CN114914873B - Traversing arrangement and trailer bearing device for nested moving cables of track walking robot - Google Patents
Traversing arrangement and trailer bearing device for nested moving cables of track walking robot Download PDFInfo
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- CN114914873B CN114914873B CN202210412266.1A CN202210412266A CN114914873B CN 114914873 B CN114914873 B CN 114914873B CN 202210412266 A CN202210412266 A CN 202210412266A CN 114914873 B CN114914873 B CN 114914873B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a crossing arrangement and trailer bearing device for nested moving cables of a track walking robot, and belongs to the technical field of complex flexible cable arrangement in nuclear power equipment. The robot cables penetrate through the wire slots from the inside of the nested moving frames and are converged to one side of the outer frame, and are fixedly carried by the wire-pulling trolley. The robot consists of a multi-layer nested frame mechanism capable of relatively moving, a detection rod and the like, and can move along the circumferential direction, the radial direction and the lifting direction of the nuclear main pump body; when the detection rod detects the hollow bolt, a cable fixed on the robot moves along with the hollow bolt, the cable passes through and is hung on an adjacent nested layer with the minimum relative movement from the end part, the length of the cable is reserved, the cable is converged on one side of the outer frame, one side of the cable-pulling trolley is hinged with the robot and follows, and a cable clamp fixing groove is formed in an upper layer plate part of the cable-pulling trolley and used for placing a fixed cable clamp; the length, the minimum bending radius and the fixed point of the moving cable are calculated by using an elastic slender rod model and a catenary theory, so that cable interference and friction are avoided, the bearing pressure of equipment is reduced, and the running stability is improved.
Description
Technical Field
The invention belongs to the technical field of complex flexible cable arrangement in nuclear power equipment, and particularly relates to a crossing arrangement and trailer bearing device for nested moving cables of a track walking robot.
Background
In order to maintain the normal operation of the nuclear power station, a great deal of design is carried out on nuclear power operation and maintenance special robots at home and abroad. The detection of the hollow bolt of the nuclear main pump is to carry out deep hole operation in a narrow space, and a nondestructive detection technology is adopted to prevent damage to the hollow bolt. When equipment carries out nondestructive test, a support detection platform is required to be arranged, a detection robot for carrying out detection operation is required to carry out nested movement, a power line, a signal line and other cables are used for controlling the operation of the detection robot and follow-up the detection robot, and because the detection robot has a narrow internal space and relative movement among parts, the quantity of external cables is large, the weight is large, and the detection robot is easy to wind. The cable is used as an important part for connecting electrical elements in the electromechanical product, and the rationality and reliability of the arrangement design determine the quality and market competitiveness of the electromechanical product; the arrangement of cables is also a common robot problem.
Because the inside of the robot is provided with the cable which moves relatively, the normal operation of the robot can be interfered, the heavier cable can also influence the pose precision of the robot, and sometimes, the pose and the sweep space of the robot can also be influenced by multiple loads such as wind drift, so that the operation of the robot is influenced; unreasonable cable arrangement leads to excessive turning angles, which may cause mechanical damage to the interior, thereby damaging the insulation layer and causing cable failure; because the cable is also worn out by the cable and the middle joint, the insulation strength is reduced due to moisture invasion, so that faults are caused.
In summary, the reasonable arrangement of the cables and the bearing problem of the external cables are to be solved, which is the key of the stable operation of the robot.
Disclosure of Invention
The invention provides a crossing arrangement and trailer bearing device of a nested moving cable of a track walking robot, which aims at carrying out wire harness simulation calculation on the moving cable by using an elastic slender rod model and a catenary theory and reasonably arranging internal cables by simulating and analyzing the cable actions; the external cable is carried in a concentrated mode through the external follow-up towing trolley, friction of the external cable is avoided, carrying pressure of the robot is relieved, and running stability is improved.
The method is realized by adopting the following technical scheme:
the crossing arrangement and trailer bearing device for the nested moving cables of the track walking robot comprises a robot and a towing trolley, wherein the robot and the towing trolley are movably installed on an annular track platform on a detected object respectively, the robot bears an internal cable, the internal cable penetrates through the robot to be an external cable, and the towing trolley is used for bearing the external cable penetrating through the robot.
The detected object is of a cylindrical barrel structure, such as a nuclear main pump body; the robot selects a detection robot.
Preferably, the structure of the robot is a multi-layer nested frame structure; the multi-layer nested frame structure comprises a circumferential moving trolley frame, a detecting rod lifting track frame, a detecting rod lifting platform, a detecting rod and an outer frame, wherein the circumferential moving trolley frame is arranged on the annular track platform and walks on the annular track platform, the circumferential moving trolley frame walks on the annular track platform through rollers, the outer frame is movably arranged on the circumferential moving trolley frame and moves radially relative to the annular track platform and also moves up and down relative to the annular track platform, the upper part and the bottom of the outer frame are slidably arranged on the circumferential moving trolley frame through sliding rails, the detecting rod lifting track frame is arranged on the outer frame, the detecting rod lifting track frame is fixedly arranged on the outer frame, the detecting rod lifting platform is movably arranged on the detecting rod lifting track frame, the detecting rod lifting platform is slidably arranged on the detecting rod lifting track frame, the detecting rod is movably arranged on the detecting rod lifting platform, the bottom of the detecting rod is rotatably arranged on the detecting rod lifting track frame, and the hollow lifting platform is hollow lifting bolts can be lifted through the detecting rod lifting track frame when the detecting rod lifting platform is hollow;
The internal cables are routed in the robot according to the principle of left-to-right or right-to-left and the principle of adjacent nested structures with minimum relative movement, and when the robot moves, the internal cables cannot cause interference caused by internal cable hooking, obstruction or unreasonable fixed arrangement of the internal cables due to the relative movement of the nested structures on the robot, so that the normal operation of the robot is affected.
The nuclear main pump body is provided with a pump body part (an upper pump body for short) and a motor part (a lower pump body for short), the upper pump body is connected with the lower pump body through a flange by a hollow bolt, and the hollow bolt is provided with a hollow bolt hole.
