CN113738999B - Robot for overhauling heat transfer tube of steam generator - Google Patents
Robot for overhauling heat transfer tube of steam generator Download PDFInfo
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- CN113738999B CN113738999B CN202111075647.7A CN202111075647A CN113738999B CN 113738999 B CN113738999 B CN 113738999B CN 202111075647 A CN202111075647 A CN 202111075647A CN 113738999 B CN113738999 B CN 113738999B
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- 238000012546 transfer Methods 0.000 title claims abstract description 30
- 238000013519 translation Methods 0.000 claims description 73
- 239000003638 chemical reducing agent Substances 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 42
- 230000009193 crawling Effects 0.000 abstract description 18
- 210000003371 toe Anatomy 0.000 description 40
- 230000009471 action Effects 0.000 description 35
- 238000012423 maintenance Methods 0.000 description 23
- 230000003068 static effect Effects 0.000 description 21
- 238000013461 design Methods 0.000 description 8
- 239000000203 mixture Substances 0.000 description 8
- 229940002988 pegasys Drugs 0.000 description 5
- 108010092853 peginterferon alfa-2a Proteins 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 241001620634 Roger Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- 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
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- 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
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- 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 application relates to a crawling robot, which aims to solve the problems of inflexible movement mode and poor structural adaptability of the conventional crawling robot-structured SG heat transfer tube overhauling robot, and 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. The application is used in the field of overhauling the heat transfer tube of the steam generator.
Description
Technical Field
The application relates to a crawling robot, in particular to a robot for overhauling a heat transfer tube of a steam generator, and belongs to the field of overhauling.
Background
Nuclear power is now being valued by countries around the world, and the current annual energy production of nuclear power in the world is more than 10% of the total world energy production, so that the nuclear safety problem is increasingly important due to the high-speed development of the nuclear power industry. Steam generators, SG, are important equipment and safety barriers for pressurized water reactor nuclear power plants, and heat transfer tubes are the most vulnerable components in SG, so regular in-service maintenance of the heat transfer tubes is of great importance. At present, countries such as America and law have developed SG heat transfer tube maintenance robots with independent intellectual property rights and successfully applied on site, such as PEGASYS and ROSA-III of Western U.S. and ZR100 and SM-23G of Jie, ROGER and FORERUNNER of French America, etc., and China is severely restricted in the related fields, so that the design of more excellent SG heat transfer tube maintenance robot equipment for manufacturing independent intellectual property rights has great research significance and industrial value.
The existing SG heat transfer tube overhauling robot equipment mainly has two configurations, namely a serial robot represented by ROSA-III and SM-23G, the robot has a simple structure, strong loading capacity and flexible and reliable operation, is one of the most common robot configurations, mostly adopts a manhole installation mode, causes poor compatibility and adaptability, is difficult to install, detach and carry, and has larger overall volume and weight in general. Therefore, in the western U.S. of 2003, a novel crawling robot PEGASYS is introduced, a tube plate mounting mode is adopted, and through the alternate action of a positioning grasping mechanism, the movement walking and positioning mounting are realized, the crawling robot is relatively complex in design configuration structure and movement control, but the simple mounting mode and the small volume weight of the crawling robot greatly reduce the operation difficulty and the operation time of operators, so that the crawling robot becomes one of the current main configurations of SG heat transfer tube overhaul robot equipment, and is also the hottest configuration, such as PEGASYS and ZR100.
The PEGASYS is an SG heat transfer tube overhauling robot which is the earliest in field application and the most widely used crawling robot configuration at present, the structural design is simpler, the robot is composed of two large modules BASE and FOOT, translation and rotation movement can be carried out between the two modules, so that the crawling of the robot is realized, but the rotation movement of the robot can only reach two fixed angle positions through pneumatic control, so that the movement mode is single, the operation efficiency is lower, manual adjustment is needed when facing different model tube plates, other robot models are needed when the robot is needed, and the adaptability is poor. ZR100 also realizes robot "creeping" through translation and two degrees of freedom of rotation, but comparatively different with PEGASYS, its machinery and control system integrated level is high, and the outward appearance is succinct, can reach different angular position during rotary motion, has promoted the operating efficiency, but its too high design of integrating leads to its reliability and maintainability to reduce, and the volume is great relatively, and the adaptability of facing different model tube sheets still is relatively poor.
