CN114379670B - Foot type robot for overhauling heat transfer tubes of multi-specification steam generators - Google Patents
Foot type robot for overhauling heat transfer tubes of multi-specification steam generators Download PDFInfo
- Publication number
- CN114379670B CN114379670B CN202210079518.3A CN202210079518A CN114379670B CN 114379670 B CN114379670 B CN 114379670B CN 202210079518 A CN202210079518 A CN 202210079518A CN 114379670 B CN114379670 B CN 114379670B
- Authority
- CN
- China
- Prior art keywords
- module
- toe
- leg
- joint
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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
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 increasing prominence of energy and environmental problems, nuclear power is widely regarded by countries all over the world by the characteristics of environmental protection, cleanness, stability and relative safety, and a pressurized water reactor unit structure realizes the heat energy exchange of a primary loop and a 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 devices of the secondary loop are not 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. High-performance steam generator heat transfer tube overhaul robots such as PEGASYS and ROSA-III, ZR100 and SM-23G are developed at present, and China depends heavily on foreign products in related fields, so that the design and manufacture of more excellent SG heat transfer tube overhaul robot equipment with independent intellectual property rights have 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 models of tube plates is still low due to the fixed configuration of the robot.
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:
1. 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.
2. The invention has 18 motion degrees of freedom, wherein 10 active continuous motion degrees of freedom and 4 passive continuous motion degrees of freedom are provided, and the 10 active motion degrees of freedom 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.
3. 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.
4. 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.
5. The invention relates to a plane hybrid robot, wherein the parallel part can realize the motion of any position and attitude of three degrees of freedom of a plane, the series part has two degrees of freedom and can realize the positioning motion of two degrees of freedom of the plane, so that the plane hybrid robot has high redundancy, can realize the movement while the positioning operation of a tool, and greatly improves the operation efficiency.
6. The invention arranges the lifting freedom degree at the tail end of the leg part, so that the movement of the toes entering and exiting the pipe holes is only related to the tail end of the leg part, thereby not influencing the integral movement, ensuring that the integral structure is always in the same plane, and greatly reducing the influence of the inertia force generated by the movement on the control and the pipe plate.
7. 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.
8. The invention has clear design of freedom of movement, and the driving part, the transmission part and the corresponding control part of each freedom of movement are designed and installed in a centralized way, thereby being beneficial to the modularized upgrade of the movement function structure and being convenient for daily use, maintenance, disassembly and assembly.
Drawings
Fig. 1 is 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 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 isbase:Sub>A view from directionbase:Sub>A-base:Sub>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 work arm module of the present invention.
Fig. 24 is a view from E-E in fig. 23.
Detailed Description
The first specific implementation way 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, a leg module 2 of the present embodiment, which is a legged robot for repairing heat transfer tubes of a multi-specification steam generator, 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 is as follows: 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 face of a lifting toe fixing seat 26 through bolts, one air pipe joint 25 is installed 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 installed on the side wall of the cylinder body of the toe lifting cylinder 22 and is communicated with the other end of the toe lifting cylinder 22, the toe lifting piston 21 is installed in the toe lifting cylinder 22 and achieves lifting motion through air passage control, a plurality of limiting columns 29 are installed on the upper portion of a toe module 19 and penetrate through a lifting toe shell 28 together with extending toes, the toe lifting piston seat 20 is fixedly installed on the bottom end of the toe module 19 through 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 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. 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 installed at the other end of the L-shaped cavity, the pneumatic quick-change connector male head 33 is installed at the output end of the elbow joint motor module 32, the pneumatic quick-change connector female head 34 is installed on the tool module 35, and the pneumatic quick-change connector female head 34 is installed 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 operation 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 actions of the invention are formed by combining the actions of the 6 single-degree-of-freedom motions, and comprise 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 operation 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 a 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: all 4 leg modules 2 are 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 according to different selections, the motion range of the base module 1 is different, and the walking performance is different. 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 movements in a 4-RRR parallel robot configuration, and the work arm module 3 swings to position the tool module 35 to the location to be serviced. 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 with the unfixed toe module 19 continues to swing and the base module 1 continues to perform 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 with the toe module 19 not fixed can also perform a swinging movement; 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 (7)
1. A foot type robot for overhauling heat transfer tubes of multi-specification steam generators 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); the method is characterized in that: the leg module (2) comprises a leg joint module (9) and a leg joint module (10); 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 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); four hip joint motor modules (7) are arranged at the upper end of a base box body (4), a shoulder joint motor module (8) is arranged at the bottom end of the base box body (4), the top output end of each hip joint motor module (7) is respectively connected with a leg module (2), the bottom output end of each shoulder joint motor module (8) is fixedly connected with an operation arm module (3), one end of a leg first joint module (9) is fixedly connected with the top output end of the hip joint motor module (7), the other end of the leg first joint module (9) is connected with the fixed end of a leg second joint module (10), a leg first joint cover plate (13) is covered on a leg first joint shell (12), a first L-shaped cavity is arranged in the leg first joint cover plate (13) and the leg first joint shell (12), a knee joint motor module (11) is fixedly arranged at one end of the first L-shaped cavity, the side wall of the other end of the first L-shaped cavity is fixedly arranged at the top output end of the hip joint motor module (7), a leg second joint cover plate (15) is covered on the leg second joint shell (14), a toe lifting and a second lifting module (18) is arranged at the end close to a second lifting bearing (18), the other end of the second L-shaped cavity is connected with the other end of the leg-joint module (9).