It should be noted that the detecting rod extending out of the top of the outer frame is sleeved with a water receiving disc, so that the ultrasonic couplant sprayed out of the detecting rod and flowing out along the hollow bolt hole is received by the water receiving disc.
Preferably, a plurality of cable grooves are formed in one side of the outer frame; the inner cable starts from the turnover driving end part of the platform, reserves the wiring length and passes through a cable groove at one side of the outer frame;
The lifting device comprises a circumferential moving trolley frame, a lifting moving plate, an inner cable, a connecting rod, a lifting moving plate and an inner cable, wherein the circumferential moving trolley frame is provided with the lifting moving plate and is used for installing the lifting moving plate of the robot, the lifting moving plate is used for driving the lifting moving plate to lift relative to the circumferential moving trolley frame, further, the circumferential moving trolley frame is provided with a lifting frame lifting screw rod, the lifting moving plate is movably sleeved on the other end of the lifting frame lifting screw rod, then the outer frame is driven to lift relative to the circumferential moving trolley frame, further, the top of the lifting connecting plate is connected with the connecting rod, the top of the connecting rod is connected with the outer frame, the inner cable starts from the lifting driving end of the robot frame and is fixed on the lifting moving plate, the outer frame makes radial small displacement movement relative to the lifting moving plate and the circumferential trolley frame assembly, the radial movement distance between the upper part and the lower part of the outer frame is different, the pitch direction gesture of the outer frame is used for fine adjustment, and the purpose of adjusting the pose of the outer frame is achieved, and then the pose of the detecting rod is adjusted; the length of the inner cable for the displacement is left with allowance; an internal cable connected with the lifting driving end of the robot frame reserves a wiring length between the lifting moving plate and the outer frame and penetrates through a cable groove at one side of the outer frame;
The top of the outer frame is provided with a detection rod lifting platform drive for driving the detection rod lifting platform to lift in the detection rod lifting track frame so as to drive the detection rod to lift, and the inner cable starts from the driving end part of the detection rod lifting platform and passes through a cable groove on one side of the outer frame;
the bottom and the upper part of the outer frame are provided with radial movement drives for driving the outer frame to move radially relative to the annular track platform, and an inner cable connected with the end part of the radial movement drive passes through a cable groove at one side of the outer frame;
when a plurality of the inner cables pass through the cable groove at one side of the outer frame and then form outer cables, the outer cables are converged to the upper part of the outer frame.
Preferably, the detecting rod lifting platform is provided with detecting rod rotation driving for driving the detecting rod to rotate relative to the detecting rod lifting platform, so that the detecting rod can be rotationally detected in the hollow bolt hole when the hollow bolt on the nuclear main pump body is detected; the inner cable connected with the rotation driving end of the detection rod is fixed on the outer side wall of the bottom of the outer frame, the top of the detection rod is also provided with an ultrasonic detection probe for detecting whether the hollow bolt has flaws, the sprayed couplant pipeline connected with the ultrasonic detection probe penetrates out of the bottom of the detection rod and is also fixed at the bottom of the outer frame, the inner cable connected with the rotation driving end of the detection rod is bound into one strand, a fixed point is arranged at the joint fixed position of the outer frame, and the end of the inner cable extends upwards to the outer cable from the outer bottom of the outer frame to be converged into one strand with a plurality of other outer cables.
Preferably, when the detecting rod is in the lifting process, the inner cables are arranged in a simulation mode at the moment, the positions of the fixed points on the outer frame are adjusted through calculation by using the elastic thin rod model, and the optimal positions of the fixed points on the outer frame are finally determined, so that the minimum bending radius of the inner cables in the moving process is not lower than the requirement of the allowable radius of the outer diameter of the inner cables, the tension change of the inner cables at the fixed points is stable, the stress direction of the inner cables of the fixed points faces outwards relative to the lifting track frame of the detecting rod, the stress fluctuation of the inner cables is free from mutation, the stress stability is integrally maintained, and therefore the cables are reasonably arranged and interference with a robot is avoided.
The method of adopting the elastic thin rod model aims at utilizing the elastic thin rod model to carry out simulation analysis on the balance and stability of the cable due to extremely slender and extremely large deformation of the cable, obtaining high-precision nonlinear deformation, obtaining real-time positions through calculation, further obtaining reasonable fixing points of the cable under the movement working condition and carrying out reasonable arrangement.
It should be noted that the theory of the elastic thin rod model can be used to calculate the radius of curvature, and the cable bending radius is determined as follows:
Considering an infinitely small rod between the partial arc lengths between s and s+ds, balanced with the forces and moments of the individual parts of the elastic thin rod, the balanced nonlinear differential equation of the elastic thin rod is:
wherein: f(s) is force, l(s) is moment, n(s) and m(s) are force and moment changes along arc length respectively, and the radius of the cable and the shape change of the elastic slender rod are determined by combining the kinematics, constitutive relation and balance law theorem of the cable.
Preferably, the number of the cable grooves formed in the outer frame is at least three, and the cable grooves are respectively an upper cable groove, a middle cable groove and a lower cable groove, and an upper threading rubber hole cover is movably arranged on the upper cable groove and used for penetrating through an inner cable respectively connected with the lifting drive of the robot frame and the lifting drive of the detection rod lifting platform;
a middle threading rubber hole cover is movably arranged on the middle cable trough and used for penetrating through an inner cable connected with the platform turnover drive;
the lower cable groove is movably provided with a lower threading rubber hole cover which is used for penetrating through an inner cable connected with the radial movement drive.
Preferably, the upper threading rubber hole cover, the middle threading rubber hole cover and the lower threading rubber hole cover are respectively provided with a rubber hole with adjustable diameter, and the rubber holes are used for moving each rubber hole cover to contain cables with small reducing caused by temperature change or cable quality change.
The moving of each rubber hole cover means that each rubber hole cover can move (e.g., slide) and be fixed on each cable slot.