Therefore, based on the current situation of SG heat transfer tube overhaul robot equipment in China and aiming at the problems, the self-adaptive crawling robot for SG heat transfer tube overhaul is designed, and on the basis of simple structural design, the self-adaptive crawling robot has structural self-adaptive capability, so that the crawling movement mode is more flexible and various, the overhaul operation efficiency is improved, and the self-adaptive capability of the self-adaptive crawling robot facing SG tube plates of different models is greatly improved.
Disclosure of Invention
The application aims to solve the problems that an existing crawling robot-configured SG heat transfer tube overhaul robot is inflexible in movement mode and poor in structural adaptability, and further provides a robot for overhauling a steam generator heat transfer tube.
The technical problems are 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 application has the following beneficial effects:
1. the application has five degrees of freedom of movement altogether, wherein there are four degrees of freedom of continuous movement, including the rotational degree of freedom between base module and walking module, the translational degree of freedom of walking module, base module and walking module have a fine setting translational degree of freedom separately at one end, four degrees of freedom of movement are driven by the motor, match rotary encoder and photoelectric switch and equipotential sensor, the rotational degree of freedom is also fitted with the gas electric slip ring, thus can guarantee each degree of freedom of movement can carry on the accurate continuous movement, make the application have larger continuous working space, and the movement mode is flexible, can carry on the free flexible continuous movement in its working space.
2. The application designs two fine tuning degrees of freedom, realizes that the toe interval of each base module and walking module can be independently and adaptively changed in the motion operation, so that when the base module and the walking module reach any angle position, the toe can be always positioned to the nearest tube hole and clamped and fixed through continuous translational degree of freedom and fine tuning degree of freedom, the application can freely crawl on the SG tube plate, the diversity of the motion path is increased, the maintenance operation efficiency is improved, and the application is not limited to the SG tube plate of a certain specific model, and has extremely strong self-adaption capability and universality.
3. The application has simple structure, clear design of the freedom of movement, centralized design and installation of the driving part, the transmission part and the corresponding control part of each freedom of movement, and is favorable for modularization upgrading of the movement function structure and convenient for daily use, maintenance and disassembly.
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 in the direction 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 in the direction B-B of fig. 8.
Fig. 10 is a schematic view of the walking module 2.
Fig. 11 is a schematic view of the back of the walking module 2.
Fig. 12 is a front view of the walking module 2.
Fig. 13 is a view in the direction C-C of fig. 12.
Fig. 14 is a view in the direction D-D of fig. 12.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 14, wherein the robot for overhauling a heat transfer tube of a steam generator comprises a base module 1, a traveling module 2 and a tool module 3; the walking module 2 is mounted on the base module 1, and the tool module 3 is mounted on one end of the base module 1.
The tool module 3 can be quickly installed or quickly replaced according to the working requirements.
The base left toe 18, the base right toe 19, the walking left toe 28, and the walking right toe 29 are members of the same structure, and a clamping mechanism of published patent application No. CN201910913239.0 is disclosed.
The second embodiment is as follows: referring to fig. 1 to 9, a robot for repairing a heat transfer tube of a steam generator according to the present embodiment is described, wherein a base module 1 includes a base box 11, a base box cover 12, a base fine adjustment bracket 13, a base fine adjustment protecting cover 14, a base fine adjustment module 15, a base rail 16, a base rail slider 17, a base left toe 18, a base right toe 19, and a quick-change connector male end 10; the base case lid 12 is installed on the bottom of base box 11, base fine setting support 13 passes through base guide rail 16 and installs on one side of base box 11, base guide rail 16 both ends are installed respectively on base box 11 and base fine setting support 13, base fine setting protecting cover 14 lid dress is on base fine setting support 13, base left side toe 18 passes base fine setting protecting cover 14 and installs on base fine setting module 15, base fine setting module 15 and the one end fixed connection of base guide rail slider 17, base guide rail slider 17 other end slides and sets up on base guide rail 16, base right side toe 19 is installed on the opposite side of base box 11, quick change joint male end 10 is installed on base right side toe 19 bottom. Other compositions and connection modes are the same as in the first embodiment.
And a third specific embodiment: referring to fig. 1 to 9, a robot for repairing a heat transfer tube of a steam generator according to the present embodiment is described, and a base housing 11 includes a base housing shell 111, a harmonic reducer 112, a frameless motor 113, a gas-electric 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 on 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 above 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 hollow shafts 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 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, the rotating disk 115 is arranged above the base box shell 111, and the rotating disk 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 hollow shaft devices, and other components and connection modes are the same as those of the second embodiment.
