CN114379670A

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

Info

Publication number: CN114379670A
Application number: CN202210079518.3A
Authority: CN
Inventors: 樊继壮; 张宽; 张学贺; 邢真铭; 徐碧莹; 欧越; 赵杰
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-04-22
Anticipated expiration: 2042-01-24
Also published as: CN114379670B

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

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 for overhauling heat transfer tubes of multi-specification steam generators. Belonging to the field of equipment maintenance.

Background

With the increasingly prominent energy and environmental problems, nuclear power is widely valued by countries in the world due to the characteristics of environmental protection, cleanness, stability and relative safety, and the generated energy accounts for more than 10% of the total power generation amount of the world in the current nuclear power year. At present, more than 70% of nuclear reactor units in the nuclear power plants which are built and operated in the world adopt a pressurized water reactor structure. The pressurized water reactor unit structure realizes the heat energy exchange between the primary loop and the secondary loop through the special structural design of a steam generator (SG for short), and simultaneously seals nuclear radiation substances in the primary loop, thereby ensuring that the equipment of the secondary loop cannot be polluted by nuclear radiation in the normal operation process of the unit. Therefore, the working performance of the steam generator is the key for realizing the efficient energy transfer and preventing nuclear radiation pollution of the two-loop unit equipment. At present, high-performance steam generator heat transfer tube overhaul robots such as PEGASYS and ROSA-III, ZR100 and SM-23G have been developed in major nuclear power application countries such as America, France, Japan, Germany, and China depends heavily on foreign products in related fields, so that designing and manufacturing more excellent SG heat transfer tube overhaul robot equipment with independent intellectual property rights has great research significance and industrial value.

The existing maintenance robots are mainly divided into a fixed mounting type and a tube plate crawling type, the fixed mounting type maintenance robots represented by ROSA-III and SM-23G are serially connected mechanical arms, most of the robots need to be fixed at the bottoms of manholes and SG, the size of the robots needs to be increased when the coverage range of the robots is large, and the positioning deviation of end tools is easily caused by the accumulated error of a serial structure. The existing pipe plate crawling type maintenance robot PEGASYS is arranged on a pipe plate through positioning and clamping mechanisms, and the walking function is realized through the alternate action of the two groups of positioning and clamping mechanisms. The maintenance robot has the advantages of simple design structure, higher precision and convenient operation. However, since the movement mode is fixed, the movement efficiency is low and the adaptability is low. And because the tool module and the robot body are fixedly installed, no extra degree of freedom exists, and therefore, the full coverage of the maintenance operation is difficult to realize.

In the prior art, the ZR100 pipeline plate crawling type maintenance robot also realizes robot crawling through a positioning and clamping mechanism and two motion degrees of freedom of translation and rotation, but can reach different angle positions during rotation, and two degrees of freedom exist between a tool module and a robot body, so that the working efficiency is improved. But the adaptability to different types of tube plates is still low because the robot is fixed in configuration.

Based on the current state of SG heat transfer pipe maintenance robot equipment in China and aiming at the problems, a foot type robot for the maintenance of the heat transfer pipes of the steam generators with multiple specifications is designed, and the characteristic of flexible movement of the foot type robot is utilized, so that the invention has flexible and various movement modes, improves the maintenance operation efficiency and greatly improves the self-adaptive capacity of the invention when facing SG pipe plates with different models.

Disclosure of Invention

The invention aims to solve the problems that the existing crawling type SG heat transfer pipe overhauling robot is not flexible in movement mode and poor in structural adaptability, and further provides a foot type robot for overhauling heat transfer pipes of multiple specifications of steam generators.

The invention relates to a foot type robot for overhauling heat transfer tubes of multi-specification steam generators, which comprises a base module, an operation arm module and four leg modules, wherein the base module is used for supporting the operation arm module; 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 most prominent characteristics and remarkable beneficial effects of the invention are as follows:

the robot has the advantages of simple structural form, flexible and various motion modes and strong structure self-adaptive capacity, has higher motion flexibility and operation efficiency, and has stronger self-adaptive capacity when facing SG tube plates of different models.

The invention has 18 motion freedom degrees, wherein 10 active continuous motion freedom degrees and 4 passive continuous motion freedom degrees are provided, and the 10 active motion freedom degrees are all driven by a motor. The 14 continuous motion degrees of freedom enable the invention to have larger continuous working space, and the motion mode is flexible, and free and flexible continuous motion can be carried out in the working space. Due to the fact that the positions of the pipe holes are discrete, the continuous working space can effectively adapt to steam generators of any specification.

The invention has a four-foot configuration during walking, can carry out flexible walking movement according to the characteristics of the four-foot robot, and can adapt to the limitations of obstacles, hole blockage and non-drop foot positions under various conditions to a great extent.

The parallel robot can be equivalent to a 2-RRR-RR, 3-RRR-RR and 4-RRR-RR series-parallel robot during working, the parallel structure part has high rigidity and positioning accuracy according to the characteristics of the parallel robot, and the series part can effectively increase the whole working space. Therefore, the invention not only has high rigidity and positioning precision, but also has high operation coverage capability and operation efficiency.

The parallel part of the plane hybrid robot can realize the motion of any position and attitude of three degrees of freedom of the plane, and the serial part has two degrees of freedom and can realize the positioning motion of two degrees of freedom of the plane, so the plane hybrid robot has high redundancy, can realize the movement of a tool while positioning operation is carried out, and greatly improves the operation efficiency.

Sixth, the invention disposes the lift degree of freedom at the end of shank, make the movements that the toe enters and exits the tube hole only relate to end of shank, thus will not influence the integral motion, guarantee the integral structure is in the same level all the time, thus has greatly reduced the influence that the inertia force produced because of moving produces controls and tube sheet.

And seventhly, the mixed connection freedom degree configuration of the invention enables more pipe holes to be overhauled when each toe of the robot is positioned and clamped at one position, and each toe can be independently positioned to other pipe holes, thereby greatly reducing the positioning and clamping actions of the robot toe on the pipe plate, reducing the risk of damage of the pipe plate caused by positioning and clamping, and prolonging the service life of the pipe holes.

The design of the freedom of motion is clear, and the driving part, the transmission part and the corresponding control part of each freedom of motion are designed and installed in a centralized way, so that the modularized upgrade of the motion function structure is facilitated, and the daily use, maintenance, disassembly and assembly are facilitated.

Drawings

Fig. 1 is an isometric view of the present invention.

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

Fig. 3 is a top view of the present invention.

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

Fig. 5 is a bottom view of the present invention.

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

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

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

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

Fig. 10 is a view from a-a in fig. 7.

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

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

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

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

Fig. 15 is a view from B-B in fig. 14.

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

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

Fig. 18 is a view from direction C-C in fig. 17.

Figure 19 is an isometric view of a lifting 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 view from direction D-D in fig. 20.

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

Figure 23 is a top view of the boom module of the present invention.

Fig. 24 is a view from E-E in fig. 23.

Detailed Description

The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 24, and the present embodiment provides a foot robot for overhauling heat transfer tubes of multi-specification steam generators, which comprises a base module 1, a working 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; the upper end of the base box body 4 is provided with four hip joint motor modules 7, the bottom end of the base box body 4 is provided with a shoulder joint motor module 8, the top output end of each hip joint motor module 7 is respectively connected with one leg module 2, and the bottom output end of each shoulder joint motor module 8 is fixedly connected with the operation arm module 3. For effecting the swinging of the shoulder joint of the work arm module 3. The leg module 2 is used for realizing the walking of the robot, and the operation arm module 3 is arranged below the base module 1 and used for realizing the positioning and maintenance functions of the robot. The hip joint motor module 7 and the shoulder joint motor module 8 are all integrated motor modules and are in an integrated connection structure of a speed reducer, a motor and a driver.

The second embodiment is as follows: in the present embodiment, which will be described with reference to fig. 1 to 15, the leg module 2 of the present embodiment includes 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. The first leg joint module 9 is fixedly connected with the output end of the hip joint motor module 7 to realize the swing of hip joints of the leg module 2, and the connection relation of other structures is the same as that of the first specific embodiment.

The third concrete implementation mode: in the present embodiment, which is described with reference to fig. 1 to 15, a legged robot for repairing heat transfer tubes of a multi-specification steam generator is provided, in which a leg joint module 9 includes a knee joint motor module 11, a leg joint housing 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. The knee joint motor module 11 is an integrated motor module and is of an integrated connection structure consisting of a speed reducer, a motor and a driver. Other structural connection relationships are the same as in the second embodiment.

The fourth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 18, and the leg joint module 10 of the present embodiment includes a leg joint housing 14, a leg joint cover plate 15, a bearing end cover 17, a lifting toe module 18 and two thin-wall bearings 16; the second leg joint cover plate 15 is covered on the second leg joint shell 14, an L-shaped cavity is arranged in the second leg joint cover plate 15 and the second 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 first leg joint module 9. Other structural connection relationships are the same as in the second embodiment.

The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 21, and the present embodiment provides a legged robot for repairing heat transfer tubes of multiple-specification steam generators, wherein shoulders are respectively machined at the top end and the bottom end of the lifting toe module 18, and a thin-walled bearing 16 is respectively mounted on each shoulder. The passive rotation function of the lifting toe module 18 is achieved by means of the thin-walled bearing 16. Other structural connection relationships are the same as those in the fourth embodiment.

The sixth specific implementation mode: referring to fig. 1 to 15, the present embodiment is described, and in the present embodiment, an output end of a knee joint motor module 11 on a first leg joint module 9 is fixedly connected to the other end of an L-shaped cavity of a second leg joint module 10 of a legged robot for repairing heat transfer tubes of a multi-specification steam generator. Other structural connection relationships are the same as those in the fourth embodiment.

The seventh embodiment: in the present embodiment, the foot robot for repairing the heat transfer tubes of the multi-specification steam generator is described with reference to fig. 20, the lifting toe module 18 includes 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 housing 28 and a plurality of limiting columns 29; the toe lifting cylinder 22 is installed on the upper end surface of the lifting toe fixing seat 26 through a bolt, one air pipe joint 25 is installed at the lower end of the lifting toe fixing seat 26 and communicated with one end of the toe lifting cylinder 22, the other air pipe joint 25 is installed on the side wall of the toe lifting cylinder 22 and communicated with the other end of the toe lifting cylinder 22, the toe lifting piston 21 is installed in the toe lifting cylinder 22, the lifting movement is realized through the air passage control, a plurality of limiting columns 29 are arranged at the upper part of the toe module 19, and passes through the lifting toe housing 28 together with the extended toes, the toe lifting 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 lifting piston 21 is fixedly connected with the toe lifting piston seat 20, the lifting toe housing 28 is arranged on the upper part of the lifting toe fixing seat 26, and the toe module 19 and the toe lift cylinder 22 are disposed inside the lift toe housing 28. Other structural connection relationships are the same as those in the fourth embodiment.

In the present embodiment, an air pipe joint 25 is installed at the upper part of the toe-lifting cylinder 22 for realizing the toe-lowering movement. An air pipe joint 25 is arranged at the bottom of the lifting toe fixing seat 26 and is used for realizing toe lifting movement. Through holes are left in the lifting toe fixing base 26 and the toe lifting piston base 20 for passing the air tube 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 limitation without fixation. The limiting column 29 is arranged above the toe module 19 and used for limiting the lifting motion of the toe module 19, and tapping is carried out on the limiting column 29 and the shell of the toe module 19 for connection and fixation.

The specific implementation mode is eight: in the present embodiment, the operation arm module 3 includes an operation arm-joint housing 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; the first operation arm joint end cover 31 is covered on the first operation arm joint shell 30, an L-shaped cavity is arranged in the first operation arm joint end cover 31 and the first operation arm joint shell 30, one end of the L-shaped cavity is fixedly connected with the output end of the shoulder joint motor module 8, the elbow joint motor module 32 is arranged at the other end of the L-shaped cavity, the pneumatic quick-change connector male head 33 is arranged at the output end of the elbow joint motor module 32, the pneumatic quick-change connector female head 34 is arranged on the tool module 35, and the pneumatic quick-change connector female head 34 is arranged on the pneumatic quick-change connector male head 33. Other structural connection relations are the same as those of the first embodiment.

In this embodiment, the female pneumatic quick-change connector 34 is fixedly connected to the male pneumatic quick-change connector 33 to enable quick replacement of different tool modules 35. The tool module 35 can be customized according to different maintenance functions, including vortex scanning, pipe plugging maintenance work functions.

The specific implementation method nine: in the present embodiment, the foot robot for repairing the heat transfer tubes of the multi-specification steam generators is described with reference to fig. 20, the lifting toe module 18 further includes a toe lifting piston seal ring 23, a toe lifting piston rod seal ring 24 and an end face seal 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 part 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 surface sealing ring 27 is installed between the toe lifting cylinder 22 and the lifting toe fixing seat 26. The toe lifting piston sealing ring 23 is in close contact with the toe lifting cylinder 22 to realize gas sealing, the toe lifting piston rod sealing ring 24 is in close contact with the toe lifting piston 21 to realize gas sealing, and the end surface sealing ring 27 is arranged between the toe lifting cylinder 22 and the lifting toe fixing seat 26 to realize gas sealing. Other structural connections are the same as in the eighth embodiment.

The detailed implementation mode is ten: the present embodiment is described with reference to fig. 1 to 10, and the present embodiment provides a legged robot for overhauling heat transfer tubes of a multi-specification steam generator, where the base module 1 further includes 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 end 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, and the output end of the hip joint motor module passes through the upper base box cover 5, the 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 the hip joint motor module passes through the lower base box cover 6. The base case 4 is fixed to the base upper case cover 5 and the base lower case cover 6 by bolts and pins, and is required to bear a certain load, and therefore, reinforcing ribs are provided inside. The hip joint motor module 7 and the shoulder joint motor module 8 both adopt hollow output shafts, and circuits can penetrate through the hollow output shafts. Other structures are connected in the same manner as in the first embodiment.

Principle of operation

The present invention has 6 single freedom motion actions, 3 kinds of linkage actions with small freedom and 6 kinds of linkage actions with multiple freedom for working.

The single degree of freedom motion of the invention comprises hip joint swing: rotational movement between the leg module 2 and the base module 1; the knee joint swings: rotational movement between the first leg joint module 9 and the second leg joint module 10; toe rotation: rotational movement between the leg two joint module 10 and the lifting toe module 18; lifting toes: a lifting movement between the leg two-joint module 10 and the toe module 19; swinging of the shoulder joint: rotational movement between the jib module 3 and the base module 1; the elbow joint swings: rotational movement between the tool module 35 and the work arm-joint housing 30.

The action principles of 6 single-degree-of-freedom motions of the invention are respectively explained:

the hip joint swings and is driven by a 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 shell of the knee joint motor module 11 is fixed in the first leg joint module 9, and the output end of the knee joint motor module 11 is fixed with the second leg joint module 10. The rotation of the motor can drive the whole rotation of the two-joint module 10 of the leg.

The rotational degree of freedom of the toes is a passive degree of freedom, two thin-wall bearings 16 are arranged between the two-joint shell 14 of the leg and the lifting toe module 18, and when the lifting toe module 18 is fixed, the swinging of the hip joint and the knee joint of the leg module 2 can enable the two-joint shell 14 of the leg to perform passive rotational motion.

The toes rise and fall through air drive. A toe-lifting cylinder 22 and a toe-lifting piston 21 are provided at the bottom of the lifting toe module 18. The toe-raising/lowering piston 21 is pneumatically controlled to perform a raising/lowering motion in the toe-raising/lowering cylinder 22. The toe lifting piston 21 is connected with the toe module 19, and drives the toe module 19 to move up and down together when the toe lifting piston 21 moves up and down.

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 operation arm module 3. The whole rotation of the operation arm module 3 can be driven through the rotation of the motor.

The elbow joint swings, and is driven through elbow joint motor module 32, and the shell of elbow joint motor module 32 is fixed in operation arm a joint shell 30, and the output of elbow joint motor module 32 is fixed with instrument module 35 through connecting pneumatic quick change coupler male head 33 and pneumatic quick change coupler female head 34. The tool module 35 can be rotated integrally by the motor.

The 3 basic movements of the invention are combined by the movements of the above-mentioned 6 single degree of freedom movements, including leg swing: the leg module 2 is moved from one fixed position to the next; base movement: the base module 1 moves from one fixed position to the next; the operation arm swings: the end working portion of the tool module 35 is moved from one location to another.

The working principles of the 3 basic actions of the present invention are explained separately:

the leg swings and is driven by the hip joint motor module 7 and the knee joint motor module 11. The hip joint motor module 7 can rotate to drive the whole leg module 2 to swing, and meanwhile, the knee joint motor module 11 can rotate to drive the leg two-joint module 10 to swing relative to the leg one-joint module 9, so that the two-dimensional positioning motion of the leg module 2 in a plane space is realized.

The motion of the base is formed by linkage motion of more than two fixed leg modules 2, when toe modules 19 of the two leg modules 2 extend into tube holes of a heat transfer tube and are tightly gripped, the toe modules 19 are fixed in the heat transfer tube and form a 2-RRR parallel robot with the base module 1, and at the moment, the leg modules 2 fixed by the two toe modules 19 swing according to a kinematics model to drive the base module 1 to move and rotate. Likewise, a 3-RRR parallel robot would be formed when the toe modules 19 of three leg modules 2 are secured, and a 4-RRR parallel robot would be formed when the toe modules 19 of four leg modules 2 are secured. Because the three-degree-of-freedom planar parallel robot can move freely only by 3 driving modules, and the two leg modules 2 have 4 driving motor modules in total, the formed 2-RRR, 3-RRR and 4-RRR parallel robots have enough driving modules to enable the base module 1 to move in three degrees of freedom in a plane, including two translational degrees of freedom and one rotational degree of freedom.

The 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 whole working arm module 3, and the rotation of the elbow joint motor module 32 can drive the swing of the tool module 35, so that the two-dimensional positioning motion of the tool module 35 in the plane space is realized.

The 5 working states of the invention are formed by the combination of the 3 linkage actions with a small degree of freedom, and comprise a static state: the 4 leg modules 2 are all fixed; the three feet support the walking state: any 3 leg modules 2 are fixed, and one leg module 2 swings; the double feet support the walking state: any two leg modules 2 form a group, and the two groups of leg modules 2 are in walking states of alternately fixing and swinging; tool positioning state: movement of the base module 1 and the work arm module 3 in linkage to position the tool module 35 to a specified position; maintenance state: the tool module 35 waits a period of time after being positioned at the designated location for the tool to be serviced.

The working principle of 5 working states of the invention is explained respectively:

in the static state, the toes of the 4 leg modules 2 are all inserted into the heat transfer pipe holes and fixed, and the base module 1 does not move, and the work arm module 3 does not move. The static state can be converted into a three-foot supporting walking state, a two-foot supporting walking state and a tool positioning state, and can also return to the static state from the three-foot supporting walking state, the two-foot supporting walking state and the tool positioning state.

The three-foot supporting walking state comprises leg swinging movement of one leg module 2 and base movement of the base module 1 under the 3-RRR configuration parallel robot, and the movement can be 0, namely the state is static. Toe modules 19 of the 3 leg modules 2 are inserted into pipe holes of the heat transfer pipe and fixed, one leg module 2 swings, the base module 1 can perform base movement, the operation arm module 3 can perform obstacle avoidance movement according to the obstacle condition, and the leg modules 2 and external obstacles belong to obstacles of the operation arm module 3. The mode of adjusting from the static state to the three-foot supporting walking state is as follows: the toe module 19 of the leg module 2 which needs to swing is loosened from the heat transfer pipe hole, the toe lifting piston 21 performs descending motion under pneumatic control, so as to drive the toe module 19 to exit from the heat transfer pipe hole, and at this time, the leg module 2 can perform leg swinging motion, and the base module 1 can perform base motion. The mode of adjusting from the three-foot supporting walking state to the static state is as follows: the base module 1 is stationary after moving to a designated position through base movement, after the swinging leg module 2 moves to the designated position, the toe module 19 is inserted into the pipe hole of the heat transfer pipe under the driving of the toe lifting piston 21, and then the toe module 19 grasps the pipe hole for fixing. The three-foot supporting walking state can also be transited to a two-foot supporting walking state and a tool positioning state.

The biped walking state comprises 2 leg swinging motions of the leg module 2 and base motions of the base module 1 under the parallel robot with the 2-RRR configuration, and the motions can be 0, namely the static state under the state. Toe modules 19 of 2 leg modules 2 are inserted into pipe holes of the heat transfer pipe and fixed, the other 2 leg modules 2 swing, the base module 1 can perform base movement, the operation arm module 3 can perform obstacle avoidance movement according to the obstacle condition, and the leg modules 2 and external obstacles belong to obstacles of the operation arm module 3. The swinging leg modules 2 can be distributed along the diagonal line or along the same edge, and the base module 1 has different motion ranges and different walking performances according to different choices. The mode of adjusting from the static state to the biped supporting walking state is as follows: the toe modules 19 of any two leg modules 2 are loosened from the heat transfer pipe holes, the toe lifting pistons 21 make descending movement under pneumatic control, so that the toe modules 19 are driven to exit from the heat transfer pipe holes, at the moment, the leg modules 2 can make leg swinging movement, and meanwhile, the base module 1 can also make base movement, but the stress of the fixed toe modules 19 needs to be considered in the transition, so that the proper leg modules 2 need to be selected to swing under certain conditions. The mode of adjusting from the biped supporting walking state to the static state is as follows: the base module 1 is stationary after moving to a designated position through base movement, after the swinging leg module 2 moves to the designated position, the toe module 19 is inserted into the pipe hole of the heat transfer pipe under the driving of the toe lifting piston 21, and then the toe module 19 grasps the pipe hole for fixing. The mode of adjusting from the three-foot supporting walking state to the two-foot supporting walking state is as follows: one of the leg modules 2 fixed by the 3 toe modules 19 is selected to enable the toe module 19 to be loosened from a heat transfer pipe hole, the toe lifting piston 21 is controlled pneumatically to move downwards, so that the toe module 19 is driven to be withdrawn from the heat transfer pipe hole, at the moment, the two leg modules 2 can perform leg swinging movement, and meanwhile, the base module 1 can also perform base movement. The mode of adjusting from the biped supporting walking state to the tripodia supporting walking state 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 a pipe hole of the heat transfer pipe, then the toe module 19 grasps the pipe hole to be fixed, and at the moment, the remaining leg module 2 can perform leg swinging movement, and the base module 1 can perform base movement. The biped support walking state can also be transited to the tool positioning state.

In the tool positioning state, the toes of 2 or more leg modules 2 are inserted into the holes of the heat transfer pipe and fixed, the base module 1 performs base movement, and the work arm module 3 moves, so that the tool module 35 is positioned at a position to be repaired. The tool positioning state can be converted into other working states, and the other working states can also be returned to the tool positioning state. The way of adjusting from the rest state to the tool positioning state is: the base module 1 performs base motion in a 4-RRR parallel robot configuration, and the work arm module 3 swings to position the tool module 35 to a location to be overhauled. The adjustment from the tool positioning state to the rest state is carried out in the following manner: the base module 1 stops moving and the jib module 3 stops moving. The mode of adjusting from the three-foot supporting walking state to the tool positioning state is as follows: the swinging leg module 2 stops moving, the base module 1 performs base movement under the 3-RRR parallel robot configuration, and the work arm module 3 swings to position the tool module 35 to the position to be overhauled. The mode of adjusting from the tool positioning state to the three-foot supporting walking state is as follows: the work arm module 3 stops moving and the leg module 2, to which the toe module 19 is not fixed, continues to swing and the base module 1 continues the base movement. The mode of adjusting from the biped supporting walking state to the tool positioning state is as follows: the 2 swinging leg modules 2 stop moving, the base module 1 performs base movement under the configuration of a 2-RRR parallel robot, and the working arm module 3 swings to position the tool module 35 to a position to be overhauled. The mode of adjusting from the tool positioning state to the biped supporting walking state is as follows: the work arm module 3 stops moving, the two leg modules 2 with the toe module 19 unsecured continue swinging and the base module 1 continues the base movement.

In the maintenance state, the toes of 2 or more leg modules 2 are inserted into the heat transfer pipe holes and fixed, and the tool module 35 is positioned to a predetermined position for maintenance work. The leg module 2, to which the toe module 19 is not fixed, can also perform a swinging movement at this time; the base module 1 and the working arm module 3 can move or be static; during movement, the movement of the two modules needs to be matched with each other to ensure that the position of the tool module 35 cannot be changed, and because the operation arm module 3 has two degrees of freedom, planar two-degree-of-freedom positioning can be performed, so that when the base module 1 moves within a certain range, the position of the tool module 35 cannot be changed through the movement of the operation arm module 3. In the maintenance state, various working states except the tool positioning state can be performed. Realizing a static state in a maintenance state: all toe modules 19 of the four leg modules 2 are inserted into heat transfer pipe holes and fixed, and the base module 1 and the work arm module 3 are stationary. The three-foot supporting walking state is realized in the maintenance state: the toe modules 19 of any three leg modules 2 are fixed in the heat transfer tube holes, and one leg module 2 swings, requiring the working arm module 3 to move in coordination with each other when the base module 1 moves, to ensure that the position where the tool module 35 is positioned does not change. The double-foot supporting walking state is realized in the maintenance state: the toe modules 19 of any two leg modules 2 are fixed in the heat transfer tube holes, and the other two leg modules 2 swing, so that the working arm module 3 needs to move in cooperation when the base module 1 moves, so as to ensure that the position where the tool module 35 is positioned cannot be changed. In the maintenance state, switching of various working states except the tool positioning state and the maintenance state can be realized, and the switching mode is consistent with the above. The mode of adjusting from the tool positioning state to the maintenance state is as follows: the position of the tool module 35 is guaranteed not to be changed, and the tool module 35 can be maintained. The mode of adjusting from the maintenance state to the tool positioning state is as follows: the arm module 3 and the base module 1 are moved so that the tool module 35 is positioned in a predetermined working position.

The flexible crawling movement of the invention on the SG tube plate is realized by the alternate combination of the static state, the three-foot supporting walking state and the two-foot supporting walking state, and simultaneously, the swinging movement of the leg module 2 is continuous, so that the relative position between each toe module 19 can have the capability of adapting to the SG tube plate of any model; similarly, the position of the tool module 35 can be continuously changed through the tool positioning state and the maintenance state, so that the tool module has the capability of adapting to any model SG tube plate, and the flexible positioning of maintenance tools on any model SG tube plate can be realized. In conclusion, the invention has higher movement flexibility and operation efficiency, and has stronger self-adaptive capacity when facing SG tube plates of different models.

Claims

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.