of the frameless motor 113 is fixedly connected with the input end of the harmonic reducer 112, the lower side of the stator shell of the frameless motor 113 is fixedly connected with the base box shell 111, the gas-electric slip ring 114 is arranged in the hollow shafts of the harmonic reducer 112 and the frameless motor 113, and the fixed end of the gas-electric slip ring 114 extends out from the lower part of the frameless motor 113 and is fixed with the base box body shell 111, the rotating end of the gas-electric slip ring 114 passes through the frameless motor 113 and the harmonic reducer 112 and is fixedly connected with the output end of the harmonic reducer 112, the rotating disc 115 is arranged above the base box body shell 111, and the rotating disc 115 is fixedly connected with the bottom end of the output end of the harmonic reducer 112. The harmonic reducer 112 and the frameless motor 113 are both hollow shaft devices, and other components and connection modes are the same as those of the second embodiment.
The fourth concrete implementation mode: referring to fig. 1 to 9, the present embodiment is described, and the base fine adjustment bracket 13 of the present embodiment includes a base fine adjustment bracket body 131, a base fine adjustment motor set 132, a first base fine adjustment bevel gear 133, a second base fine adjustment bevel gear 134, a base fine adjustment screw 135, and a base fine adjustment screw nut 136; base fine-tuning motor group 132 is installed on base fine-tuning support body 131, first base fine-tuning bevel gear 133 is installed on the output end of base fine-tuning motor group 132, base fine-tuning lead screw 135 is fixedly installed on second base fine-tuning bevel gear 134, base fine-tuning lead screw nut 136 is in threaded connection on base fine-tuning lead screw 135, first base fine-tuning bevel gear 133 and second base fine-tuning bevel gear 134 are in tooth meshing, base fine-tuning lead screw nut 136 is fixedly installed on base fine-tuning module 15, and base fine-tuning lead screw 135 passes through base fine-tuning module 15. The base fine adjustment motor 132 drives the base fine adjustment screw 135 to rotate through the first base fine adjustment bevel gear 133 and the second base fine adjustment bevel gear 134, and drives the base fine adjustment module 15 to translate left and right along the base guide rail 16. Other components and connection modes are the same as those of the second embodiment.
The fifth concrete implementation mode: describing the embodiment with reference to fig. 1-4, 10-14, the walking module 2 of the embodiment includes a lifting module 20, a walking left fixed end 21, a walking right fixed end 22, a walking fine adjustment bracket 23, a walking fine adjustment protective cover 24, a walking fine adjustment module 25, a walking guide rail 26, a walking left toe 28, a walking right toe 29 and three walking guide rail sliders 27;
the walking left fixed end 21 and the walking right fixed end 22 are respectively arranged on two sides of the lifting module 20, the walking fine adjustment support 23 is arranged on the walking left fixed end 21, the walking fine adjustment protective cover 24 is arranged on the walking fine adjustment support 23, the walking left fixed end 21, the lifting module 20 and the walking right fixed end 22 are arranged on the walking guide rail 26, two walking guide rail sliders 27 are arranged on the lifting module 20, one end of one walking guide rail slider 27 is arranged on the walking fine adjustment module 25, the other end of the walking guide rail slider 27 is arranged on the walking guide rail 26, the three walking guide rail sliders 27 are arranged on the walking guide rail 26 in a sliding mode, the walking left toe 28 penetrates through the walking fine adjustment protective cover 24 and is arranged on the walking fine adjustment module 25, and the walking right toe 29 is inserted on the walking right fixed end 22. Other components and connection modes are the same as those of the second embodiment.
The sixth specific implementation mode: referring to fig. 1 for explaining the present embodiment, a robot for steam generator heat transfer tube maintenance according to the present embodiment includes a lifting box 201, a lifting box cover 202, a translation motor set 206, a translation driving gear 207, a translation driven gear 208, a translation gear box 209, a translation screw 2001, a translation screw nut 2002, two lifting pistons 203, two linear bearings 204, and two guide posts 205; the lifting box body 201 is a shell with openings at the top and the bottom, the lifting box cover 202 is installed on the lifting box body 201, two inner side slotted holes and two outer side slotted holes are processed on the lifting box body 201, the two outer side slotted holes are symmetrically arranged, a group of lifting pistons 203 are arranged in each outer side slotted hole, the two inner side slotted holes are symmetrically arranged, a linear bearing 204 is installed in each inner side slotted hole, a guide column 205 is installed in each linear bearing 204, a translation motor group 206 is installed in the lifting box body 201, an output shaft of the translation motor group 206 is fixedly connected with a translation driving gear 207, a translation screw nut 2002 is fixedly connected with a translation driven gear 208, a translation screw nut 2002 is installed on a translation screw 2001 in a threaded connection mode, two ends of the translation screw 2001 are inserted into a walking left fixing end 21 and a walking right fixing end 22, and the translation driving gear 207 and the translation driven gear 208 are installed in the translation gear box 209 in a meshed mode. The opening below the lifting box 201 is a circular hole, which is convenient for the electric circuit to be connected to the walking module 2 from the base module 1, and the translation motor set 206 drives the translation screw nut 2002 to rotate on the translation screw 2001 through the translation driving gear 207 and the translation driven gear 208, that is, the lifting module 20 translates left and right along the walking guide rail 26 and the translation screw 2001. The other components and the connection mode are the same as the fifth embodiment mode.
The seventh embodiment: referring to fig. 13, the present embodiment will be described, in which a robot for inspecting a heat transfer tube of a steam generator according to the present embodiment includes a walking fine adjustment bracket body 231, a walking fine adjustment motor unit 232, a first walking fine adjustment bevel gear 233, a second walking fine adjustment bevel gear 234, a walking fine adjustment screw 235, and a walking fine adjustment screw nut 236; the walking fine-tuning motor unit 232 is installed on the walking fine-tuning support body 231, the first walking fine-tuning bevel gear 233 is installed on an output shaft of the walking fine-tuning motor unit 232, the second walking fine-tuning bevel gear 234 is fixedly installed on one end of the walking fine-tuning screw rod 235, the walking fine-tuning screw nut 236 is fixedly installed on the walking fine-tuning module 25, the walking fine-tuning screw nut 236 is installed on the walking fine-tuning screw rod 235 in a threaded connection mode, the walking fine-tuning screw rod 235 penetrates through the walking fine-tuning module 25, and the first walking fine-tuning bevel gear 233 and the second walking fine-tuning bevel gear 234 are meshed. The walking fine-tuning motor unit 232 drives the walking fine-tuning screw 235 to rotate through the first walking fine-tuning bevel gear 233 and the second walking fine-tuning bevel gear 234, and drives the walking fine-tuning module 25 to move horizontally along the walking guide rail 26. The other components and the connection mode are the same as the fifth embodiment mode.
The specific implementation mode is eight: referring to fig. 1, the embodiment is described, and the robot for overhauling the heat transfer tube of the steam generator in the embodiment is characterized in that the top end of a rotating disc 115 is connected with a walking module 2, the piston end of a group of lifting pistons 203 is arranged in each outer slot, the group of lifting pistons 203 are mounted on the rotating disc 115 in a shell mode, and the bottom end of a guide column 205 is fixedly connected with the rotating disc 115. Other components and connection modes are the same as those of the third embodiment or the sixth embodiment.
The specific implementation method nine: referring to the present embodiment, which will be described with reference to fig. 1 and 9, the robot for inspecting heat transfer tubes of a steam generator according to the present embodiment has a center line of the first base fine adjustment bevel gear 133 and a center line of the second base fine adjustment bevel gear 134, and a center line of the first travel fine adjustment bevel gear 233 and a center line of the second travel fine adjustment bevel gear 234. The other components and the connection mode are the same as those of the fourth embodiment or the seventh embodiment.
The detailed implementation mode is ten: describing the embodiment with reference to fig. 1, the tool module 3 of the robot for overhauling the heat transfer tube of the steam generator in the embodiment comprises an overhauling tool 31 and a female quick-change connector 30; the overhaul tool 31 is fixedly connected with the female quick-change connector end 30, and the female quick-change connector end 30 is fixedly connected with the male quick-change connector end 10. The maintenance tool 31 customizes vortex scanning and pipe blockage maintenance operation according to different maintenance functions. Other components and connection modes are the same as those of the second embodiment.