The specific embodiment IV is as follows: 1-9, the base fine tuning support 13 of the robot for repairing a heat transfer tube of a steam generator according to the present embodiment includes a base fine tuning support body 131, a base fine tuning motor group 132, a first base fine tuning bevel gear 133, a second base fine tuning bevel gear 134, a base fine tuning screw 135, and a base fine tuning screw nut 136; the base fine tuning motor group 132 is installed on the base fine tuning bracket body 131, the first base fine tuning bevel gear 133 is installed on the output of the base fine tuning motor group 132, the base fine tuning screw 135 is fixedly installed on the second base fine tuning bevel gear 134, the base fine tuning screw nut 136 is screwed on the base fine tuning screw 135, the first base fine tuning bevel gear 133 and the second base fine tuning bevel gear 134 are meshed with each other, the base fine tuning screw nut 136 is fixedly installed on the base fine tuning module 15, and the base fine tuning screw 135 is arranged through the base fine tuning module 15. The base fine adjustment motor unit 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 compositions and connection modes are the same as those of the second embodiment.
Fifth embodiment: referring to fig. 1 to 4 and fig. 10 to 14, a robot for repairing a heat transfer tube of a steam generator according to the present embodiment is described, wherein a walking module 2 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 protecting 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 protecting 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 the walking guide rail sliding block 27 is arranged on the walking guide rail 26, three walking guide rail sliding blocks 27 are arranged on the walking guide rail 26 in a sliding manner, a walking left toe 28 passes through the walking fine adjustment protecting cover 24 to be arranged on the walking fine adjustment module 25, and a walking right toe 29 is inserted on the walking right fixed end 22. Other compositions and connection modes are the same as those of the second embodiment.
Specific embodiment six: referring to fig. 1, a robot for repairing a heat transfer tube of a steam generator according to the present embodiment includes a lifting box 201, a lifting box cover 202, a translation motor group 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 201 is a shell with openings at the top and the bottom, the lifting box cover 202 is arranged on the lifting box 201, two inner side slotted holes and two outer side slotted holes are machined in the lifting box 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 arranged in each inner side slotted hole, a guide post 205 is arranged in each linear bearing 204, a translation motor unit 206 is arranged in the lifting box 201, an output shaft of the translation motor unit 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 in threaded connection with a translation screw 2001, two ends of the translation screw 2001 are inserted on a left walking fixed end 21 and a right walking fixed end 22, and the translation driving gear 207 is meshed with the translation driven gear 208 and is arranged in a translation gearbox 209. The lower opening of the lifting box 201 is a round hole, so that an electric circuit is conveniently connected to the walking module 2 from the base module 1, and the translation motor unit 206 drives the translation screw nut 2002 to rotationally move on the translation screw 2001 through the translation driving gear 207 and the translation driven gear 208, namely, the lifting module 20 horizontally moves along the walking guide rail 26 and the translation screw 2001. Other compositions and connection modes are the same as those of the fifth embodiment.
Seventh embodiment: referring to fig. 13, a robot for repairing a heat transfer pipe of a steam generator according to the present embodiment is described, wherein a traveling fine adjustment bracket 23 includes a traveling fine adjustment bracket body 231, a traveling fine adjustment motor unit 232, a first traveling fine adjustment bevel gear 233, a second traveling fine adjustment bevel gear 234, a traveling fine adjustment screw 235, and a traveling fine adjustment screw nut 236; the walking fine adjustment motor unit 232 is installed on the walking fine adjustment support body 231, the first walking fine adjustment bevel gear 233 is installed on the output shaft of the walking fine adjustment motor unit 232, the second walking fine adjustment bevel gear 234 is fixedly installed on one end of the walking fine adjustment screw 235, the walking fine adjustment screw nut 236 is fixedly installed on the walking fine adjustment module 25, the walking fine adjustment screw nut 236 is installed on the walking fine adjustment screw 235 in a threaded connection mode, the walking fine adjustment screw 235 is arranged through the walking fine adjustment module 25, and the first walking fine adjustment bevel gear 233 and the second walking fine adjustment bevel gear 234 are meshed in a tooth mode. The walking fine adjustment motor unit 232 drives the walking fine adjustment screw 235 to rotate through the first walking fine adjustment bevel gear 233 and the second walking fine adjustment bevel gear 234, and drives the walking fine adjustment module 25 to translate left and right along the walking guide rail 26. Other compositions and connection modes are the same as those of the fifth embodiment.