Preferably, the number of the wire-pulling trolleys is one, and the wire-pulling trolleys are connected with one side of the robot, so that the wire-pulling trolleys are in follow-up with the robot to reduce the bearing force of the robot and finally reduce the influence of an external cable on the pose of the robot during movement, and the wire-pulling trolleys are provided with at least one wire clamp for fixing the external cable and analyzing the form of the external cable by using the cable catenary theory to obtain the reasonable length range of the external cable for avoiding interference.
Preferably, the number of the wire-pulling trolleys is multiple, the wire-pulling trolleys are arranged on one side or two sides of the robot, the wire-pulling trolleys arranged on one side or two sides of the robot are connected with the robot at the head and tail, and the wire-pulling trolleys close to the robot are connected with the robot for following the robot so as to reduce the bearing force of the robot and finally reduce the influence of external cables on the pose of the robot during movement, and each wire-pulling trolley is provided with at least one wire clamp for fixing the external cables and analyzing the external cables by using a cable catenary theory to obtain the reasonable length range of the external cables;
The cable catenary theory calculates the cable length as follows: firstly, a plane rectangular coordinate system is established on an annular track platform, wherein the bottom end of a wire slot on the right side of an outer frame is used as a cable fixing point A, a wire clamp arranged on a wire-drawing trolley is used as a cable fixing point B, and the cable fixing point A is used as a cable fixing point AThe cable fixing points B are not equal in height, the external cable naturally sags under gravity, the lowest point Q of the external cable is positioned on the Y axis of the plane rectangular coordinate system, the tangential direction at the point Q is parallel to the X axis of the plane rectangular coordinate system, the external cable in the QA section is taken for analysis, if the lowest point Q of the cable receives horizontal right tension H, one point C is taken in the QA section area, the C receives an oblique upward tension T, the included angle between T and the horizontal direction is set as theta, and the arc length of the rope belt QC in any section is s 0 The mass is m, the QC section is subjected to stress analysis, and the QC section is subjected to stress analysis by the catenary theory, the cable length s and the point A (x 1 ,y 1 )、B(x 2 ,y 2 ) The overall system of catenary length equations may be listed as follows:
wherein: s: the cable length between the fixed points A, B; a:
l: A. a span between two points B; h is a 1 The height between the annular track platform and the cable fixing point A; h is a 2 The height between the annular track platform and the cable fixing point B; finally, a reasonable cable length s between the fixed points A, B is obtained from catenary theory.
Further, all of the above trolley structures are as follows: the wire-pulling trolley comprises a connecting piece, a wire clamp fixing groove, an upper layer plate, a lower layer plate, a double-end stud and a turnover moving trolley;
the upper plate and the lower plate are respectively positioned at the top and the bottom of the annular track platform, the turnover travelling bogie is respectively arranged on the upper plate and the lower plate, parts on the turnover travelling bogie roll on the annular track platform, the turnover travelling bogie is also arranged on the frame of the circumferential travelling bogie, parts on the turnover travelling bogie on the frame of the circumferential travelling bogie roll on the annular track platform, the turnover travelling bogie on the frame of the circumferential travelling bogie is connected with the turnover travelling bogie on the upper plate or the lower plate through a connecting piece, studs are jointly movably sleeved at the edges of the upper plate and the lower plate, a wire clamp fixing groove is formed on the upper plate, and a plurality of wire clamps for fixing external cables respectively from an upper threading rubber hole cover, a middle threading rubber hole cover and a lower threading rubber hole cover are arranged on the wire clamp fixing groove.
The connection relationship between the robot and the towing trolley adopts movable connection such as a revolute pair.
Preferably, the wire clamp comprises a wire clamp shell, a flexible clamping cable movable part and a flexible clamping cable fixed part, wherein the flexible clamping cable fixed part is arranged at the bottom of the wire clamp shell, the flexible clamping cable movable part is movably sleeved on the wire clamp shell, and the flexible clamping cable movable part positioned in the wire clamp shell corresponds to the flexible clamping cable fixed part and is used for fixing an external cable; the bearing weight of the number of the wire clamps is at least the weight of the wire which winds the annular track platform for one circle and is hung on the ground.
Still further, flexible movable part includes clamping bolt, connection metal sheet, goes up the rubber sleeve, flexible fixed part is rubber sleeve down, the one end of fastener shell is equipped with the opening, the opening edge on the line clamp shell is established to the rubber sleeve down, clamping bolt activity cup joints on the fastener shell, the connection metal sheet is installed on stretching into fastener shell open-ended clamping bolt tip, go up the rubber sleeve and install in the bottom of connecting the metal sheet, and with rubber sleeve corresponds down, the opening part between last rubber sleeve and lower rubber sleeve is placed to outside cable.
By adopting the scheme, the lower end of the wire clamp shell is arranged at the opening between the upper rubber sleeve and the lower rubber sleeve, the external cable passes through the space between the upper rubber sleeve and the lower rubber sleeve, the connecting metal plate is driven to move towards the direction of the lower rubber sleeve by rotating the clamping bolt above, then the upper rubber sleeve is driven to move towards the direction of the lower rubber sleeve, then the opening distance between the upper rubber sleeve and the lower rubber sleeve is reduced, and then the external cable is fixed.
The detection robot is respectively provided with an R1 pair for detecting the circumferential movement of the robot around the nuclear main pump body, a P2 pair for detecting the radial movement of the robot, a P3 pair for detecting the lifting movement of the outer frame of the robot, a P4 pair for detecting the lifting movement of the rod, an R5 pair for detecting the autorotation movement of the rod, a driving R1 pair and a P2 pair, a position in a horizontal plane of the detection rod is adjusted, a driving P3 pair can adjust the height of the water receiving tray, and the ultrasonic couplant is well collected and surrounding obstacles are avoided; and driving the P4 pair and the R5 pair to realize scanning of the detection rod.