Principle of operation
The invention has five single-step actions and five working states or five linkage actions, wherein the rotation action is the rotation movement between the base module 1 and the walking module 2, the lifting action is the lifting movement between the walking module 2 and the base module 1 through the lifting module 20, and the translation action is the fine-tuning translation movement between the base module 1 and the walking module 2 through the translation movement between the lifting module 20 and the walking module 2, and the fine-tuning translation movement is the fine-tuning translation movement between the base left-side toe 18 of the base module 1 and the walking left-side toe 28 of the walking module 2.
The working principles of the five single-step actions are respectively explained:
the rotating motion drives the harmonic reducer 112 to decelerate through the frameless motor 113 so as to drive the rotating disc 115 to transmit. The fixed ends of the stator shell of the frameless motor 113 and the harmonic reducer 112 are fixed on the base box body shell 111, the rotor of the frameless motor 113 and the input end of the harmonic reducer 112 are fixed to drive the harmonic reducer 112 to rotate, the output end of the harmonic reducer 112 is fixed with the rotating disc 115 to drive the rotating disc 115 in a decelerating manner, and the rotating disc 115 is connected with the walking module 2 through the lifting piston 203 and the guide column 205, so that the rotary motion between the base module 1 and the walking module 2 is realized.
The lifting operation is driven by a pneumatic control lifting piston 203, and the guide column 205 is guided by the linear bearing 204. The linear bearing 204 is installed in the inside slot hole of the lifting box body 201, and the guide post 205 can move up and down in the inside slot hole of the lifting box body 201 by matching with the linear bearing 204, namely the lifting module 20 can slide up and down along the guide post 205; the lower part of the lifting piston 203 is fixed on the rotating disc 115, and the upper piston head can move up and down in the slot hole on the outer side of the lifting box body 201 through pneumatic control, so that the lifting module 20 is driven to move up and down along the guide column 205, and the lifting motion of the walking module 2 between the lifting module 20 and the base module 1 is realized.
The translation action is driven by a translation motor set 206, and the lead screw and nut mechanism is driven. The translation motor set 206 is installed in the lifting box body 20, an output shaft of the translation motor set 206 is fixed with a translation driving gear 207, the translation driving gear 207 is meshed with a translation driven gear 208 and installed in a translation gear box 209, and the translation motor set 206 drives the translation driven gear 208 to rotate; the translation driven gear 208 is fixed with the translation lead screw nut 2002, two ends of the translation lead screw 2001 penetrate out of two sides of the lifting box body 201 and are respectively fixed on the walking left fixing end 21 and the walking right fixing end 22, the translation driven gear 208 can drive the translation lead screw nut 2002 to rotate on the translation lead screw 2001, namely, the lead screw nut 2002 can perform translation motion on the translation lead screw 2001 along the length direction of the lead screw, so that the lifting module 20 can move left and right along the walking guide rail 26, and translation motion of the base module 1 between the lifting module 20 and the walking module 2 is realized.
The base module fine tuning translation action is driven by the base fine tuning motor set 132, and the base fine tuning lead screw nut 136 transmits. The base fine-tuning motor set 132 is installed in the base fine-tuning bracket body 131, an output shaft of the base fine-tuning motor set 132 is fixed with a first base fine-tuning bevel gear 133, and the first base fine-tuning bevel gear 133 is meshed with a second base fine-tuning bevel gear 134 at an angle of 90 degrees to drive the second base fine-tuning bevel gear 134 to rotate; a second base fine-tuning bevel gear 134 is fixed with the left end of a base fine-tuning lead screw 135, a base fine-tuning lead screw nut 136 is fixed on the base fine-tuning module 15, the right end of the base fine-tuning lead screw 135 penetrates out of the base fine-tuning lead screw nut 136 to be rotatably connected with the base box body 11, the second base fine-tuning bevel gear 134 is fixed with the left end of the base fine-tuning lead screw 135, and the base fine-tuning lead screw 135 is installed on a base fine-tuning support body 131 through a bearing and penetrates out of the base fine-tuning support body 131; and the base fine adjustment screw nut 136 is fixed on the base fine adjustment module 15, the right end of the base fine adjustment screw 135 penetrates out of the base fine adjustment screw nut 136 and is installed on the left side of the base box body 11 through a bearing, so that the second base fine adjustment bevel gear 134 can drive the base fine adjustment screw 135 to rotate in the base fine adjustment screw nut 136, namely, the base fine adjustment screw 135 and the base fine adjustment screw nut 136 can perform relative translational motion along the length direction of the screw, the base fine adjustment module 15 can move left and right along the base guide rail 16, and fine adjustment translational motion of toes 18 on the left side of the base is realized.
The walking module finely tunes the translation motion and is driven by a walking fine tuning motor set 232, and a walking fine tuning lead screw nut 236 transmits the motion. The walking fine-tuning motor unit 232 is installed in the walking fine-tuning bracket body 231, an output shaft of the walking fine-tuning motor unit 232 is fixed with the first walking fine-tuning bevel gear 233, and the first walking fine-tuning bevel gear 233 is meshed with the second walking fine-tuning bevel gear 234 at an angle of 90 degrees to drive the second walking fine-tuning bevel gear 234 to rotate; the second walking fine adjustment bevel gear 234 is fixed with the left end of the walking fine adjustment lead screw 235, the walking fine adjustment lead screw nut 236 is fixed on the walking fine adjustment module 25, the right end of the walking fine adjustment lead screw 235 penetrates out of the walking fine adjustment lead screw nut 236 and is rotatably connected with the left walking fixed end 21, the second walking fine adjustment bevel gear 234 is fixed with the left end of the walking fine adjustment lead screw 235, and the walking fine adjustment lead screw 235 is mounted on the walking fine adjustment support body 231 through a bearing and penetrates out of the walking fine adjustment support body 231; and walking fine adjustment screw nut 236 is fixed on walking fine adjustment module 25, the right end of walking fine adjustment screw 235 penetrates out of walking fine adjustment screw nut 236 and is mounted on the left side of walking left fixed end 21 through a bearing, so that second walking fine adjustment bevel gear 234 can drive walking fine adjustment screw 235 to rotate in walking fine adjustment screw nut 236, that is, walking fine adjustment screw 235 and walking fine adjustment screw nut 236 can perform relative translational motion along the length direction of the screw, so that walking fine adjustment module 25 can move left and right along walking guide rail 26, and fine adjustment translational motion of walking left side toe 28 is realized.
The five working states or five linkage actions of the invention are composed of the five single-step actions, the base module 1 and the walking module 2 are relatively fixed in a static state, the tool module 3 reaches a target pipe hole when the walking module 1 is fixed in an overhaul state, the walking module 2 performs crawling positioning when the base module 1 is fixed in the walking module walking state, the base module 1 performs crawling positioning when the walking module 2 is fixed in the base module walking state, and the base module 1 adjusts the position posture to match the tool module 3 to perform target pipe hole positioning when the walking module 2 is fixed in the tool module positioning state.
In the rest state, all four toes of the base module 1 and the walking module 2 are positioned and clamped in the four tube holes. When the walking module is in a walking state, a base module walking state or a tool module positioning state, the walking module can return to a static state. If the base module 1 is fixed in the walking module walking state, the walking module 2 needs to respectively position and align the walking left toe 28 and the walking right toe 29 to adjacent pipe holes through translation action, rotation action and walking module fine adjustment translation action, and the walking module 2 is lifted to the surface of the pipe plate through lifting action after positioning and aligning so that the toes are inserted into the pipe holes and clamped in the pipe holes, and the walking module 2 is fixed to reach a static state; if the base module is in a base module walking state or a tool module positioning state, the walking module 2 is fixed, the base module 1 needs to respectively position and align the left toe 18 and the right toe 19 of the base to the adjacent pipe holes through translation action, rotation action and base module fine tuning translation action, and the base module 1 is lifted to the surface of the pipe plate through lifting action after positioning and aligning, so that the toes are inserted into the pipe holes and clamped in the pipe holes, and the base module 1 is fixed to reach a static state; if the mobile terminal is in the maintenance state, the mobile terminal is firstly switched to the base module walking state.
In the maintenance state, two toes of the walking module 2 are positioned and clamped in the pipe hole, the toes of the base module 1 are not required to be positioned and clamped, the base module 1 is in a position posture which can enable the maintenance tool 31 of the tool module 3 to carry out maintenance, and the maintenance tool 31 carries out corresponding maintenance operation. The service status can only be switched from the tool module positioning status. When the tool module positioning device is in a tool module positioning state, the walking module 2 is fixed, after the tool module 3 reaches a target pipe hole position, the base module 1 stops crawling movement, and the tool module 3 is lifted to an SG pipe plate through lifting action, so that a maintenance tool 31 can enter the target pipe hole to perform corresponding maintenance operation; if the base module is in a static state or a base module walking state, firstly, the base module is switched to a tool module positioning state; if the walking module is in a walking state, the walking module returns to a static state.
The walking module is in a walking state, and the target state is a static state and can only be converted from the static state. When the walking module 2 is in a static state, the walking left toe 28 and the walking right toe 29 of the walking module 2 are loosened, the walking module 2 descends to the walking height through the lifting action, so that the toes are completely separated from the pipe hole, and at the moment, the walking module 2 can perform translation action, rotation action and fine-tuning translation action of the walking module, so that the posture of the walking module 2 is adjusted; if the base module is in a walking state or a tool module positioning state, returning to a static state; if the base module is in the maintenance state, the base module is firstly converted into the walking state.
The base module walking state, the target state is a static state, and can be switched from a static state, a maintenance state or a tool module positioning state. When the invention is in a static state, the left toe 18 and the right toe 19 of the base module 1 are loosened, the base module 1 is lowered to a walking height through the lifting action, so that the toes are completely separated from the pipe holes, and at the moment, the base module 1 can perform translation action, rotation action and fine-tuning translation action of the walking module, so that the posture of the base module 1 is adjusted; if the base module 1 is in a maintenance state, the walking module 2 is fixed, the maintenance tool 31 stops maintenance operation, the base module 1 moves the tool module 3 away from the SG tube plate through lifting action, and the base module 1 returns to the walking height; if the tool module is in the positioning state, the walking state of the tool module is only different from the walking state of the base module in that the target state is a static state or a maintenance state, so that the tool module can be directly converted; if the walking module is in a walking state, the walking module returns to a static state.
The tool module is in a positioning state, and the target state is a maintenance state and can be converted from a static state, a maintenance state or a base module walking state. When the invention is in a static state, the left toe 18 and the right toe 19 of the base module 1 are loosened, the base module 1 is lowered to a walking height through the lifting action, so that the toes are completely separated from the pipe holes, and at the moment, the base module 1 can perform translation action, rotation action and fine-tuning translation action of the walking module, so that the posture of the base module 1 is adjusted; if the base module is in the maintenance state, the walking module 2 is fixed, the maintenance tool 31 stops maintenance operation, the base module 1 moves the tool module 3 away from the SG tube plate through lifting action, and the base module 1 returns to the walking height; if the base module is in a walking state, the difference between the base module and the tool module in a positioning state is only that the target state is a static state or a maintenance state, so that the base module can be directly converted; if the walking module is in a walking state, the walking module returns to a static state.
The flexible crawling movement on the SG tube plate is realized by alternately combining the static state, the walking state of the walking module and the walking state of the base module, and meanwhile, as the four single-step actions except the lifting action are continuous actions, the flexible crawling movement can reach and stay to any position in a working range, namely the relative position postures of the base module 1 and the walking module 2 can reach and stay to any position in a working space, so that the distance between each pair of toes and the relative position between each pair of toes can have the capability of adapting to the SG tube plate of any model; similarly, the relative position between the maintenance tool 31 and the toe of the walking module 2 can have the capability of adapting to any model of SG tube plate through the positioning state and the maintenance state of the tool module, and the flexible positioning of the maintenance tool on any model of SG tube plate is realized. In conclusion, the invention has higher movement flexibility and operation efficiency, and has stronger self-adaptive capacity when facing SG tube plates of different models.
Claims (10)
1. A robot for steam generator heat-transfer pipe overhauls which characterized in that: the walking machine comprises a base module (1), a walking module (2) and a tool module (3); the walking module (2) is installed on the base module (1), and the tool module (3) is installed at one end of the base module (1).
2. A robot for steam generator heat transfer tube servicing in accordance with claim 1 wherein: the base module (1) comprises a base box body (11), a base box cover (12), a base fine-tuning support (13), a base fine-tuning protective cover (14), a base fine-tuning module (15), a base guide rail (16), a base guide rail sliding block (17), a base left toe (18), a base right toe (19) and a quick-change connector male end (10); the base box cover (12) is installed on the bottom end of the base box body (11), a base fine adjustment support (13) is installed on one side of the base box body (11) through a base guide rail (16), two ends of the base guide rail (16) are installed on the base box body (11) and the base fine adjustment support (13) respectively, a base fine adjustment protective cover (14) covers the base fine adjustment support (13), a base left toe (18) penetrates through the base fine adjustment protective cover (14) to be installed on a base fine adjustment module (15), the base fine adjustment module (15) is fixedly connected with one end of a base guide rail sliding block (17), the other end of the base guide rail sliding block (17) is arranged on the base guide rail (16) in a sliding mode, a base right toe (19) is installed on the other side of the base box body (11), and a quick-change connector male end (10) is installed on the bottom end of the base right toe (19).
3. A robot for steam generator heat transfer tube servicing in accordance with claim 2 wherein: the base box body (11) comprises a base box body shell (111), a harmonic reducer (112), a frameless motor (113), an air-electric slip ring (114) and a rotating disc (115); the base box body shell (111) is a shell with an opening at the lower end, the base box cover (12) is installed at the lower end of the base box body shell (111), the lower side of the fixed end of the harmonic reducer (112) is fixedly connected with the upper side of the stator shell of the frameless motor (113), the rotor of the frameless motor (113) is fixedly connected with the input end of the harmonic reducer (112), the lower side of the stator shell of the frameless motor (113) is fixedly connected with the base box body shell (111), the gas-electric slip ring (114) is installed in a hollow shaft of the harmonic reducer (112) and the frameless motor (113), the fixed end of the gas-electric slip ring (114) extends out from the lower side of the frameless motor (113) and is fixed with the base box body shell (111), the rotating end of the gas-electric slip ring (114) penetrates through the frameless motor (113) and the harmonic reducer (112) and is fixedly connected with the output end of the harmonic reducer (112), and the rotating disc (115) is arranged above the base box body shell (111), and the rotating disc (115) is fixedly connected with the bottom end of the output end of the harmonic reducer (112).
4. A robot for steam generator heat transfer tube servicing in accordance with claim 2 wherein: the base fine-tuning support (13) comprises a base fine-tuning support body (131), a base fine-tuning motor set (132), a first base fine-tuning bevel gear (133), a second base fine-tuning bevel gear (134), a base fine-tuning lead screw (135) and a base fine-tuning lead screw nut (136); the base fine-tuning motor set (132) is installed on the base fine-tuning support body (131), the first base fine-tuning bevel gear (133) is installed at the output end of the base fine-tuning motor set (132), the base fine-tuning lead screw (135) is fixedly installed on the second base fine-tuning bevel gear (134), the base fine-tuning lead screw nut (136) is in threaded connection with the base fine-tuning lead screw (135), the first base fine-tuning bevel gear (133) is in tooth meshing with the second base fine-tuning bevel gear (134), and the base fine-tuning lead screw nut (136) is fixedly installed on the base fine-tuning module (15).
5. A robot for steam generator heat transfer tube servicing in accordance with claim 2 wherein: the walking module (2) comprises a lifting module (20), a walking left fixed end (21), a walking right fixed end (22), a walking fine adjustment bracket (23), a walking fine adjustment protective cover (24), a walking fine adjustment module (25), a walking guide rail (26), a walking left toe (28), a walking right toe (29) and three walking guide rail sliders (27);
the walking left fixed end (21) and the walking right fixed end (22) are respectively arranged at two sides of the lifting module (20), the walking fine adjustment support (23) is arranged on the walking left fixed end (21), the walking fine adjustment protective cover (24) is arranged on the walking fine adjustment support (23), the walking left fixed end (21), the lifting module (20) and the walking right fixed end (22) are arranged on the walking guide rail (26), two walking guide rail sliding blocks (27) are arranged on the lifting module (20), one end of one walking guide rail sliding block (27) is arranged on the walking fine adjustment module (25), the other end of each walking guide rail sliding block (27) is arranged on the walking guide rail (26), the three walking guide rail sliding blocks (27) are arranged on the walking guide rail (26) in a sliding mode, the left walking toes (28) penetrate through the walking fine adjustment protective cover (24) and are installed on the walking fine adjustment module (25), and the right walking toes (29) are inserted into the right walking fixed end (22).
6. A robot for steam generator heat transfer tube servicing according to claim 5, characterized by: the lifting module (20) comprises a lifting box body (201), a lifting box cover (202), a translation motor set (206), a translation driving gear (207), a translation driven gear (208), a translation gear box (209), a translation screw rod (2001), a translation screw rod nut (2002), two lifting pistons (203), two linear bearings (204) and two guide columns (205);
the lifting box body (201) is a shell with openings at the top and the bottom, a lifting box cover (202) is installed on the lifting box body (201), two inner side slotted holes and two outer side slotted holes are processed on the lifting box body (201), the two outer side slotted holes are symmetrically arranged, a group of lifting pistons (203) are arranged in each outer side slotted hole, the two inner side slotted holes are symmetrically arranged, a linear bearing (204) is installed in each inner side slotted hole, a guide post (205) is installed in each linear bearing (204), a translation motor group (206) is installed in the lifting box body (201), an output shaft of the translation motor group (206) is fixedly connected with a translation driving gear (207), a translation screw nut (2002) is fixedly connected with a translation driven gear (208), the translation screw nut (2002) is installed on a translation screw (2001) in a threaded manner, two ends of the translation screw (2001) are inserted on a left walking fixing end (21) and a right walking fixing end (22), the translation driving gear (207) is in tooth meshing with the translation driven gear (208) and is arranged in a translation gear box (209).
7. A robot for steam generator heat transfer tube servicing according to claim 5, characterized by: the walking fine adjustment support (23) comprises a walking fine adjustment support body (231), a walking fine adjustment motor set (232), a first walking fine adjustment bevel gear (233), a second walking fine adjustment bevel gear (234), a walking fine adjustment screw rod (235) and a walking fine adjustment screw rod nut (236); the walking fine-tuning motor set (232) is installed on the walking fine-tuning support body (231), the first walking fine-tuning bevel gear (233) is installed on an output shaft of the walking fine-tuning motor set (232), the second walking fine-tuning bevel gear (234) is fixedly installed on one end of the walking fine-tuning screw rod (235), the walking fine-tuning screw rod nut (236) is fixedly installed on the walking fine-tuning module (25), the walking fine-tuning screw rod nut (236) is installed on the walking fine-tuning screw rod (235) in a threaded connection mode, and the first walking fine-tuning bevel gear (233) is in tooth meshing with the second walking fine-tuning bevel gear (234).
8. A robot for steam generator heat transfer tube servicing according to claim 3 or 6, characterized in that: the top end of the rotating disc (115) is connected with the walking module (2), the piston ends of a group of lifting pistons (203) are arranged in each outer side slotted hole, the shells of the group of lifting pistons (203) are installed on the rotating disc (115), and the bottom end of the guide column (205) is fixedly connected with the rotating disc (115).
9. A robot for steam generator heat transfer tube servicing according to claim 4 or 7 or wherein: the center line of the first base fine adjustment bevel gear (133) and the center line of the second base fine adjustment bevel gear (134) are vertically arranged, and the center line of the first walking fine adjustment bevel gear (233) and the center line of the second walking fine adjustment bevel gear (234) are vertically arranged.