Eighth embodiment: referring to fig. 1, in the robot for repairing a heat transfer tube of a steam generator according to this embodiment, a top end of a rotating disc 115 is connected with a traveling module 2, a set of piston ends of lifting pistons 203 are disposed in each outer slot, a set of shells of the lifting pistons 203 are mounted on the rotating disc 115, and a bottom end of a guide post 205 is fixedly connected with the rotating disc 115. Other compositions and connection modes are the same as those of the third or sixth embodiment.
Detailed description nine: referring to fig. 1 and 9, a robot for repairing a heat transfer pipe of a steam generator according to the present embodiment has a first base fine adjustment bevel gear 133 having a center line perpendicular to a center line of a second base fine adjustment bevel gear 134, and a first traveling fine adjustment bevel gear 233 having a center line perpendicular to a center line of a second traveling fine adjustment bevel gear 234. Other compositions and connection manners are the same as those of the fourth or seventh embodiment.
Detailed description ten: referring to fig. 1, a robot for repairing a heat transfer tube of a steam generator according to the present embodiment is described, and a tool module 3 includes a repairing tool 31 and a quick-change coupling 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. The service tool 31 customizes vortex scanning and pipe plugging service according to different service functions. Other compositions and connection modes are the same as those of the second embodiment.
Principle of operation
The application has five single-step actions and five working states or five linkage actions, wherein the base module 1 and the walking module 2 rotate in the rotation action, the walking module 2 moves up and down through the lifting module 20 and the base module 1 in the lifting action, the base module 1 moves in the translation action through the translation between the lifting module 20 and the walking module 2, and the base left toe 18 of the base module 1 and the walking left toe 28 of the walking module 2 move in the translation action in the fine adjustment.
The working principle of five single-step actions is respectively described:
the rotation action drives the harmonic speed reducer 112 to reduce speed through the frameless motor 113 so as to drive the rotary disk 115 to drive. The stator shell of the frameless motor 113 and the fixed end of the harmonic reducer 112 are fixed on the base box shell 111, the rotor of the frameless motor 113 is fixed with the input end of the harmonic reducer 112, the harmonic reducer 112 is driven to rotate, the output end of the harmonic reducer 112 is fixed with the rotary disk 115, the rotary disk 115 is driven to rotate in a decelerating manner, and the rotary disk 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 action is driven by the pneumatic control lifting piston 203, and the guide column 205 cooperates with the linear bearing 204 to guide movement. The linear bearing 204 is installed in the slot hole on the inner side of the lifting box 201, and the guide column 205 can move up and down in the slot hole on the inner side of the lifting box 201 by being matched with the linear bearing 204, namely the lifting module 20 can slide up and down along the guide column 205; the lower part of the lifting piston 203 is fixed on the rotary disk 115, and the upper piston head can move up and down in the slotted hole on the outer side of the lifting box 201 through pneumatic control to drive the lifting module 20 to move up and down along the guide column 205, so that the lifting movement of the walking module 2 between the lifting module 20 and the base module 1 is realized.
The translation motion is driven by the translation motor unit 206, and the screw nut mechanism is driven. The translation motor unit 206 is installed in the lifting box 20, an output shaft of the translation motor unit 206 is fixed with the translation driving gear 207, the translation driving gear 207 is meshed with the translation driven gear 208 and is installed in the translation gear box 209, and the translation motor unit 206 drives the translation driven gear 208 to rotate; the translation driven gear 208 is fixed with the translation screw nut 2002, and the two ends of the translation screw 2001 penetrate out from two sides of the lifting box 201 and are respectively fixed on the left walking fixed end 21 and the right walking fixed end 22, the translation driven gear 208 can drive the translation screw nut 2002 to do rotary motion on the translation screw 2001, namely, the screw nut 2002 can do translational motion on the translation screw 2001 along the length direction of the screw, so that the lifting module 20 can move left and right along the walking guide rail 26, and the translational motion between the base module 1 and the walking module 2 through the lifting module 20 is realized.
