CN114227715A - Heat exchanger tube sheet robot of crawling directly drives drive mechanism - Google Patents
Heat exchanger tube sheet robot of crawling directly drives drive mechanism Download PDFInfo
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- CN114227715A CN114227715A CN202111664734.6A CN202111664734A CN114227715A CN 114227715 A CN114227715 A CN 114227715A CN 202111664734 A CN202111664734 A CN 202111664734A CN 114227715 A CN114227715 A CN 114227715A
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- heat exchanger
- exchanger tube
- box
- transmission mechanism
- drive transmission
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- 230000009193 crawling Effects 0.000 title claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 230000001174 ascending effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 6
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000005855 radiation Effects 0.000 abstract description 3
- 239000000523 sample Substances 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 description 4
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 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
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a heat exchanger tube plate crawling robot direct-drive transmission mechanism which comprises an airborne box, wherein a motor is arranged in the airborne box, a harmonic reducer is arranged on a top cover of the airborne box, the motor is directly connected with the harmonic reducer, and the harmonic reducer directly drives a load. The direct-drive transmission mechanism of the heat exchanger tube plate crawling robot provided by the invention reduces the transmission chain of the positioning robot and reduces the complexity of a transmission part, so that the rotation precision of the positioning robot is improved, the inspection efficiency is increased, the service life of a probe is prolonged, and the radiation dose level of an operator is reduced.
Description
Technical Field
The invention relates to the technical field of nondestructive testing of heat transfer tubes of steam generators, in particular to a direct-drive transmission mechanism of a heat exchanger tube plate crawling robot.
Background
Nuclear power plants have a large variety of heat exchangers and pressure-bearing equipment, which must be tested non-destructively to certain specifications before and after being put into operation. Due to the nature of the nuclear industry, these devices either operate under radioactive conditions or are subjected to high temperatures and pressures (tensile forces) and fluctuate more frequently, so their detection cycles are more frequent than in other industries. Meanwhile, in order to avoid the consequences caused by radioactive leakage, the inspection technology, the inspection specification and other relevant requirements are more strict. The heat transfer tubes of the steam generator of the nuclear power plant are generally inspected by adopting an eddy current inspection positioning robot. The positioning robot works in the steam generator, so that the requirements on weight and system reliability are high.
The positioning robot moves on the tube plate to adjust the position of the positioning robot, the positioning robot fixes the positioning robot after reaching the target position, and the adjustment maintenance tool aligns to the tube hole to be maintained and extends out of the corresponding maintenance tool, so that the maintenance work of the tube hole of the target heat transfer tube is completed. The positioning robot needs an operator to feed the positioning robot into the evaporator tube plate from the manhole before operation, so that the positioning robot has high requirements on miniaturization and light weight.
Disclosure of Invention
The direct-drive transmission mechanism of the heat exchanger tube plate crawling robot aims to overcome the defects in the prior art, reduces a transmission chain of a positioning robot and reduces the complexity of a transmission part, so that the rotation precision of the positioning robot is improved, the inspection efficiency is improved, the service life of a probe is prolonged, and the radiation dose level of an operator is reduced.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a heat exchanger tube sheet robot of crawling directly drives drive mechanism, includes machine carries the case, be equipped with the motor in the machine carries the case, has arranged the harmonic speed reducer ware on the machine carries the case top cover, the motor with the harmonic speed reducer ware directly links to each other, harmonic speed reducer ware direct drive load.
As an implementable manner, the electric machine has a hollow output shaft with an internal cavity in which an electric cable and an air tube are arranged.
As a practical way, a sliding brush is mounted inside the hollow output shaft.
As an implementation mode, the airborne box comprises two groups of lifting cylinders and linear bearings, the lower ends of the lifting cylinders and the linear bearings are installed on the top cover of the airborne box, and the upper ends of the lifting cylinders and the linear bearings are installed on the support of the airborne box.
As a practical way, two lifting cylinders are symmetrical about the center, and two linear bearings are symmetrical about the center.
As an implementation mode, a valve island is arranged on the top cover of the aircraft carrier, and the valve island supplies air to control the lifting cylinder and the linear bearing.
As an implementation mode, an air pipe quick connector is arranged on the airborne box, a main air source is connected into the airborne box through the air pipe quick connector and is divided into four paths of air by the valve island, wherein the two paths of air respectively control the ascending and descending actions of the lifting cylinder through an electromagnetic valve.
As an implementable manner, the underside of the top cover of the aircraft carrier is provided with a proximity switch for determining the mechanical zero position of the turntable.
As an implementation mode, the code disc is arranged on the airborne box and used for detecting the zero position.
As a practical mode, an electric control plug is arranged below the airborne box, and a driver and an I/O module which are arranged at intervals are arranged above the airborne box.
Compared with the prior art, the direct-drive transmission mechanism of the heat exchanger tube plate crawling robot provided by the invention has the following beneficial effects:
the direct-drive transmission mechanism of the heat exchanger tube plate crawling robot comprises an airborne box, wherein the airborne box is used as an airborne main control box of a positioning robot and is used as a rotational freedom degree base and a lifting freedom degree base.
The direct-drive transmission mechanism of the heat exchanger tube plate crawling robot provided by the invention reduces the transmission chain of the positioning robot and reduces the complexity of a transmission part, so that the rotation precision of the positioning robot is improved, the inspection efficiency is increased, the service life of a probe is prolonged, and the radiation dose level of an operator is reduced.
The motor and the harmonic reducer are directly connected, so that mechanical loss is reduced, the performance of the robot is improved, and the size and the weight of the robot are reduced. The harmonic reducer directly drives the load, a mechanical transmission device is not needed, and the reliability can be greatly improved. The system maintenance workload is reduced.
Furthermore, the load acceleration is optimized, the power consumption is reduced, the system inertia is reduced, and the precision is improved.
Further, the invention uses the hollow shaft frameless motor and the harmonic reducer, and the electric cables and the air pipes of the hollow shaft frameless motor can be directly arranged inside the cavity of the motor shaft instead of being hung on the surface of equipment side by side like the traditional robot. Therefore, the appearance of the robot becomes very simple, and the movement load of the robot during working is reduced. At the same time, the smaller number of cables will also reduce the weight of the robot, which all contribute to improving the working efficiency of the robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a direct drive transmission mechanism of a heat exchanger tube plate crawling robot provided by an embodiment of the invention;
FIG. 2 is a cross-sectional view of a direct-drive transmission mechanism of the heat exchanger tube plate crawling robot provided by the embodiment of the invention, wherein the bottom of the mechanism faces upwards;
FIG. 3 is a top view of a direct drive transmission mechanism of the heat exchanger tube plate crawling robot provided by the embodiment of the invention;
fig. 4 is a cross-sectional view of a vehicle chassis provided by an embodiment of the present invention.
Description of reference numerals:
1. a direct drive transmission mechanism; 2. an airborne box; 3. a motor; 4. sliding and brushing; 5. an electromagnetic valve; 6. a driver; 7. an I/O module; 8. an encoder; 9. a harmonic reducer; 10. a harmonic input wheel; 11. a lifting cylinder; 12. a linear bearing; 13. an electric control plug; 14. a quick connector for an air pipe; 15. a valve island; 16. a top cover of the airborne box; 17. a stator; 18. a motor housing; 19. a hollow output shaft; 20. code disc; 21. a proximity switch; 22. a rotor; 23. a motor front end bearing; 24. the motor rear end bearing.
Detailed Description
Although the direct drive transmission mechanism of the heat exchanger tube plate crawling robot of the invention can be implemented in a plurality of different ways, the exemplary embodiment will be described in detail in conjunction with the attached drawings, and it is to be understood that the description is to be considered as an example of the structure of the direct drive transmission mechanism of the heat exchanger tube plate crawling robot, and the protection scope of the invention is not intended to be limited to the exemplary embodiment. Accordingly, the drawings and description of the specific embodiments are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", "horizontal", "vertical", and the like herein indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or component must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
The following is a more detailed description of the present invention by way of specific embodiments.
As shown in fig. 1 to 4, the present invention provides a direct drive transmission mechanism 1, which includes an onboard box 2, wherein the onboard box 2 serves as a rotational degree of freedom base and a lifting degree of freedom base at the same time.
The motor 3, the sliding brush 4, the electromagnetic valve 5, the driver 6, the I/O module 7, the encoder 8, the harmonic reducer 9, the harmonic input wheel 10 and other parts are integrated in the airborne box 2, and the harmonic reducer 9, the photoelectric switch, the lifting cylinder 11, the linear bearing 12 and other parts are arranged on the top cover 16 of the airborne box. An electric control plug 13 and a gas pipe quick connector 14 are arranged below the airborne box 2. After being connected to the airborne box 2 through the air pipe quick connector 14, the main air source is divided into four paths of air by the valve island 15, wherein the two paths of air control the ascending and descending actions of the lifting cylinder 11 through the electromagnetic valve 5 respectively, and the other two paths of air control supply the sliding brush 4 and other pneumatic devices of the positioning robot respectively. The driver 6 is mounted on one side of the top cover 16 of the aircraft carrier by mounting brackets to form a driver module, and the I/O module 7 is mounted on the other side of the top cover 16 of the aircraft carrier.
In order to save space, the rotation freedom motor of the machine-carrying box 2 is selected to be a middle-hole shaft motor, and the motor shell 18 and the hollow output shaft 19 can be flexibly designed according to the structure. The motor housing 18 is fixed to a fixed point on the vehicle chassis top cover 16.
In order to save space in the vertical direction and reduce the height of equipment, a middle-hole shaft motor shell and a hollow output shaft 19 are designed according to the required structural function, so that a sliding brush 4 can be arranged in the hollow output shaft 19, an air-electric sliding ring fixed ring is fixed with a motor 3 shell, a movable ring is connected with the output end of a harmonic reducer 9 and synchronously rotates, the free rotation between a rotary table and an airborne box 2 is realized, and the limitation of an air pipeline is avoided.
And a coded disc 20 is arranged on the motor 3 in the airborne box 2 and used for detecting zero position and improving movement precision. A proximity switch 21 is provided on the raised structure of the top cover 16 of the aircraft carrier and is mounted on the top cover 16 of the aircraft carrier to determine the mechanical zero position of the turntable. As shown in fig. 2, the front end and the rear end of the motor 3 are provided with a motor front end bearing 23 and a motor rear end bearing 24, respectively.
Two groups of lifting cylinders 11 and linear bearings 12 are arranged on a top cover 16 of the airborne case and are centrosymmetric, the lifting cylinders 11 and the linear bearings 12 are main moving parts of lifting freedom, the lifting cylinders 11 provide energy for lifting movement, air supply control is performed by a valve island 15 of the airborne case 2, and the linear bearings 12 play roles in improving movement precision and protecting a piston rod to increase structural strength. The lower ends of the lifting cylinder 11 and the linear bearing 12 are arranged on the top cover 16 of the aircraft carrier, and the upper ends are fixed on the support of the aircraft carrier.
The modular direct drive rotary structure includes a housing and integrated rotor 22 and stator 17 within the housing. The modular direct drive rotary electric machine utilizes a compression coupling to connect the rotor with the hollow output shaft 19.
The motor driving system comprises a motor, an encoder, a driver and a photoelectric switch. The motor is a main driving mechanism, and the type selection needs to be carried out respectively according to the requirements of corresponding torque, rotating speed and the like; the encoder mainly realizes a feedback function and feeds back data such as real-time rotating speed, torque and the like of the motor to the driver; the driver has the main functions of controlling the motor, and needs to receive a control instruction and control the motor in time and also needs to acquire the state of the motor in time and feed the state back to the controller; the photoelectric switch has the main function of acquiring whether the motor moves to the zero point or not, so that the motor can know the zero point position and accurately return to zero.
When the wire is connected, the motor 3 and the encoder 8 are directly connected with the driver 6, and the driver 6 is connected into the controller in a bus mode. The photoelectric switch is connected to the I/O module to collect photoelectric signals.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a heat exchanger tube sheet robot of crawling directly drives drive mechanism, its characterized in that, includes airborne box (2), be equipped with motor (3) in airborne box (2), arranged harmonic speed reducer ware (9) on airborne box top cap (16), motor (3) with harmonic speed reducer ware (9) directly link to each other, harmonic speed reducer ware (9) direct drive load.
2. The heat exchanger tube sheet crawling robot direct drive transmission mechanism as claimed in claim 1, characterized in that the motor (3) has a hollow output shaft (19), the hollow output shaft (19) has an internal cavity, and electrical cables and air pipes are arranged in the internal cavity.
3. The heat exchanger tube plate crawling robot direct drive transmission mechanism as claimed in claim 2, characterized in that a sliding brush (4) is mounted inside the hollow output shaft (19).
4. The heat exchanger tube plate crawling robot direct-drive transmission mechanism as claimed in claim 1, wherein the vehicle-mounted box (2) comprises two sets of lifting cylinders (11) and linear bearings (12), the lower ends of the lifting cylinders (11) and the linear bearings (12) are mounted on a top cover (16) of the vehicle-mounted box, and the upper ends of the lifting cylinders and the linear bearings are mounted on a bracket of the vehicle-mounted box.
5. The heat exchanger tube plate crawling robot direct drive transmission mechanism as claimed in claim 4, characterized in that the two lifting cylinders (11) are symmetrical about the center, and the two linear bearings (12) are symmetrical about the center.
6. The heat exchanger tube plate crawling robot direct-drive transmission mechanism as claimed in claim 4, wherein a valve island (15) is arranged on the top cover (16) of the machine carrier, and the valve island (15) supplies air to control the lifting cylinder (11) and the linear bearing (12).
7. The heat exchanger tube plate crawling robot direct-drive transmission mechanism as claimed in claim 6, wherein a gas pipe quick connector (14) is arranged on the airborne box (2), a total gas source is connected into the airborne box (2) through the gas pipe quick connector (14) and is divided into four paths of gas by the valve island (15), and the two paths of gas respectively control ascending and descending actions of the lifting cylinder (11) through an electromagnetic valve (5).
8. The heat exchanger tube plate crawling robot direct drive transmission mechanism as claimed in claim 1, characterized in that a proximity switch (21) is arranged on the lower side face of the top cover (16) of the airborne box, and the proximity switch (21) is used for determining the mechanical zero position of the rotary table.
9. The heat exchanger tube plate crawling robot direct-drive transmission mechanism as claimed in claim 1, wherein a code disc (20) is arranged on the airborne box (2) for detecting zero position.
10. The heat exchanger tube plate crawling robot direct-drive transmission mechanism as claimed in claim 1, characterized in that an electric control plug (13) is arranged below the machine-mounted box (2), and a driver (6) and an I/O module (7) which are arranged at intervals are arranged above the machine-mounted box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111664734.6A CN114227715A (en) | 2021-12-31 | 2021-12-31 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111664734.6A CN114227715A (en) | 2021-12-31 | 2021-12-31 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114227715A true CN114227715A (en) | 2022-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111664734.6A Pending CN114227715A (en) | 2021-12-31 | 2021-12-31 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114227715A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN207930693U (en) * | 2018-02-06 | 2018-10-02 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN109895122A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of cooperation joint of robot with force sensing function |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN214724245U (en) * | 2020-12-25 | 2021-11-16 | 中核武汉核电运行技术股份有限公司 | Rotating structure of heat transfer pipe positioning robot |
| CN113738999A (en) * | 2021-09-14 | 2021-12-03 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
-
2021
- 2021-12-31 CN CN202111664734.6A patent/CN114227715A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN109895122A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of cooperation joint of robot with force sensing function |
| CN207930693U (en) * | 2018-02-06 | 2018-10-02 | 北京精密机电控制设备研究所 | A kind of integrated joint of robot module |
| CN112454419A (en) * | 2020-11-13 | 2021-03-09 | 中国船舶重工集团公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN214724245U (en) * | 2020-12-25 | 2021-11-16 | 中核武汉核电运行技术股份有限公司 | Rotating structure of heat transfer pipe positioning robot |
| CN113738999A (en) * | 2021-09-14 | 2021-12-03 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
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Application publication date: 20220325 |