10. A robot for steam generator heat transfer tube servicing according to claim 2 or said, wherein: the tool module (3) comprises an overhauling tool (31) and a quick-change connector female end (30); the overhaul tool (31) is fixedly connected with the quick-change connector female end (30), and the quick-change connector female end (30) is fixedly connected with the quick-change connector male end (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111075647.7A CN113738999B (en) | 2021-09-14 | 2021-09-14 | Robot for overhauling heat transfer tube of steam generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111075647.7A CN113738999B (en) | 2021-09-14 | 2021-09-14 | Robot for overhauling heat transfer tube of steam generator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113738999A true CN113738999A (en) | 2021-12-03 |
| CN113738999B CN113738999B (en) | 2023-11-10 |
Family
ID=78738749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111075647.7A Active CN113738999B (en) | 2021-09-14 | 2021-09-14 | Robot for overhauling heat transfer tube of steam generator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113738999B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104048139A (en) * | 2014-05-26 | 2014-09-17 | 西南石油大学 | Magnet base type iron-based wall self-adaption crawling robot |
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| WO2018023140A1 (en) * | 2016-07-27 | 2018-02-01 | Viviers Dennis Frederick | Pipeline-inspecting device |
| CN207009092U (en) * | 2017-06-02 | 2018-02-13 | 核动力运行研究所 | A kind of heat-transfer pipe overhauls positioning device structure |
| CN207455055U (en) * | 2017-11-27 | 2018-06-05 | 三峡大学 | A kind of pipe robot |
| CN108665986A (en) * | 2017-03-31 | 2018-10-16 | 国核电站运行服务技术有限公司 | Climbing robot for heat-transfer pipe of evaporator tube sheet |
| US20190086020A1 (en) * | 2017-09-19 | 2019-03-21 | Arix Technologies, Inc. | Pipe traversing apparatus and methods |
-
2021
- 2021-09-14 CN CN202111075647.7A patent/CN113738999B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104048139A (en) * | 2014-05-26 | 2014-09-17 | 西南石油大学 | Magnet base type iron-based wall self-adaption crawling robot |
| WO2018023140A1 (en) * | 2016-07-27 | 2018-02-01 | Viviers Dennis Frederick | Pipeline-inspecting device |
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| CN108665986A (en) * | 2017-03-31 | 2018-10-16 | 国核电站运行服务技术有限公司 | Climbing robot for heat-transfer pipe of evaporator tube sheet |
| CN207009092U (en) * | 2017-06-02 | 2018-02-13 | 核动力运行研究所 | A kind of heat-transfer pipe overhauls positioning device structure |
| US20190086020A1 (en) * | 2017-09-19 | 2019-03-21 | Arix Technologies, Inc. | Pipe traversing apparatus and methods |
| CN111246974A (en) * | 2017-09-19 | 2020-06-05 | 阿里克斯科技股份有限公司 | Apparatus and method for passing pipeline |
| CN207455055U (en) * | 2017-11-27 | 2018-06-05 | 三峡大学 | A kind of pipe robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113738999B (en) | 2023-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104191434A (en) | Hollow series-connection mechanical arm | |
| CN113738999A (en) | Robot for overhauling heat transfer tube of steam generator | |
| CN210379004U (en) | Double-power automatic wafer carrying mechanism | |
| CN201357411Y (en) | Barrier-free constant-speed crawling robot | |
| CN203863679U (en) | Industrial mechanical arm | |
| CN215199465U (en) | Conveying air claw of hairpin motor copper wire forming equipment | |
| CN106956253B (en) | Three Degree Of Freedom cylindrical coordinates industrial robot | |
| CN115626583A (en) | Multipoint support parallel motion lifting device | |
| CN216522090U (en) | Equipment fixing platform with moving mechanism for refrigerating system engineering construction | |
| CN110240081A (en) | A kind of 4 grades of electric jar for bearing ball silk bar | |
| CN102909722A (en) | Planar multi-joint robot arm | |
| CN114379670B (en) | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators | |
| CN211574628U (en) | Visual management and control integrated device for electric power engineering on-site supervision | |
| CN113246098A (en) | Four-degree-of-freedom parallel robot | |
| CN208051962U (en) | A kind of magnetic conductance navigation tablet handling robot translation mechanism | |
| CN102101297B (en) | Telescopic joint module for modularized reconfigurable robot | |
| CN105965225B (en) | A kind of reactor graphite dismounting device | |
| CN218114129U (en) | Servo transfer table system suitable for wire tail framing | |
| CN213439673U (en) | Lifting device for multi-station manipulator | |
| CN220647226U (en) | Multi-axis movement device | |
| CN218837766U (en) | Multi-degree-of-freedom motion platform and nuclear power station maintenance equipment conveying system | |
| CN201559196U (en) | Telescopic joint module for modular reconfigurable robot | |
| CN216634393U (en) | Composite main power device for variable-form inspection robot | |
| CN213470441U (en) | Raw material bottom plate processing equipment for wind power module | |
| CN215789866U (en) | 90-degree reversing servo manipulator |
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 |