The base module fine-tunes the translation motion, driven by the base fine-tuning motor set 132, and the base fine-tuning lead screw nut 136 is driven. The base fine adjustment motor unit 132 is installed in the base fine adjustment bracket body 131, an output shaft of the base fine adjustment motor unit 132 is fixed with the first base fine adjustment bevel gear 133, and the first base fine adjustment bevel gear 133 is meshed with the second base fine adjustment bevel gear 134 by 90 degrees to drive the second base fine adjustment bevel gear 134 to rotate; the second base fine tuning bevel gear 134 is fixed with the left end of the base fine tuning screw 135, the base fine tuning screw nut 136 is fixed on the base fine tuning module 15, the right end of the base fine tuning screw 135 penetrates out of the base fine tuning screw nut 136 to be rotationally connected with the base box 11, the second base fine tuning bevel gear 134 is fixed with the left end of the base fine tuning screw 135, and the base fine tuning screw 135 is installed on the base fine tuning bracket body 131 through a bearing and penetrates out of the base fine tuning bracket body 131; 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 11 through a bearing, so that the second base fine adjustment bevel gear 134 can drive the base fine adjustment screw 135 to perform rotary motion in the base fine adjustment screw nut 136, that is, 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, so that the base fine adjustment module 15 can move left and right along the base guide rail 16, and fine adjustment translational motion of the toe 18 on the left side of the base is realized.
The traveling module performs fine adjustment and translation, and is driven by the traveling fine adjustment motor unit 232, and the traveling fine adjustment screw nut 236 is driven. The walking fine adjustment motor unit 232 is arranged in the walking fine adjustment support body 231, an output shaft of the walking fine adjustment motor unit 232 is fixed with the first walking fine adjustment bevel gear 233, the first walking fine adjustment bevel gear 233 is meshed with the second walking fine adjustment bevel gear 234 by 90 degrees, and the second walking fine adjustment bevel gear 234 is driven to rotate; the second walking fine tuning bevel gear 234 is fixed with the left end of the walking fine tuning screw 235, the walking fine tuning screw nut 236 is fixed on the walking fine tuning module 25, the right end of the walking fine tuning screw 235 penetrates out of the walking fine tuning screw nut 236 and is rotationally connected with the walking left fixed end 21, the second walking fine tuning bevel gear 234 is fixed with the left end of the walking fine tuning screw 235, and the walking fine tuning screw 235 is arranged on the walking fine tuning support body 231 through a bearing and penetrates out of the walking fine tuning support body 231; the walking fine adjustment screw nut 236 is fixed on the walking fine adjustment module 25, the right end of the walking fine adjustment screw 235 penetrates out of the walking fine adjustment screw nut 236, and is installed at the left side of the walking left fixed end 21 through a bearing, so that the second walking fine adjustment bevel gear 234 can drive the walking fine adjustment screw 235 to do rotary motion in the walking fine adjustment screw nut 236, namely, the walking fine adjustment screw 235 and the walking fine adjustment screw nut 236 can do relative translational motion along the length direction of the screw, so that the walking fine adjustment module 25 can move left and right along the walking guide rail 26, and the fine adjustment translational motion of the toe 28 at the left side of walking is realized.
The five working states or five linkage actions of the application are composed of the five single-step actions, the base module 1 and the walking module 2 are fixed in the static state, the tool module 3 reaches the target pipe hole when the walking module 1 is fixed in the maintenance state, the walking module 2 performs crawling positioning when the base module 1 is fixed in the walking state of the walking module, the base module 1 performs crawling positioning when the walking module 2 is fixed in the walking state of the base module, and the position and the posture of the base module 1 are adjusted to match with the tool module 3 to perform target pipe hole positioning when the walking module 2 is fixed in the tool module positioning state.
In a static state, all four toes of the base module 1 and the walking module 2 are positioned and clamped in the four pipe holes. When the application is in the walking state of the walking module, the walking state of the base module or the positioning state of the tool module, the application can return to the static state. If the walking module is in a walking state, the base module 1 is fixed, the walking module 2 is required 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 fine adjustment translation action of the walking module, and after the positioning and alignment, the walking module 2 is lifted to the surface of the pipe plate through lifting action, 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 the walking state or the tool module positioning state, the walking module 2 is fixed, the base module 1 needs to respectively position and align the base left toe 18 and the base right toe 19 to adjacent pipe holes through translation action, rotation action and base module fine adjustment translation action, and after positioning and alignment, the base module 1 is lifted to the surface of the pipe plate through lifting action, 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 base module is in the maintenance state, the base module is firstly switched to the walking state of the base module.
In the maintenance state, the two toes of the walking module 2 are positioned and clamped in the pipe holes, the toes of the base module 1 are unnecessarily positioned and clamped, the base module 1 is in a position posture which enables 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 state can only be switched from the tool module positioning state. When the tool module is in a tool module positioning state, the walking module 2 is fixed, after the tool module 3 reaches the position of the target pipe hole, the base module 1 stops creeping movement, and the tool module 3 is lifted to the SG pipe plate through lifting action, so that the overhaul tool 31 can enter the target pipe hole to carry out corresponding overhaul operation; if the tool is in a static state or a base module walking state, switching 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 walks in a state, and the target state is a static state and can only be converted from the static state. When the application 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 a walking height through lifting action, so that the toes are completely separated from the pipe holes, and at the moment, the walking module 2 can perform translation action, rotation action and fine adjustment translation action of the walking module, so that the posture of the walking module 2 is adjusted; if the tool is in the walking state of the base module or the positioning state of the tool module, returning to the static state; if the base module is in the maintenance state, the base module is firstly converted into the walking state of the base module.
The base module is in a walking state, the target state is in a static state, and the base module can be converted from the static state, the maintenance state or the tool module positioning state. When the application is in a static state, the left base toe 18 and the right base toe 19 of the base module 1 are loosened, the base module 1 is lowered to a walking height through 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 walking module fine adjustment translation action, so that the posture of the base module 1 is adjusted; if the walking module 2 is in the maintenance state, 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 difference between the tool module and the walking state of the base module is that the target state is a static state or an overhauling 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, the target state is an overhaul state, and the tool module can be converted from a static state, an overhaul state or a base module walking state. When the application is in a static state, the left base toe 18 and the right base toe 19 of the base module 1 are loosened, the base module 1 is lowered to a walking height through 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 walking module fine adjustment translation action, so that the posture of the base module 1 is adjusted; if the running module 2 is in the maintenance state, 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 running height; if the base module is in the walking state, the base module is only different from the tool module positioning state in whether the target state is a static state or an overhauling 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.
Through the alternate combination of the static state, the walking state of the walking module and the walking state of the base module, the flexible crawling motion of the application on the SG tube plate is realized, and simultaneously, as four single-step motions except for the lifting motion are continuous motions, the flexible crawling motion can reach and stay to any position in a working range, namely, the relative position and the gesture 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 two pairs of toes can have the capability of adapting to any model SG tube plate; and likewise, through the tool module positioning state and the maintenance state, the relative positions between the maintenance tool 31 and the toes of the walking module 2 can be provided with the capability of adapting to any model SG tube plate, so that the flexible positioning of the maintenance tool on any model SG tube plate is realized. In conclusion, the application has higher movement flexibility and operation efficiency, and has stronger self-adaptive capacity when facing SG tube plates of different models.
Claims (4)
1. A robot for steam generator heat transfer tube overhauls, its characterized in that: the walking device comprises a base module (1), a walking module (2) and a tool module (3); the walking module (2) is arranged on the base module (1), and the tool module (3) is arranged on one end of the base module (1).
The base module (1) comprises a base box body (11), a base box cover (12), a base fine adjustment bracket (13), a base fine adjustment protecting cover (14), a base fine adjustment 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 case lid (12) is installed on the bottom of base box (11), base fine setting support (13) are installed on one side of base box (11) through base guide rail (16), base guide rail (16) both ends are installed respectively on base box (11) and base fine setting support (13), base fine setting protecting cover (14) lid is installed on base fine setting support (13), base left side toe (18) pass base fine setting protecting cover (14) and install on base fine setting module (15), base fine setting module (15) and the one end fixed connection of base guide rail slider (17), base guide rail slider (17) other end slip sets up on base guide rail (16), base right side toe (19) are installed on the opposite side of base box (11), quick change joint male end (10) are installed on base right side toe (19) bottom.
The base box body (11) comprises a base box body shell (111), a harmonic reducer (112), a frameless motor (113), a gas-electric slip ring (114) and a rotary disk (115); the base box body shell (111) is the bottom open-ended casing, base case lid (12) are installed on the bottom of base box body shell (111), harmonic reduction gear (112) stiff end downside and frameless motor (113) stator shell upside fixed connection, frameless motor (113) rotor and harmonic reduction gear (112) input fixed connection, frameless motor (113) stator shell downside and base box body shell (111) fixed connection, aero-electric sliding ring (114) are installed in the hollow axle of harmonic reduction gear (112) and frameless motor (113), and aero-electric sliding ring (114) stiff end stretches out from frameless motor (113) below and is fixed with base box body shell (111), aero-electric sliding ring (114) rotating end passes frameless motor (113) and harmonic reduction gear (112) output fixed connection, rotary disk (115) set up in base box body shell (111) top, and rotary disk (115) and harmonic reduction gear (112) output end bottom fixed connection.
The base fine adjustment bracket (13) comprises a base fine adjustment bracket body (131), a base fine adjustment motor unit (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); the base fine adjustment motor unit (132) is installed on the base fine adjustment bracket body (131), the first base fine adjustment bevel gear (133) is installed on the output of the base fine adjustment motor unit (132), the base fine adjustment screw (135) is fixedly installed on the second base fine adjustment bevel gear (134), the base fine adjustment screw nut (136) is connected on the base fine adjustment screw (135) in a threaded mode, the first base fine adjustment bevel gear (133) is meshed with the second base fine adjustment bevel gear (134) in a toothed mode, and the base fine adjustment screw nut (136) is fixedly installed on the base fine adjustment module (15).
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 protecting 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 sliding blocks (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 protecting 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 the walking guide rail sliding block (27) is arranged on the walking guide rail (26), three walking guide rail sliding blocks (27) are arranged on the walking guide rail (26) in a sliding mode, the walking left side toe (28) penetrates through the walking fine adjustment protecting cover (24) to be arranged on the walking fine adjustment module (25), and the walking right side toe (29) is inserted on the walking right fixed end (22).
The lifting module (20) comprises a lifting box body (201), a lifting box cover (202), a translation motor unit (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 posts (205);
lifting box body (201) is the casing that all has the opening for top and bottom, lifting box cover (202) are installed on lifting box body (201), processing has two inboard slotted holes and two outside slotted holes on lifting box body (201), two outside slotted holes symmetry sets up, be equipped with a set of lift piston (203) in every outside slotted hole, two inboard slotted holes symmetry sets up, install a linear bearing (204) in every inboard slotted hole, install a guide post (205) in every linear bearing (204), translation motor group (206) are installed in lifting box body (201), translation motor group (206)'s output shaft and translation driving gear (207) fixed connection, translation screw nut (2002) and translation driven gear (208) fixed connection, translation screw nut (2002) threaded connection is installed on translation screw (2001), translation screw (2001) both ends cartridge is on walking left stiff end (21) and walking right stiff end (22), translation driving gear (207) tooth meshing is installed in translation gear (209).
The top end of the rotary disk (115) is connected with the walking module (2), a group of piston ends of lifting pistons (203) are arranged in each outer slot, a group of lifting piston (203) shells are arranged on the rotary disk (115), and the bottom ends of the guide posts (205) are fixedly connected with the rotary disk (115).
2. A robot for steam generator heat transfer tube service as recited in claim 1, wherein: the walking fine adjustment bracket (23) comprises 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 adjustment motor unit (232) is installed on the walking fine adjustment support body (231), the first walking fine adjustment bevel gear (233) is installed on an output shaft of the walking fine adjustment motor unit (232), the second walking fine adjustment bevel gear (234) is fixedly installed on one end of the walking fine adjustment screw (235), the walking fine adjustment screw nut (236) is fixedly installed on the walking fine adjustment module (25), the walking fine adjustment screw nut (236) is installed on the walking fine adjustment screw (235) in a threaded connection mode, and the first walking fine adjustment bevel gear (233) is meshed with the second walking fine adjustment bevel gear (234) in a tooth mode.
3. A robot for overhauling a heat transfer tube of a steam generator according to claim 1 or 2 or said one, 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 traveling fine adjustment bevel gear (233) and the center line of the second traveling fine adjustment bevel gear (234) are vertically arranged.
4. A robot for servicing a heat transfer tube of a steam generator as recited in claim 1, wherein: the tool module (3) comprises an overhaul 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).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111075647.7A CN113738999B (en) | 2021-09-14 | 2021-09-14 | Robot for overhauling heat transfer tube of steam generator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111075647.7A CN113738999B (en) | 2021-09-14 | 2021-09-14 | Robot for overhauling heat transfer tube of steam generator |
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| CN113738999B true CN113738999B (en) | 2023-11-10 |
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| 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 |
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| 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 |
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