2. The foot robot for servicing the heat transfer tubes of the multi-specification steam generator according to claim 1, wherein: shaft shoulders are respectively machined at the top end and the bottom end of the lifting toe module (18), and a thin-wall bearing (16) is respectively installed on each shaft shoulder.
3. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 1, further comprising: 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 a second L-shaped cavity of the second leg joint module (10).
4. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 1, further comprising: 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); the toe lifting mechanism comprises a toe lifting cylinder (22) which is installed on the upper end face of a 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), a toe lifting piston (21) is installed in the toe lifting cylinder (22) and achieves lifting movement through air passage control, a plurality of limiting columns (29) are installed on the upper portion of a toe module (19) and penetrate through a lifting toe shell (28) together with extending toes, the toe lifting piston seat (20) is fixedly installed on the bottom end of the toe module (19) through a bolt, 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).
5. The foot robot for servicing the heat transfer tubes of the multi-specification steam generator according to claim 1, wherein: 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); the first operation arm joint end cover (31) is covered on the first operation arm joint shell (30), a third 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 third L-shaped cavity is fixedly connected with the output end of the shoulder joint motor module (8), the elbow joint motor module (32) is installed at the other end of the third L-shaped cavity, the pneumatic quick-change connector male head (33) is installed at the output end of the elbow joint motor module (32), the pneumatic quick-change connector female head (34) is installed on the tool module (35), and the pneumatic quick-change connector female head (34) is installed on the pneumatic quick-change connector male head (33).
6. The legged robot for servicing heat transfer tubes of a multi-specification steam generator of claim 1, further comprising: 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).
7. 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 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), the output end of each hip joint motor module penetrates through the upper base box cover (5) to be arranged, an 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210079518.3A CN114379670B (en) | 2022-01-24 | 2022-01-24 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210079518.3A CN114379670B (en) | 2022-01-24 | 2022-01-24 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114379670A CN114379670A (en) | 2022-04-22 |
| CN114379670B true CN114379670B (en) | 2022-12-20 |
Family
ID=81203251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210079518.3A Active CN114379670B (en) | 2022-01-24 | 2022-01-24 | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114379670B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010006812A1 (en) * | 2008-07-18 | 2010-01-21 | Sensodrive Gmbh | Joint arm robot with u shaped base |
| CN207536013U (en) * | 2017-10-30 | 2018-06-26 | 皖西学院 | A kind of leg mechanism of robot |
| CN109968363A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of heat-transfer pipe maintenance multi-foot robot |
| CN110015354A (en) * | 2019-02-03 | 2019-07-16 | 王成 | Voluntarily judge the climbing robot running gear of working condition |
| CN111409732A (en) * | 2020-04-03 | 2020-07-14 | 天津理工大学 | Modularized multi-foot crawling robot |
-
2022
- 2022-01-24 CN CN202210079518.3A patent/CN114379670B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010006812A1 (en) * | 2008-07-18 | 2010-01-21 | Sensodrive Gmbh | Joint arm robot with u shaped base |
| CN207536013U (en) * | 2017-10-30 | 2018-06-26 | 皖西学院 | A kind of leg mechanism of robot |
| CN109968363A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of heat-transfer pipe maintenance multi-foot robot |
| CN110015354A (en) * | 2019-02-03 | 2019-07-16 | 王成 | Voluntarily judge the climbing robot running gear of working condition |
| CN111409732A (en) * | 2020-04-03 | 2020-07-14 | 天津理工大学 | Modularized multi-foot crawling robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114379670A (en) | 2022-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101642906B (en) | Multi-stage telescopic redundant manipulator | |
| CN112873266B (en) | Humanoid robot and two-degree-of-freedom modularized humanoid robot joint thereof | |
| CN109176455A (en) | More mechanical arm quadruped robots | |
| CN107443173A (en) | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe | |
| CN110395414A (en) | A kind of robot of space-oriented maintenance activity | |
| CN108638051A (en) | A kind of high protection bispin articulated robot | |
| CN113319827A (en) | Five-degree-of-freedom complete parallel machining robot | |
| CN114379670B (en) | Foot type robot for overhauling heat transfer tubes of multi-specification steam generators | |
| CN209175757U (en) | A kind of five shaft industrial robots | |
| CN108340366A (en) | A kind of built-in full face rock tunnel boring machine tool changing robot airframe structure | |
| CN112918583A (en) | Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof | |
| CN207127626U (en) | A kind of big stroke with restructural characteristic, high rigidity serial-parallel mirror lathe | |
| CN210942316U (en) | Robot for space maintenance operation | |
| CN112476412A (en) | Four-degree-of-freedom robot | |
| CN109531552B (en) | Two-degree-of-freedom pure rotation parallel mechanism | |
| CN113738999B (en) | Robot for overhauling heat transfer tube of steam generator | |
| CN214823733U (en) | Pipeline inner wall four-foot wall-climbing robot | |
| CN106625591A (en) | Five-degrees-of-freedom parallel mechanism achieving three-degrees-of-freedom translational motion and two-degrees-of-freedom rotational motion | |
| CN108665986B (en) | Crawling robot for heat transfer pipe plate of evaporator | |
| KR20240048245A (en) | Articulated robot and orthogonal moving work | |
| CN215471105U (en) | Mechanical arm for space station load on-track maintenance | |
| CN113752934B (en) | Layer-moving type large-stroke six-degree-of-freedom heavy-load installation vehicle | |
| CN115591708A (en) | Multi-shaft rotating arm robot intelligent spraying system | |
| CN211137149U (en) | Multi-joint offset high-integration seven-axis cooperative robot | |
| CN110238828B (en) | Novel metamorphic parallel robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |