CN114379670A - Foot type robot for overhauling heat transfer tubes of multi-specification steam generators - Google Patents

Abstract

The invention discloses a foot type robot for overhauling heat transfer tubes of multi-specification steam generators, relates to an overhauling robot, aims to solve the problems that the existing crawling type SG heat transfer tube overhauling robot is not flexible in movement mode and poor in structural adaptability, and comprises a base module, an operation arm module and four leg modules; the base module comprises a base box body, a shoulder joint motor module and four hip joint motor modules; the upper end of the base box body is provided with four hip joint motor modules, the bottom end of the base box body is provided with a shoulder joint motor module, the top output end of each hip joint motor module is respectively connected with one leg module, and the bottom output end of each shoulder joint motor module is fixedly connected with the operation arm module. The invention belongs to the field of equipment maintenance.

Description

A foot-type robot for overhauling heat transfer tubes of multi-specification steam generators

technical field

The invention relates to an overhaul robot, in particular to a foot-type robot used for overhauling a heat transfer tube of a multi-specification steam generator. It belongs to the field of equipment maintenance.

Background technique

With the increasingly prominent energy and environmental problems, nuclear power has attracted extensive attention from countries around the world because of its environmental protection, cleanliness, stability and relative safety. The current annual nuclear power generation has accounted for more than 10% of the world's total power generation. At present, more than 70% of the nuclear power plants in the world have been built and operated with the structure of pressurized water reactor. The structure of the pressurized water reactor unit is designed through the special structure of the steam generator (SG for short), while realizing the heat energy exchange between the primary circuit and the secondary circuit, the nuclear radiation material is enclosed in the primary circuit, so as to ensure the normal operation of the unit. , the equipment of the secondary circuit will not be polluted by nuclear radiation. Therefore, the working performance of the steam generator is the key to realize the efficient transfer of energy and the prevention of nuclear radiation pollution of the secondary circuit unit equipment. At present, major nuclear power application countries such as the United States, France, Japan, Germany, etc., have developed high-performance steam generator heat transfer tube maintenance robots, such as PEGASYS and ROSA-III, ZR100 and SM-23G. The field relies heavily on foreign products. Therefore, the design and manufacture of better SG heat transfer tube maintenance robot equipment with independent intellectual property rights has great research significance and industrial value.

The existing maintenance robots are mainly divided into two types: fixed installation type and tube sheet crawling type. The fixed installation type maintenance robots represented by ROSA-III and SM-23G are serial mechanical arms. Most of these robots need to be fixed in the manhole. And the bottom of the SG, which leads to the need to increase the volume of the robot when its coverage is large, and the cumulative error of the series structure easily leads to a large deviation in the positioning of the end tool. An existing tube sheet crawling inspection robot PEGASYS is installed on the tube sheet through a positioning and clamping mechanism, and realizes the walking function through the alternate actions of two sets of positioning and clamping mechanisms. The maintenance robot has the advantages of simple design structure, high precision and convenient operation. However, due to the fixed movement mode, the movement efficiency is low and the adaptability is low. And because the tool module and the robot body are fixedly installed, there is no additional degree of freedom, so it is difficult to achieve full coverage of maintenance operations.

The prior art ZR100 is a tube sheet crawling inspection robot, which also realizes the robot "crawling" by positioning the clamping mechanism and two degrees of freedom of translation and rotation, but due to its rotational movement, it can reach different angular positions , and there are two degrees of freedom between the tool module and the robot body, thus improving the work efficiency. However, due to the fixed configuration of the robot, the adaptability to different types of tube sheets is still very low.

Based on the status quo of SG heat transfer tube maintenance robot equipment in my country, and in view of the above problems, a foot-type robot is designed for the maintenance of multi-specification steam generator heat-transfer tubes. Using the flexible movement of the foot-type robot, the movement mode of the present invention is flexible. It is various, improves the maintenance work efficiency, and greatly improves the self-adaptive ability of the present invention in the face of different types of SG tube sheets.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problems of inflexible movement mode and poor structural adaptability of the existing crawling SG heat transfer tube maintenance robot, and further provide a foot-type robot for multi-specification steam generator heat transfer tube maintenance.

The present invention relates to a foot-type robot for overhauling heat transfer tubes of a multi-specification steam generator, which comprises a base module, a working arm module and four leg modules; the base module includes a base box, a shoulder joint motor module and four hip joint motor modules; the upper end of the base box is provided with four hip joint motor modules, the bottom end of the base box is provided with a shoulder joint motor module, and the top output end of each hip joint motor module is respectively It is connected with a leg module, and the bottom output end of the shoulder joint motor module is fixedly connected with the working arm module.

The most prominent feature and significant beneficial effect of the present invention are:

1. The robot of the present application has a simple structure, flexible and diverse movement modes, and strong structural self-adaptation ability, which enables it to have high movement flexibility and work efficiency, and enables it to face different types of SG tube sheets. adaptability.

2. The present invention has a total of 18 degrees of freedom of movement, including 10 active degrees of freedom of continuous movement and 4 passive degrees of freedom of continuous movement, and the 10 active degrees of freedom of movement are all driven by motors. The 14 degrees of freedom of continuous motion make the present invention have a larger continuous working space, and the movement mode is flexible, and free and flexible continuous motion can be performed in the working space. Due to the discrete positions of the pipe holes, the continuous working space can effectively adapt to any size of steam generator.

3. The present invention is in a quadruped configuration when walking. According to the characteristics of the quadruped robot, it can perform flexible walking motions, and can adapt to obstacles, blocked holes and restrictions on positions that cannot be dropped in various situations to a great extent. .

Fourth, the present invention can be equivalent to 2-RRR-RR, 3-RRR-RR, 4-RRR-RR hybrid robots during operation. According to the characteristics of the parallel robots, the parallel structure part has high rigidity and positioning accuracy. The serial part can effectively increase the overall working space. Therefore, the present invention not only has high rigidity and positioning accuracy, but also has high work coverage and work efficiency.

5. The present invention is a plane hybrid robot. The parallel part can realize the movement of any position and attitude of the plane with three degrees of freedom. The series part has two degrees of freedom and can realize the positioning movement of the plane with two degrees of freedom. High redundancy, can realize the movement of the tool positioning operation at the same time, thus greatly improving the operation efficiency.

Sixth, the present invention is equipped with a lifting degree of freedom at the end of the leg, so that the movement of the toes in and out of the tube hole is only related to the end of the leg, so that the overall movement will not be affected, and the overall structure will always be in the same plane, thus greatly reducing the Effects of inertial forces due to motion on control and tubesheets.

7. The configuration of the mixed degrees of freedom of the present invention enables each toe of the robot to be positioned and clamped at one position to repair more pipe holes, and each toe can be individually positioned to other pipe holes, thereby greatly reducing the number of robot toes The positioning and clamping action on the tube sheet reduces the risk of damage to the tube sheet due to positioning and clamping, and increases the service life of the tube hole.

8. The design of the freedom of movement of the present invention is clear, and the drive components, transmission components and corresponding control components of each degree of freedom of movement are designed and installed in a centralized manner, which is beneficial to the modular upgrade of the movement function structure, and is convenient for daily use, maintenance and disassembly.

Description of drawings

Figure 1 is an isometric view of the present invention.

FIG. 2 is a front view of the present invention.

Figure 3 is a plan view of the present invention.

Figure 4 is a left side view of the present invention.

Figure 5 is a bottom view of the present invention.

Figure 6 is an isometric view of the base module of the present invention.

Figure 7 is a front view of the base module of the present invention.

Figure 8 is a top view of the base module of the present invention.

Figure 9 is a bottom view of the base module of the present invention.

FIG. 10 is an A-A view in FIG. 7 .

Figure 11 is an isometric view of the leg module of the present invention.

Figure 12 is a front view of the leg module of the present invention.

Figure 13 is an isometric view of the leg-joint module of the present invention.

Figure 14 is a bottom view of the leg-joint module of the present invention.

FIG. 15 is a view taken along the line B-B in FIG. 14 .

Figure 16 is an isometric view of the leg two-joint module of the present invention.

Fig. 17 is a top view of the leg two-joint module of the present invention.

FIG. 18 is a C-C view in FIG. 17 .

Figure 19 is an isometric view of the lift toe module of the present invention.

Figure 20 is a top view of the lifting toe module of the present invention.

FIG. 21 is a D-D view in FIG. 20 .

Figure 22 is an isometric view of the working arm module of the present invention.

23 is a top view of the working arm module of the present invention.

FIG. 24 is a view from the direction E-E in FIG. 23 .

Detailed ways

Embodiment 1: This embodiment will be described with reference to FIG. 1 to FIG. 24. A foot robot for overhauling heat transfer tubes of a multi-specification steam generator provided in this embodiment includes a base module 1, a working arm Module 3 and four leg modules 2; the base module 1 includes a base box 4, a shoulder joint motor module 8 and four hip joint motor modules 7; the upper end of the base box 4 is provided with four hip joint motor modules 7. A shoulder joint motor module 8 is arranged on the bottom end of the base box 4, the top output end of each hip joint motor module 7 is respectively connected with a leg module 2, and the bottom output end of the shoulder joint motor module 8 is connected with the working arm. Module 3 is fixedly connected. It is used to realize the swing of the shoulder joint of the working arm module 3. The leg module 2 is used to realize the walking of the robot, and the working arm module 3 is installed under the base module 1 to realize the positioning and maintenance function of the robot. The hip joint motor module 7 and the shoulder joint motor module 8 are both integrated motor modules, which are an integrated connection structure of a reducer, a motor and a driver.

Embodiment 2: This embodiment will be described with reference to FIG. 1 to FIG. 15. In this embodiment, a footed robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The leg module 2 includes a leg and a joint. The module 9 and the leg two joint module 10; one end of the leg one joint module 9 is fixedly connected to the top output end of the hip joint motor module 7, and the other end of the leg one joint module 9 is connected to the fixed end of the leg two joint module 10 . The leg-joint module 9 is fixedly connected with the output end of the hip joint motor module 7 to realize the swing of the hip joint of the leg module 2, and other structural connection relationships are the same as in the first embodiment.

Embodiment 3: This embodiment will be described with reference to FIGS. 1 to 15 . In this embodiment, a footed robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The leg-joint module 9 includes a knee joint. The motor module 11, the leg-joint casing 12 and the leg-joint cover 13; the leg-joint cover 13 is covered on the leg-joint casing 12, and the leg-joint cover 13 and the leg-joint The housing 12 is provided with an 'L'-shaped cavity, the knee joint motor module 11 is fixedly installed at one end of the 'L'-shaped cavity, and the side wall of the other end of the 'L'-shaped cavity is fixedly installed at the top of the hip joint motor module 7 for output. end. The knee joint motor module 11 is an integrated motor module, which is integrally connected by a reducer, a motor and a driver. Other structural connection relationships are the same as in the second embodiment.

Embodiment 4: This embodiment will be described with reference to FIG. 1 to FIG. 18 . In this embodiment, a footed robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The leg two-joint module 10 includes legs. The two-joint housing 14, the leg two-joint cover 15, the bearing end cover 17, the lifting toe module 18 and the two thin-walled bearings 16; the leg two-joint cover 15 is covered on the leg two-joint housing 14, and the leg An 'L'-shaped cavity is provided in the two-joint cover plate 15 and the leg two-joint shell 14, and the lifting toe module 18 is rotated through two thin-walled bearings 16, and is connected and installed on one end of the 'L'-shaped cavity, and The bearing end cover 17 is installed at the end of the 'L'-shaped cavity near the lifting toe module 18 , and the other end of the 'L'-shaped cavity is connected with the other end of the leg-joint module 9 . Other structural connection relationships are the same as in the second embodiment.

Embodiment 5: This embodiment will be described with reference to FIG. 1 to FIG. 21 . In this embodiment, a foot-type robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The top and bottom ends of the lifting toe module 18 are respectively The shaft shoulders are machined, and a thin-wall bearing 16 is respectively installed on each shaft shoulder. The passive rotation function of the lift toe module 18 is achieved by the thin-walled bearing 16 . Other structural connection relationships are the same as in the fourth embodiment.

Embodiment 6: This embodiment will be described with reference to FIGS. 1 to 15 . A foot robot for overhauling heat transfer tubes of a steam generator with multiple specifications provided in this embodiment has a knee joint on the leg-joint module 9 . The output end of the joint motor module 11 is fixedly connected to the other end of the 'L'-shaped cavity of the leg two joint module 10 . Other structural connection relationships are the same as in the fourth embodiment.

Embodiment 7: This embodiment will be described with reference to FIG. 20 . In this embodiment, a foot-type robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The lifting toe module 18 includes a toe lifting cylinder 22 , a lifting toe Fixed seat 26, toe lift piston 21, two tracheal joints 25, toe module 19, toe lift piston seat 20, lift toe housing 28 and a plurality of limit posts 29; toe lift cylinder 22 is mounted on the lift toe fixing seat 26 by bolts On the upper end surface, one air pipe joint 25 is installed on the lower end of the lifting toe fixing seat 26 and communicated with one end of the toe lifting cylinder 22 , and the other air pipe joint 25 is installed on the cylinder side wall of the toe lifting cylinder 22 and communicates with the other side of the toe lifting cylinder 22 . One end is connected, the toe lifting piston 21 is installed in the toe lifting cylinder 22, and the lifting movement is realized by air circuit control. A plurality of limit posts 29 are installed on the upper part of the toe module 19, and pass through the lifting toe shell 28 together with the protruding toes, The toe lift piston seat 20 is fixedly mounted on the bottom end of the toe module 19 by bolts, the top of the output end of the toe lift piston 21 is fixedly connected with the toe lift piston seat 20, the lift toe shell 28 is arranged on the upper part of the lift toe fixing seat 26, and the toe lift The module 19 and the toe lift cylinder 22 are provided inside the lift toe housing 28 . Other structural connection relationships are the same as in the fourth embodiment.

In this embodiment, an air pipe joint 25 is installed on the upper part of the toe lift cylinder 22 to realize the toe descending movement. A tracheal joint 25 is installed at the bottom of the lifting toe fixing seat 26, which is used to realize the lifting movement of the toe. A through hole is left on the lift toe fixing seat 26 and the toe lift piston seat 20 for passing the trachea and the cable therethrough. The lifting toe shell 28 is sleeved on the toe module 19 from above, and is mainly used for installation and limiting, and does not need to be fixed. The limiting column 29 is installed above the toe module 19 for limiting the lifting movement of the toe module 19 .

Embodiment 8: This embodiment will be described with reference to FIG. 22 to FIG. 24. In this embodiment, a footed robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The working arm module 3 includes a working arm and a joint. The shell 30, the working arm joint end cover 31, the elbow joint motor module 32, the pneumatic quick-change joint male head 33, the pneumatic quick-changing joint female head 34 and the tool module 35; the working arm joint end cover 31 is mounted on the working arm one. On the joint housing 30, the working arm-joint end cover 31 and the working arm-joint housing 30 are provided with an 'L'-shaped cavity, one end of the 'L'-shaped cavity is fixedly connected with the output end of the shoulder joint motor module 8, and the elbow The joint motor module 32 is installed on the other end of the 'L'-shaped cavity, the pneumatic quick-change joint male head 33 is installed on the output end of the elbow joint motor module 32, and the pneumatic quick-change joint female head 34 is installed on the tool module 35. The female head 34 of the pneumatic quick-change joint is mounted on the male head 33 of the pneumatic quick-change joint. Other structural connection relationships are the same as in the specific embodiment 14.

In this embodiment, the female head 34 of the pneumatic quick-change joint is fixedly connected with the male head 33 of the pneumatic quick-change joint, so as to realize the rapid replacement of different tool modules 35 . The tool module 35 can be customized according to different maintenance functions, including eddy current scanning and pipe plugging maintenance operation functions.

Embodiment 9: This embodiment will be described with reference to FIG. 20 . In this embodiment, a foot-type robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The lifting toe module 18 further includes a toe lifting piston sealing ring 23 . , the toe lift piston rod seal 24 and the end face seal 27; the toe lift piston seal 23 is fitted on the piston part of the toe lift piston 21, the toe lift piston rod seal 24 is installed on the upper part of the toe lift cylinder 22, and the toe lift piston rod The sealing ring 24 is located between the toe lifting cylinder 22 and the toe lifting piston 21 , and the end face sealing ring 27 is installed between the toe lifting cylinder 22 and the lifting toe fixing seat 26 . The toe lift piston seal 23 is in close contact with the toe lift cylinder 22 to achieve gas sealing, the toe lift piston rod seal 24 is in close contact with the toe lift piston 21 to achieve gas seal, and the end face seal 27 is installed on the toe lift cylinder 22 and the lift toe fixing seat 26 for gas sealing. Other structural connection relationships are the same as in the eighth embodiment.

Embodiment 10: This embodiment will be described with reference to FIGS. 1 to 10 . In this embodiment, a foot-type robot for overhauling heat transfer tubes of a steam generator with multiple specifications is provided. The base module 1 further includes a base The box cover 5 and the lower box cover 6 of the base, the upper box cover 5 of the base is fixedly installed on the top of the base box 4, the lower box cover 6 of the base is fixedly installed on the bottom end of the base box 4, the base Each hip motor module 7 in the module 1 is fixedly installed on the upper case cover 5 of the base, and the output end is arranged through the upper case cover 5 of the base, and the shoulder motor module 8 in the base module 1 is fixedly installed under the base On the box cover 6, and the output end is arranged through the lower box cover 6 of the base. The base box 4, the base upper cover 5 and the base lower cover 6 are fixed with bolts and pins, which need to bear a certain load, so the interior is equipped with reinforcing ribs. Both the hip joint motor module 7 and the shoulder joint motor module 8 use hollow output shafts, and the lines can pass through the hollow shafts. Other structural connection relationships are the same as in the specific embodiment 1.

working principle

The present invention has 6 single-degree-of-freedom motions, 3 small-degree-of-freedom linkage movements, and 6 multi-degree-of-freedom linkage movements for the purpose of work.

The actions of the single degree of freedom motion of the present invention include hip joint swing: the rotational motion between the leg module 2 and the base module 1; knee joint swing: the rotation between the leg one-joint module 9 and the leg two-joint module 10 Movement; toe rotation: the rotational movement between the leg two-joint module 10 and the lift toe module 18; toe lift: the lift movement between the leg two-joint module 10 and the toe module 19; shoulder joint swing: the working arm module 3 and the toe module Rotational movement between the base modules 1 ; elbow joint swing: the rotational movement between the tool module 35 and the working arm-joint housing 30 .

The action principles of the six single-degree-of-freedom motions of the present invention are described respectively:

The hip joint swings and is driven by the hip joint motor module 7 , the shell of the hip joint motor module 7 is fixed in the base module 1 , and the output end of the hip joint motor module 7 is fixed with the leg module 2 . The whole rotation of the leg module 2 can be driven by the rotation of the motor.

The knee joint swings and is driven by the knee joint motor module 11 . The whole rotation of the leg two-joint module 10 can be driven by the rotation of the motor.

The toe rotation degree of freedom is a passive degree of freedom. Two thin-walled bearings 16 are installed between the leg two-joint shell 14 and the lift toe module 18. When the lift toe module 18 is fixed, the hip and knee joints of the leg module 2 swing. A passive rotation action will be performed between the lift toe module 18 and the leg two-joint housing 14 .

The toe lift is powered by gas. A toe lift cylinder 22 and a toe lift piston 21 are provided at the bottom of the lift toe module 18 . Through pneumatic control, the toe lift piston 21 is moved up and down in the toe lift cylinder 22 . The toe lift piston 21 is connected with the toe module 19 , and when the toe lift piston 21 performs the lift movement, it drives the toe module 19 to perform the lift movement together.

The shoulder joint swings and is driven by the shoulder joint motor module 8 , the shell of the shoulder joint motor module 8 is fixed in the base module 1 , and the output end of the shoulder joint motor module 8 is fixed with the working arm module 3 . The whole rotation of the working arm module 3 can be driven by the rotation of the motor.

The elbow joint swings and is driven by the elbow joint motor module 32, the shell of the elbow joint motor module 32 is fixed in the working arm joint shell 30, and the output end of the elbow joint motor module 32 is connected to the pneumatic quick-change joint male head 33 and the pneumatic quick-change The connector female 34 is fixed to the tool module 35 . The entire rotation of the tool module 35 can be driven by the rotation of the motor.

The three basic movements of the present invention are composed of the above-mentioned six single-degree-of-freedom movements, including leg swing: the leg module 2 moves from one fixed position to the next fixed position; base movement: the base module 1 moves from One fixed position moves to the next fixed position; boom swings: the end working part of the tool module 35 moves from one position to another.

The working principles of the three basic actions of the present invention are described respectively:

The legs swing, driven by the hip joint motor module 7 and the knee joint motor module 11 . The rotation of the hip joint motor module 7 can drive the entire leg module 2 to swing, while the rotation of the knee joint motor module 11 can drive the swing of the leg two joint module 10 relative to the leg one joint module 9, thereby realizing the leg module 2 in the plane space. 2D positioning motion within.

The movement of the base is formed by the linkage movement of more than two fixed leg modules 2. When the toe modules 19 of the two leg modules 2 are stretched into the heat transfer tube holes and grasped, the toe modules 19 will be fixed on the In the heat transfer tube, a 2-RRR parallel robot will be formed with the base module 1. At this time, the leg module 2 fixed by the two toe modules 19 will swing according to the kinematic model, which will drive the movement and rotation of the base module 1. . Similarly, when the toe modules 19 of the three leg modules 2 are fixed, a 3-RRR parallel robot is formed, and when the toe modules 19 of the four leg modules 2 are fixed, a 4-RRR parallel robot is formed. Since the three-degree-of-freedom planar parallel robot only needs 3 drive modules to perform any movement, and the two leg modules 2 have a total of 4 drive motor modules, the resulting 2-RRR, 3-RRR, and 4-RRR parallel robots are all There are enough drive modules to make the base module 1 move in three degrees of freedom in a plane, including two translational degrees of freedom and one rotational degree of freedom.

The working arm swings and is driven by the shoulder joint motor module 8 and the elbow joint motor module 32 . The rotation of the shoulder joint motor module 8 can drive the swing of the entire working arm module 3 , while the rotation of the elbow joint motor module 32 can drive the swing of the tool module 35 , thereby realizing the two-dimensional positioning movement of the tool module 35 in the plane space.

The five working states of the present invention are composed of the above-mentioned three linkage actions with a small number of degrees of freedom, including the static state: all four leg modules 2 are fixed; the three-legged support walking state: any three leg modules 2 are fixed, one Leg module 2 swings; bipedal support walking state: any two leg modules 2 are a group, and two groups of leg modules 2 are alternately fixed and swinging; tool positioning state: base module 1 and working arm module 3 The movement of linkage to locate the tool module 35 to the designated position; maintenance status: after the tool module 35 is positioned to the designated position, wait for a period of time for the tool to be repaired.

The working principles of the five working states of the present invention are described respectively:

In the static state, the toes of the four leg modules 2 are all inserted into the holes of the heat transfer tubes to be fixed, and the base module 1 does not make any movement, nor does the working arm module 3 do any movement. The static state can be converted to the three-legged walking state, the two-legged walking state and the tool positioning state, and can also be returned to the resting state from the three-legged walking state, the two-legged walking state and the tool positioning state.

The three-legged walking state includes the leg swing motion of a leg module 2 and the base motion of the base module 1 under the 3-RRR configuration parallel robot, and the motion can be 0, that is, static in this state. The toe modules 19 of the three leg modules 2 are inserted into the holes of the heat transfer tubes and fixed, one leg module 2 swings, and the base module 1 moves the base, and the working arm module 3 can avoid obstacles according to the obstacles. Movement, leg module 2 and external obstacles are all obstacles to working arm module 3. The way to adjust from the static state to the three-legged walking state is as follows: the toe module 19 of the leg module 2 that needs to swing is released from the tube hole of the heat transfer tube, and the toe lift piston 21 moves downward under pneumatic control, thereby driving the toe module 19 Withdrawing from the hole of the heat transfer pipe, the leg module 2 can perform the leg swing movement, and the base module 1 can also perform the base movement. The way to adjust from the three-legged walking state to the stationary state is as follows: the base module 1 moves to a designated position through the base movement and then remains stationary, and after the swinging leg module 2 moves to the designated position, the toe module 19 moves in the position of the toe lift piston 21. Drive and insert the heat transfer tube into the tube hole, and then the toe module 19 grasps the tube hole for fixing. The three-legged walking state can also transition to a bipedal walking state and a tool positioning state.

The bipedal support walking state includes the leg swing motion of the two leg modules 2 and the base motion of the base module 1 under the 2-RRR configuration parallel robot, and the motion can be 0, that is, static in this state. The toe modules 19 of the two leg modules 2 are inserted into the holes of the heat transfer tubes to be fixed, the other two leg modules 2 swing, and the base module 1 will perform the base movement, and the working arm module 3 can be carried out according to the obstacles. Obstacle avoidance, leg module 2 and external obstacles belong to the obstacles of working arm module 3. The swinging leg modules 2 may be distributed along a diagonal line, or may be distributed along the same side. According to different choices, the movement range of the base module 1 is also different, and the walking performance is also different. The way to adjust from the static state to the bipedal walking state is as follows: the toe modules 19 of any two leg modules 2 are released from the holes of the heat transfer tubes, and the toe lift piston 21 moves downward under pneumatic control, thereby driving the toe modules 19 Withdrawing from the hole of the heat transfer pipe, the leg module 2 can perform the leg swing movement, and the base module 1 can also perform the base movement, but this transition needs to consider the force of the fixed toe module 19, so It is necessary to select a suitable leg module 2 for swinging under certain conditions. The way to adjust from the bipedal walking state to the stationary state is as follows: the base module 1 moves to a designated position through the base movement and then remains stationary, and after the swinging leg module 2 moves to the designated position, the toe module 19 moves in the position of the toe lift piston 21. Drive and insert the heat transfer tube into the tube hole, and then the toe module 19 grasps the tube hole for fixing. The way to adjust from the three-legged walking state to the two-legged walking state is: select one of the leg modules 2 fixed by the three toe modules 19, release the toe module 19 from the hole of the heat transfer pipe, and the toe lift piston 21 in the The downward movement is carried out under pneumatic control, thereby driving the toe module 19 to withdraw from the heat transfer tube hole. At this time, the two leg modules 2 can perform leg swing movement, and the base module 1 can also perform base movement. The way to adjust from the walking state with bipedal support to the walking state with three-legged support is as follows: after one of the swinging leg modules 2 moves to a designated position, the toe module 19 is driven by the toe lifting piston 21 to be inserted into the tube hole of the heat transfer pipe, and then The toe module 19 is fixed by grasping the tube hole. At this time, the remaining leg module 2 can perform the leg swing movement, and the base module 1 can also perform the base movement. The bipedal walking state can also transition to the tool positioning state.

In the tool positioning state, the toes of two or more leg modules 2 are inserted into the tube holes of the heat transfer pipes to be fixed, and the base module 1 moves the base and the working arm module 3 moves, so that the tool module 35 is positioned to the position to be repaired . The tool positioning state can be converted to other working states, and other working states can also return to the tool positioning state. The way to adjust from the static state to the tool positioning state is as follows: the base module 1 moves the base in the 4-RRR parallel robot configuration, and the working arm module 3 swings to position the tool module 35 to the position to be repaired. The way to adjust from the tool positioning state to the stationary state is: the base module 1 stops moving, and the working arm module 3 stops moving. The way to adjust from the three-legged walking state to the tool positioning state is: the swinging leg module 2 stops moving, the base module 1 performs the base movement under the 3-RRR parallel robot configuration, and the working arm module 3 swings to make the tool Module 35 is positioned to be serviced. The way to adjust from the tool positioning state to the three-legged walking state is as follows: the working arm module 3 stops moving, the leg module 2 where the toe module 19 is not fixed continues to swing, and the base module 1 continues to perform the base movement. The way to adjust from the bipedal walking state to the tool positioning state is: the two swinging leg modules 2 stop moving, the base module 1 performs the base movement under the 2-RRR parallel robot configuration, and the working arm module 3 swings The tool module 35 is positioned to the location to be serviced. The way to adjust from the tool positioning state to the bipedal walking state is as follows: the working arm module 3 stops moving, the two leg modules 2 that are not fixed to the toe module 19 continue to swing, and the base module 1 continues to perform the base movement.

In the inspection state, the toes of the two or more leg modules 2 are inserted into the pipe holes of the heat transfer pipes to be fixed, and the tool modules 35 are positioned at the designated positions to perform the inspection work. At this time, the leg module 2 of which the toe module 19 is not fixed can also swing; the base module 1 and the working arm module 3 can be moved or stationary; during movement, the movements of the two modules need to cooperate with each other to ensure the tool The position of the module 35 will not change. Since the working arm module 3 has two degrees of freedom, it can perform two-degree-of-freedom positioning on a plane. Therefore, when the base module 1 moves within a certain range, it can be moved by the working arm module 3. The position of the tool module 35 is not changed. In the inspection state, various working states other than the tool positioning state can be performed. In the maintenance state, the static state is realized: the toe modules 19 of the four leg modules 2 are all inserted into the tube holes of the heat transfer pipes to be fixed, and the base module 1 and the working arm module 3 are both stationary. In the maintenance state, the three-legged walking state is realized: the toe modules 19 of any three leg modules 2 are fixed in the heat transfer tube holes, and one leg module 2 swings. When the base module 1 moves, work is required. The arm module 3 moves in coordination to ensure that the positioning position of the tool module 35 does not change. In the maintenance state, the walking state with bipedal support is realized: the toe modules 19 of any two leg modules 2 are fixed in the pipe holes of the heat transfer pipes, and the other two leg modules 2 swing, and when the base module 1 moves, The working arm module 3 needs to move in coordination to ensure that the positioning position of the tool module 35 will not change. In the maintenance state, the switching of each working state except the tool positioning state and the maintenance state can also be realized, and the switching method is the same as that described above. The way of adjusting from the tool positioning state to the maintenance state is as follows: to ensure that the position of the tool module 35 does not change, the tool module 35 can perform the maintenance action. The way to adjust from the maintenance state to the tool positioning state is as follows: the working arm module 3 and the base module 1 move, so that the tool module 35 is positioned to the designated working position.

The flexible crawling motion of the present invention on the SG tube plate is realized by alternately combining the static state, the three-legged walking state, and the two-legged walking state. The relative position between the modules 19 can be adapted to any type of SG tube sheet; and similarly, the position of the tool module 35 can be continuously changed through the tool positioning status and maintenance status, so it can be adapted to any type of SG tube sheet. The ability of the present invention realizes the flexible positioning of the maintenance tool on any type of SG tube sheet. To sum up, the present invention has high movement flexibility and work efficiency, and enables it to have strong self-adaptive ability when facing different types of SG tube sheets.

Claims (10)

1. The utility model provides a sufficient robot that is used for many specifications steam generator heat-transfer pipe to overhaul which characterized in that: the robot comprises a base module (1), an operation arm module (3) and four leg modules (2); the base module (1) comprises a base box body (4), a shoulder joint motor module (8) and four hip joint motor modules (7); four hip joint motor modules (7) are arranged at the upper end of the base box body (4), a shoulder joint motor module (8) is arranged at the bottom end of the base box body (4), the output end of the top of each hip joint motor module (7) is connected with one leg module (2), and the output end of the bottom of each shoulder joint motor module (8) is fixedly connected with the operation arm module (3).

2. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 1, further comprising: the leg module (2) comprises a leg joint module (9) and a leg joint module (10); one end of the first leg joint module (9) is fixedly connected with the output end of the top of the hip joint motor module (7), and the other end of the first leg joint module (9) is connected with the fixed end of the second leg joint module (10).

3. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 2, further comprising: the leg-joint module (9) comprises a knee joint motor module (11), a leg-joint shell (12) and a leg-joint cover plate (13); the leg joint cover plate (13) is covered on the leg joint shell (12), an L-shaped cavity is arranged in the leg joint cover plate (13) and the leg joint shell (12), the knee joint motor module (11) is fixedly arranged at one end of the L-shaped cavity, and the side wall at the other end of the L-shaped cavity is fixedly arranged at the output end of the top of the hip joint motor module (7).

4. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 2, further comprising: the leg joint module (10) comprises a leg joint shell (14), a leg joint cover plate (15), a bearing end cover (17), a lifting toe module (18) and two thin-wall bearings (16); the two-leg-joint cover plate (15) is covered on the two-leg-joint shell (14), an L-shaped cavity is arranged in the two-leg-joint cover plate (15) and the two-leg-joint shell (14), the lifting toe module (18) rotates through two thin-wall bearings (16) and is connected and installed at one end of the L-shaped cavity, the bearing end cover (17) is close to the lifting toe module (18) and is installed at the end part of the L-shaped cavity, and the other end of the L-shaped cavity is connected with the other end of the one-leg-joint module (9).

5. The legged robot for servicing heat transfer tubes of a multi-specification steam generator according to claim 4, wherein: shaft shoulders are respectively processed at the top end and the bottom end of the lifting toe module (18), and a thin-wall bearing (16) is respectively arranged on each shaft shoulder.

6. The legged robot for servicing heat transfer tubes of a multi-specification steam generator according to claim 4, wherein: the output end of a knee joint motor module (11) on the first leg joint module (9) is fixedly connected with the other end of the L-shaped cavity of the second leg joint module (10).

7. The legged robot for servicing heat transfer tubes of a multi-specification steam generator according to claim 4, wherein: the lifting toe module (18) comprises a toe lifting cylinder (22), a lifting toe fixing seat (26), a toe lifting piston (21), two air pipe joints (25), a toe module (19), a toe lifting piston seat (20), a lifting toe shell (28) and a plurality of limiting columns (29); a toe lifting cylinder (22) is arranged on the upper end surface of a lifting toe fixing seat (26) through a bolt, one air pipe joint (25) is arranged at the lower end of the lifting toe fixing seat (26) and is communicated with one end of the toe lifting cylinder (22), the other air pipe joint (25) is arranged on the side wall of the toe lifting cylinder (22) and is communicated with the other end of the toe lifting cylinder (22), a toe lifting piston (21) is arranged in the toe lifting cylinder (22) and realizes lifting movement through air passage control, a plurality of limiting columns (29) are arranged on the upper part of a toe module (19) and penetrate through a lifting toe shell (28) together with the extending toes, the toe lifting piston seat (20) is fixedly arranged on the bottom end of the toe module (19) through a bolt, and the top of the output end of the toe lifting piston (21) is fixedly connected with the toe lifting piston seat (20), the lifting toe shell (28) is arranged on the upper portion of the lifting toe fixing seat (26), and the toe module (19) and the toe lifting cylinder (22) are arranged inside the lifting toe shell (28).

8. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 1, further comprising: the operation arm module (3) comprises an operation arm-joint shell (30), an operation arm-joint end cover (31), an elbow joint motor module (32), a pneumatic quick-change connector male head (33), a pneumatic quick-change connector female head (34) and a tool module (35); an operation arm joint end cover (31) is covered on an operation arm joint shell (30), an L-shaped cavity is arranged in the operation arm joint end cover (31) and the operation arm joint shell (30), one end of the L-shaped cavity is fixedly connected with the output end of a shoulder joint motor module (8), an elbow joint motor module (32) is arranged at the other end of the L-shaped cavity, a pneumatic quick-change connector male head (33) is arranged at the output end of the elbow joint motor module (32), a pneumatic quick-change connector female head (34) is arranged on a tool module (35), and the pneumatic quick-change connector female head (34) is arranged on the pneumatic quick-change connector male head (33).

9. The legged robot for servicing heat transfer tubes of a multi-specification steam generator according to claim 4, wherein: the lifting toe module (18) further comprises a toe lifting piston sealing ring (23), a toe lifting piston rod sealing ring (24) and an end surface sealing ring (27); the toe lifting piston sealing ring (23) is sleeved on the piston part of the toe lifting piston (21), the toe lifting piston rod sealing ring (24) is installed on the upper portion of the toe lifting cylinder (22), the toe lifting piston rod sealing ring (24) is located between the toe lifting cylinder (22) and the toe lifting piston (21), and the end face sealing ring (27) is installed between the toe lifting cylinder (22) and the lifting toe fixing seat (26).

10. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 1, further comprising: the base module (1) further comprises an upper base box cover (5) and a lower base box cover (6), the upper base box cover (5) is fixedly installed on the top of the base box body (4), the lower base box cover (6) is fixedly installed on the bottom end of the base box body (4), each hip joint motor module (7) in the base module (1) is fixedly installed on the upper base box cover (5), the output end of each hip joint motor module penetrates through the upper base box cover (5) to be arranged, the inner shoulder joint motor module (8) in the base module (1) is fixedly installed on the lower base box cover (6), and the output end of each hip joint motor module penetrates through the lower base box cover (6) to be arranged.

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