The beneficial effects are that:
the inner cables penetrate through the multi-layer nested frame structure to form outer cables and are converged to one side of the outer frame, the outer cables are fixedly borne by the towing trolley, the minimum bending radius and the fixed point of the moving wire harness are calculated by using an elastic slender rod model and a catenary theory, the interference and friction of the cables are avoided, the influence of multi-field loads such as bearing pressure and wind resistance drift of the robot is reduced, the occurrence of insulation performance reduction of the cables caused by moisture invasion is avoided, and the running stability of the robot is improved;
the elastic thin rod model is used as a motion simulation analysis method for the arrangement of the internal cables, so that the minimum bending radius of the cables, the tensile force at a fixed point and the interference with other parts in the motion process are checked, the stress direction of the fixed point is made to face to the outer side, the cable friction is avoided, the accidents such as interference and winding are reduced, the occurrence of faults in the detection process is reduced, the detection process is smoother, the running stability is ensured, the reasonable length range of the cables is obtained, and a feasible internal cable arrangement scheme is obtained;
The external cable arrangement carries the external cable through the cable pulling trolley, and the external cable is analyzed by using a cable catenary theory, so that a reasonable length range of the cable is obtained, and a feasible external cable arrangement scheme is obtained;
the cable-pulling trolley is arranged, so that the weight of the cable hung on the robot can be greatly reduced, the external cable is reasonably arranged, and the problems of contact, winding and the like of the cable and the annular track platform are avoided.
Drawings
FIG. 1 is a schematic diagram of an overall cable after an inner cable is routed, an outer cable and a trolley are fixedly carried;
FIG. 2 is a schematic diagram of a structure of a detection robot and a schematic diagram of a relative motion of a multi-layered frame structure of the detection robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an arrangement of internal cables in a detection robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a mechanism of a inspection robot in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of the internal cables of the inspection robot with the inspection bar at the bottommost end in accordance with the embodiment of the present invention;
FIG. 6 is a schematic view of the internal cables of the inspection robot with the inspection bar at the top end in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a detection robot mounted on a nuclear main pump body and detecting a hollow bolt in an embodiment of the present invention;
FIG. 8 is a diagram illustrating a minimum bend radius change of an internal cable during a motion process of a detection robot according to an embodiment of the present invention;
FIG. 9 is a schematic diagram showing the change of the tension of the internal cable at the fixed point of the inspection robot during the movement of the inspection robot according to the embodiment of the present invention;
FIG. 10 is a schematic diagram of the positions of a wire slot and a threading rubber hole cover on a detection robot according to an embodiment of the invention;
FIG. 11 is a schematic illustration of an external cable carrying arrangement without a trolley in accordance with an embodiment of the present invention;
FIG. 12 is a schematic view of an external cable carrying arrangement by a trolley in accordance with an embodiment of the present invention;
FIG. 13 is a schematic diagram of a towing trolley in an embodiment of the present invention;
FIG. 14 is a schematic view of a wire clip according to an embodiment of the present invention;
fig. 15 is a schematic diagram illustrating external cable stress analysis according to an embodiment of the present invention.
In the figure: the device comprises a 1-nuclear main pump body, a 2-detection robot, 201-detection rods, 202-outer frames, 203-detection rod lifting track frames, 204-detection rod lifting platforms, 205-sliding rails, 206-circumferential moving trolley frames, 207-lifting frame lifting screws, 208-lifting moving plates, 209-connecting rods, 210-water receiving plates, 211-upper cable grooves, 212-middle cable grooves, 213-lower cable grooves, 214-upper threading rubber hole covers, 215-middle threading rubber hole covers, 216-lower threading rubber hole covers, 217-fixed points, 3-inner cables, 4-annular track platforms, 5-towing trolleys, 501-connecting pieces, 502-wire clamp fixing grooves, 503-upper plates, 504-lower plates, 505-double studs, 506-turnover moving trolleys, 6-outer cables, 7-flange connection hollow bolts, 701-flange connection hollow bolt deep long holes, 8-wire clamps, 801-clamping bolts, 802-wire clamp housings, 803-connection metal plates, 804-upper rubber sleeves, 805-lower rubber sleeves, outer frame wire bus tie-down points and bus cable bus tie-down points on one side of the outer frames.
Detailed Description
The invention will be further described with reference to the following embodiments in order to make the technical means, the creation features, the achievement of the objects and the effects of the invention easy to understand.
Example 1
As shown in fig. 1-15, the traversing arrangement and trailer bearing device of the nested moving cables of the track walking robot comprises a detection robot 2 and a towing trolley 5 which are movably installed on an annular track platform 4 on a nuclear main pump body 1 respectively, wherein the detection robot 2 bears an inner cable 3, the inner cable 3 traverses the detection robot 2 to form an outer cable 6, and the towing trolley 5 is used for bearing the outer cable 6 traversed from the detection robot 2.
It should be noted that, the internal cable 3 is carried by the inspection robot 2 itself; the external cable 6 is carried by the trolley 5.
The structure of the detection robot 2 is a multi-layer nested frame structure; the multi-layer nested frame structure comprises a circumferential moving trolley frame 206, a detecting rod lifting track frame 203, a detecting rod lifting platform 204, a detecting rod 201 and an outer frame 202, wherein the circumferential moving trolley frame 206 walks on the annular track frame 4 through rollers, the upper part and the bottom of the outer frame 202 are slidably mounted on the circumferential moving trolley frame 206 through sliding rails 205, the detecting rod lifting track frame 203 is mounted on the outer frame 202 and moves radially relative to the annular track frame 4 and also moves up and down relative to the annular track frame 4, the detecting rod lifting track frame 203 is fixedly mounted on the outer frame 202, the detecting rod lifting platform 204 is slidably mounted on the detecting rod lifting track frame 203, the bottom of the detecting rod 201 is rotatably mounted on the detecting rod lifting platform 204, and lifting is realized on the detecting rod lifting track frame 203 through the detecting rod lifting platform 204, so that when hollow bolts 7 on a nuclear main pump body 1 are detected, the inner lifting of the detecting rod 201 can be detected through the hollow bolts 7 (the hollow pump body 1 is provided with upper and lower hollow pump bodies 7 through the hollow bolts, and the hollow pump body 7 are connected with the hollow pump bodies 7);
The internal cables 3 are routed inside the detection robot 2 according to the principle of left-to-right or right-to-left and the principle of adjacent nested structures with minimal relative movement, and when the detection robot 2 moves, the internal cables 3 cannot hook, obstruct the internal cables 3 or interfere caused by unreasonable fixed arrangement of the internal cables 3 due to the relative movement of the nested structures on the detection robot 2, so that the normal operation of the detection robot 2 is affected.
It should be noted that, the detection rod 201 extending out of the top of the outer frame 202 is sleeved with the water pan 210, so that the ultrasonic couplant ejected from the detection rod 201 and flowing out along the hollow bolt hole 701 is received by the water pan 210.
A plurality of cable grooves are formed in one side of the outer frame 202; the peripheral moving trolley frame 206 is provided with an outer frame lifting and radial driving device for driving the outer frame 202 to lift in a large stroke relative to the peripheral moving trolley frame 206 and to move in a small radial displacement relative to the annular track platform 4, and the inner cable 3 starts from the peripheral driving end of the platform, reserves the wiring length and passes through a cable slot at one side of the outer frame 202;
the lifting moving plate 208 is arranged on the circumferential moving trolley frame 206 and used for installing the lifting driving of the detecting robot frame, the lifting driving of the detecting robot frame is used for driving the lifting moving plate 208 to lift relative to the circumferential moving trolley frame 206, furthermore, the lifting moving plate 208 is movably sleeved on the other end of the lifting frame lifting screw 207 and then drives the outer frame 202 to lift relative to the circumferential moving trolley frame 206, furthermore, the top of the lifting moving plate 208 is connected with the connecting rod 209, the top of the connecting rod 209 is connected with the outer frame 202, the inner cable 3 starts from the lifting driving end of the detecting robot frame and is fixed on the lifting moving plate 208, the outer frame 202 moves in a radial small displacement relative to the combination of the lifting moving plate 208 and the circumferential trolley frame 206, the radial moving distance between the upper part and the lower part of the outer frame 202 is different, and the pitch direction posture of the detecting robot 2 is slightly adjusted, and then the posture of the detecting rod 201 is adjusted; an internal cable 3 connected with the lifting driving end of the detection robot frame reserves a wiring length between the lifting moving plate 208 and the outer frame 202 and penetrates through a cable groove at one side of the outer frame 202;
The top of the outer frame 202 is provided with a detection rod lifting platform driver for driving the detection rod lifting platform 204 to lift in the detection rod lifting track frame 203 so as to drive the detection rod 201 to lift, and the inner cable 3 starts from the driving end part of the detection rod lifting platform and passes through a cable groove on one side of the outer frame 202;
the bottom and the upper part of the outer frame 202 are provided with radial movement drives for driving the outer frame 202 to move radially relative to the annular track platform 4, and an inner cable connected with the end of the radial movement drives passes through a cable slot on one side of the outer frame 202;
when the plurality of inner cables 3 pass through the cable groove at one side of the outer frame 202 to form the outer cables 6, the plurality of outer cables 6 are gathered to the upper portion of the outer frame 202.
The detection rod lifting platform 204 is provided with detection rod rotation driving for driving the detection rod 201 to rotate relative to the detection rod lifting platform 204, so that the detection rod 201 can rotate and probe in the hollow bolt hole 701 when the hollow bolt 7 on the nuclear main pump body 1 is detected; the outer side wall of the inner cable 3 connected with the rotation driving end of the detection rod is fixed at the bottom of the outer frame 202, an ultrasonic detection probe for detecting whether the hollow bolt 7 has defects is further arranged at the top of the detection rod 201, the sprayed couplant pipeline connected with the ultrasonic detection probe penetrates out of the bottom of the detection rod 201 and is also fixed at the bottom of the outer frame 202, the inner cable 3 connected with the rotation driving end of the detection rod is bound into one strand, a fixed point 217 is arranged at the joint fixed part of the outer frame 202, and the end part of the inner cable 3 extends upwards from the outer bottom of the outer frame 202 to the outer cable 6 to be converged with a plurality of other outer cables 6 into one strand.
When the detecting rod 201 is lifted, the inner cable 3 is arranged in a simulation manner by means of simulation software, the position of the fixed point 217 on the outer frame 202 is adjusted by means of calculation of an elastic thin rod model, and the optimal position of the fixed point 217 on the outer frame 202 is finally determined, so that the minimum bending radius of the inner cable 3 during movement is not lower than 3-5 times of the outer diameter requirement of the inner cable 3, at the moment, the tension change of the inner cable 3 at the fixed point 217 is stable, the stress direction of the inner cable 3 at the fixed point 217 faces outwards relative to the detecting rod lifting track frame 203, the stress is kept stable as a whole, and the stress fluctuation mutation (such as pressure fluctuation mutation, tension fluctuation mutation and the like) of the inner cable 3 is reasonable in arrangement and does not interfere with the detecting robot 2.
The method of adopting the elastic thin rod model aims at carrying out simulation analysis on the balance and stability of the internal cable 3 by using the elastic thin rod model to obtain high-precision nonlinear deformation, obtaining real-time positions by calculation, further obtaining reasonable fixing points of the cable under the movement working condition and carrying out reasonable arrangement because the internal cable 3 is extremely slender and deforms extremely greatly.
The elastic slender rod model theory can be used for calculating the curvature radius, determining the bending radius of the cable, and performing simulation calculation on the arrangement mode of the internal cable 3 comprises the following steps:
s1, when the detection rod 201 moves in the detection robot 2, the related internal cable 3 also moves along with the detection rod, and the internal cable 3 is easy to contact and rub with the detection robot 2 and even is wound due to the narrow internal space of the detection robot 2; initially, the detecting rod 201 is located at the bottommost end of the detecting robot 2, as shown in fig. 5, and is gradually lifted to the topmost end at a constant speed, and then returned to the initial position, so as to complete a lifting motion, when the detecting rod 201 is lifted to the topmost end of the detecting robot 2, as shown in fig. 6, in order to obtain a feasible arrangement scheme of the internal cables 3 inside the detecting robot 2, simulation arrangement is performed on the internal cables 3 by means of simulation software, the internal cables 3 are fixed at one side of the outer frame 202, and the finally determined arrangement scheme of the internal cables 3 is obtained by adjusting the fixing point 217;
s2, a minimum bending radius change curve of the inner cable 3 in the moving process, wherein the abscissa is the lifting movement time of the detection rod 201: the t/s, the ordinate is the minimum bending radius of the inner cable 3, r/mm, the minimum bending radius of the inner cable 3 is not lower than the requirement of 3-5 times of the outer diameter of the inner cable 3 when the inner cable 3 moves, the tension change of the inner cable 3 at the fixed point 217 is stable, the whole stress is kept stable, the tension of the inner cable 3 is smaller and no drastic fluctuation exists, and therefore the inner cable 3 is reasonably arranged and has no interference with the detection robot 2;
The number of the cable grooves formed in the outer frame 202 is at least three, and the cable grooves are respectively an upper cable groove 211, a middle cable groove 212 and a lower cable groove 213, and an upper threading rubber hole cover 214 is movably arranged on the upper cable groove 211 and used for penetrating through an inner cable 3 respectively connected with the lifting drive of the detection robot frame and the lifting drive of the detection rod lifting platform;
a middle threading rubber hole cover 215 is movably arranged on the middle cable groove 212 and used for penetrating through the inner cable 3 connected with the platform turnover drive;
the lower cable slot 213 is movably provided with a lower threading rubber hole cover 216 for passing through the inner cable 3 connected with the radial movement drive.
The upper threading rubber hole cover 214, the middle threading rubber hole cover 215 and the lower threading rubber hole cover 216 are respectively provided with a rubber hole with adjustable diameter, and the rubber holes are used for moving each rubber hole cover to contain cables with small reducing caused by temperature change or cable quality change, and the cables refer to cables when the inner cables 3 and the outer cables 6 are in a boundary, so that the purpose is to adjust up and down in a wire slot on the right side of the outer frame 202 on the detection robot 2, further adjust the positions of the outlets, and ensure reasonable cable concentration outlet positions.
When the internal cable 3 and the external cable 6 are energized or due to environmental factors (for example, seasonal changes), the diameter is slightly changed due to temperature changes;
Some of the inner and outer cables 3, 6 internally carry a gas-liquid fluid (e.g. a couplant) resulting in a change in cable quality and thus a small change in diameter.
The number of the wire-drawing trolleys 5 is one, and the wire-drawing trolleys are connected with one side of the detection robot 2, so that the wire-drawing trolleys are in follow-up with the detection robot 2, the bearing force of the detection robot 2 is reduced, the influence of an external wire 6 on the position and the posture of the detection robot 2 during movement is finally reduced, at least one wire clamp 8 is installed on the wire-drawing trolleys 5 and used for fixing the external wire 6, and the external wire 6 is subjected to morphological analysis by using a wire catenary theory, so that the reasonable length range of the external wire 6 for avoiding interference is obtained.
The number of the wire-pulling trolleys 5 is multiple, the wire-pulling trolleys are arranged on one side or two sides of the detection robot 2, the wire-pulling trolleys 5 arranged on one side or two sides of the detection robot 2 are connected end to end, and the wire-pulling trolleys 5 close to the detection robot 2 are connected with the detection robot 2, so as to follow up the detection robot 2, reduce the bearing force of the detection robot 2, finally reduce the influence of an external cable 6 on the pose of the detection robot 2 during movement, and each wire-pulling trolley 5 is provided with at least one wire clamp 8 for fixing the external cable 6, and analyze the external cable 6 by using a cable catenary theory to obtain a reasonable length range of the external cable 6;
It should be noted that, the external cable 6 between the inspection robot 2 and the towing trolley 5 naturally sags due to gravity, the shape of the external cable is a catenary, the length of the external cable 6 between the two is influenced on the inspection robot 2, the external cable 6 is too short so that one side of the inspection robot 2 is pulled (for example, the right side is pulled) to influence the pose of the inspection robot, the external cable 6 is excessively sagged due to too long external cable 6, contacts with and even winds up the annular track platform 4, and a reasonable cable length range is obtained through catenary theoretical analysis.
And calculating a cable length equation according to the catenary theory, and finally obtaining the reasonable cable length s between the fixed points A, B.
All the above trolley structures are as follows: the towing trolley 5 comprises a connecting piece 501, a wire clamp fixing groove 502, an upper layer plate piece 503, a lower layer plate piece 504, a stud 505 and a turnover moving trolley 506;
the upper layer plate 503 and the lower layer plate 504 are respectively located at the top and the bottom of the annular track platform 4, the turnover travelling car 506 is respectively installed on the upper layer plate 503 and the lower layer plate 504, the parts on the turnover travelling car 506 roll on the annular track platform 4, the turnover travelling car 506 is also arranged on the circumference travelling car frame 206, the parts on the turnover travelling car 506 on the circumference travelling car frame 206 roll on the annular track platform 4, the turnover travelling car 506 on the circumference travelling car frame 206 is connected with the turnover travelling car 506 on the upper layer plate 503 or the lower layer plate 504 through the connecting piece 501 (what is needed is that the connecting piece 501 is a rotating pair, and the like is movably connected, namely the connecting piece 501 is a rotating pair), the two edges of the upper layer plate 503 and the lower layer plate 504 are jointly movably sleeved with the double-headed studs 505, the wire clamp fixing groove 502 is arranged on the upper layer plate 504, the wire clamp fixing groove 502 is fixedly provided with a plurality of wire clamps 8 which are respectively arranged from the upper wire-threading rubber hole cover 214, the middle wire-threading rubber hole cover 216 and the outer wire 6 of the lower wire-threading rubber hole cover 216, the wire clamp 8 can be clamped in the adjacent wire clamps 8, and the wire clamps 8 can be prevented from being interfered by the wire clamps 8, and the wire clamps can be clamped in the wire clamps 8 can be clamped and the wire clamps, and the wire clamps can be clamped by the wire clamps, and the wire clamps can be the wire and the wire.
The wire clamp 8 comprises a wire clamp shell 802, a flexible clamping cable movable part and a flexible clamping cable fixed part, wherein the flexible clamping cable fixed part is arranged at the bottom of the wire clamp shell 802, the flexible clamping cable movable part is movably sleeved on the wire clamp shell 802, and the flexible clamping cable movable part positioned in the wire clamp shell 802 corresponds to the flexible clamping cable fixed part and is used for fixing an external cable 6; the wire clamps 8 carry at least the weight of the cable suspended to the ground and wound around the annular track platform 4 for one revolution, in order that the trolley 5 can carry the weight of the largest external cable 6 within the movement stroke of the detection robot 2.
The flexible movable part comprises a clamping bolt 801, a connecting metal plate 803 and an upper rubber sleeve 804, the flexible fixed part is a lower rubber sleeve 805, one end of the wire clamp housing 802 is provided with an opening, the lower rubber sleeve 805 is arranged at the edge of the opening on the wire clamp housing 802, the clamping bolt 805 is movably sleeved on the wire clamp housing 802, the connecting metal plate 803 is arranged at the end part of the clamping bolt 801 extending into the opening of the wire clamp housing 802, the upper rubber sleeve 804 is arranged at the bottom of the connecting metal plate 803 and corresponds to the lower rubber sleeve 805, and an external cable 6 is arranged at the opening between the upper rubber sleeve 804 and the lower rubber sleeve 805.
By adopting the scheme, the lower end of the wire clamp shell 802 is arranged at the opening between the upper rubber sleeve 804 and the lower rubber sleeve 804, the external cable 6 passes through the space between the upper rubber sleeve 804 and the lower rubber sleeve 805, the connecting metal plate 803 is driven to move towards the lower rubber sleeve 805 by rotating the upper clamping bolt 801, then the upper rubber sleeve 804 is driven to move towards the lower rubber sleeve 805, then the opening distance between the upper rubber sleeve 804 and the lower rubber sleeve 805 is reduced, and then the external cable 6 is fixed.
It should be further noted that, the detecting robot 2 is respectively provided with an R1 pair for detecting the circumferential movement of the robot 2 around the nuclear main pump body 1, a P2 pair for detecting the radial movement of the robot 2, a P3 pair for detecting the lifting movement of the outer frame 202 on the robot 2, a P4 pair for detecting the lifting movement of the rod 201, an R5 for detecting the autorotation movement of the rod 201, a driving R1 pair and a P2 pair for adjusting the position of the rod 201 in the horizontal plane, and a driving P3 pair for adjusting the height of the water pan 210 for realizing good collection of the ultrasonic couplant and avoiding surrounding obstacles; the P4 pair and the R5 pair are driven for realizing scanning of the detection rod 201.
Working principle: the inner cables 3 are arranged to penetrate through the detection robot 2 with the multi-layer nested structure and are gathered at one side outside the detection robot 2, and the outer cables 6 are respectively penetrated out of the upper cable groove 211, the middle cable groove 212 and the lower cable groove 213, so that the outer cables 6 are gathered at one side of the detection robot 2 to cause one side of the detection robot 2 to be heavier than the other side (for example, the left side of the detection robot 2 is heavier than the right side or the right side of the detection robot 2 is heavier than the left side), and the outer cables 6 act along with the movement of the detection robot 2, so that the outer cables 6 are borne by the towing trolley 5 to avoid the problems of friction, winding and the like between the outer cables 6 and the annular track platform 4, and the influence of the outer cables 6 on the pose of the detection robot 2 is reduced;
The circumferentially moving trolley frame 206 drives the detection robot 2 to circumferentially move on the annular track platform 4; the circumferential moving trolley frame 206 and the sliding rail 205 of the outer frame 202 are installed at the upper part and the bottom of the outer frame 202, and move radially along the waist-shaped groove (as shown in fig. 2, the waist-shaped groove is formed on the outer frame 202), and can move radially relative to the outer frame 202 relative to the circumferential moving trolley frame 206, so as to drive the lifting track frame 203 and the detecting rod 201 on the outer frame 202 to move radially; the lifting frame lifting screw 207 is connected with the lifting moving plate 208 and the circumferential moving trolley frame 206, and the lifting moving plate 208 can drive the outer frame 202 to perform lifting movement through the connecting rod 209 so as to adjust the water receiving tray 210; the relative lifting movement of the detection robot 2 can be realized while the radial movement along the nuclear main pump body 1 is realized; the lifting track frame 203 of the detection rod 201 is installed in the middle of the outer frame 202, so that lifting operation of the detection rod 201 can be realized, the detection rod lifting platform 204 is installed on the detection rod lifting track frame 203, and when the hollow bolt 7 on the nuclear main pump body 1 is detected, the detection rod 201 can be lifted and rotated for 360 degrees to perform internal probing (in the detection of lifting 360 degrees rotation probing of the detection rod 201, lifting and rotation can be synchronously or asynchronously operated); when the detecting rod 201 detects the hollow bolt hole 701, the inner cable 3 moves along with the hollow bolt hole, the inner cable 3 passes through and is hung on the adjacent nested layer with the minimum relative movement from the end part, the wiring length is reserved, and the inner cable is converged to one side of the outer frame 202.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be appreciated by persons skilled in the art that the present invention is not limited to the embodiments described above, but is capable of numerous variations and modifications without departing from the spirit and scope of the invention as hereinafter claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. Traversing arrangement and trailer bearing device of nested motion cable of track walking robot, its characterized in that: the device comprises a robot and a wire-pulling trolley which are respectively and movably arranged on an annular track platform on a detected object, wherein the robot is provided with an internal cable, the internal cable passes through the robot to form an external cable, and the wire-pulling trolley is used for carrying the external cable which passes through the robot;
the structure of the robot is a multi-layer nested frame structure; the multi-layer nested frame structure comprises a detection rod, an outer frame, a detection rod lifting track frame and a detection rod lifting platform, wherein the detection rod lifting track frame is arranged on the outer frame, the detection rod lifting platform is movably arranged on the detection rod lifting track frame, and the detection rod is arranged on the detection rod lifting platform; the fixed position of the inner cable and the outer frame is set as a fixed point; when the detecting rod is in the lifting process, the inner cables are subjected to simulated arrangement by means of simulation software, the positions of the fixed points on the outer frame are adjusted by means of calculation of the elastic thin rod model, and the optimal positions of the fixed points on the outer frame are finally determined, so that the minimum bending radius of the inner cables in the moving process is not lower than the requirement of the allowable radius of the outer diameter of the inner cables, the tension change of the inner cables at the fixed points is stable, the stress direction of the inner cables at the fixed points faces outwards relative to the lifting track frame of the detecting rod, the stress fluctuation of the inner cables is free from mutation, the whole stress is kept stable, and the fact that the cables are reasonably arranged and interference with a robot is avoided is known.
2. The traversing arrangement of nested motion cables for a orbital walking robot and a trailer carrying device according to claim 1, wherein: the multi-layer nested frame structure also comprises a circumferential movable trolley frame, wherein the circumferential movable trolley frame is erected on the annular track platform and walks on the annular track platform, and the outer frame is movably arranged on the circumferential movable trolley frame, moves radially relative to the annular track platform and also moves up and down relative to the annular track platform; the internal cables are routed in the robot according to the principle of left-to-right or right-to-left and the principle of adjacent nested structures with minimum relative movement, and when the robot moves, the internal cables cannot cause interference caused by internal cable hooking, obstruction or unreasonable fixed arrangement of the internal cables due to the relative movement of the nested structures on the robot, so that the normal operation of the robot is affected.
3. The traversing arrangement of nested motion cables for a orbital walking robot and a trailer carrying device according to claim 2, wherein: a plurality of cable grooves are formed in one side of the outer frame;
the outer frame lifting and radial driving device is arranged on the circumferential moving trolley frame and is used for driving the outer frame to lift in a large stroke relative to the circumferential moving trolley frame and to move in a small radial displacement relative to the annular track platform, and the inner cable starts from the turnover driving end part of the platform, reserves the residual amount of the inner cable and penetrates through a cable groove at one side of the outer frame;
The lifting moving plate is arranged on the circumferential moving trolley frame and used for installing a robot frame lifting drive, the robot frame lifting drive is used for driving the lifting moving plate to lift relative to the circumferential moving trolley frame, the top of the lifting moving plate is connected with a connecting rod, the top of the connecting rod is connected with an outer frame, then the outer frame is driven to lift relative to the circumferential moving trolley frame, an inner cable starts from the lifting driving end of the robot frame and is fixed on the lifting moving plate, the outer frame makes small radial displacement movement relative to the lifting moving plate and the circumferential trolley frame assembly, and the radial movement distance between the upper part and the lower part of the outer frame is different and is used for fine adjustment of the pitching direction posture of the robot; an internal cable connected with the lifting driving end of the robot frame reserves allowance between the lifting moving plate and the outer frame and penetrates through a cable groove on one side of the outer frame;
the top of the outer frame is provided with a detection rod lifting platform drive for driving the detection rod lifting platform to lift on the detection rod lifting track frame so as to drive the detection rod to lift, and the inner cable starts from the driving end part of the detection rod lifting platform and passes through a cable groove on one side of the outer frame;
The bottom and the upper part of the outer frame are provided with radial movement drives for driving the outer frame to move radially relative to the annular track platform, and an inner cable connected with the end part of the radial movement drive passes through a cable groove at one side of the outer frame;
when a plurality of the inner cables pass through the cable groove at one side of the outer frame and then form outer cables, the outer cables are converged to the upper part of the outer frame.
4. A traversing arrangement and trailer carrying device for nested motion cables of a orbital walking robot according to claim 3, wherein: the detecting rod lifting platform is provided with detecting rod autorotation driving which is used for driving the detecting rod to rotate relative to the detecting rod lifting platform, an inner cable connected with the driving end of the detecting rod lifting platform is fixed on the outer side wall of the bottom of the outer frame, and the end of the inner cable extends upwards from the outer bottom of the outer frame to the outside cable to be converged with a plurality of other outside cables to form a strand.
5. A traversing arrangement and trailer carrying device for nested motion cables of a orbital walking robot according to claim 3, wherein: the number of the cable grooves formed in the outer frame is at least three, and the cable grooves are respectively an upper cable groove, a middle cable groove and a lower cable groove, and an upper threading rubber hole cover is movably arranged on the upper cable groove and used for penetrating through an inner cable respectively connected with the lifting drive of the robot frame and the lifting drive of the detection rod;
A middle threading rubber hole cover is movably arranged on the middle cable trough and used for penetrating through an inner cable connected with the platform turnover drive;
the lower cable groove is movably provided with a lower threading rubber hole cover which is used for penetrating through an inner cable connected with the radial movement drive.
6. The traversing arrangement of nested motion cables for a orbital walking robot and a trailer carrying device according to claim 5, wherein: the upper threading rubber hole cover, the middle threading rubber hole cover and the lower threading rubber hole cover are respectively provided with a rubber hole with adjustable diameter, and the rubber holes are used for moving each rubber hole cover to contain an internal cable with small diameter due to temperature change or cable quality change.
7. The traversing arrangement of nested motion cables for a orbital walking robot and a trailer carrying device according to claim 1, wherein: the number of the wire-drawing trolleys is one and is connected with one side of the robot, and at least one wire clamp is arranged on the wire-drawing trolleys and used for fixing an external cable and analyzing the external cable by utilizing a cable catenary theory to obtain a reasonable length range of the external cable for avoiding interference.
8. The traversing arrangement of nested motion cables for a orbital walking robot and a trailer carrying device according to claim 1, wherein: the number of the wire-pulling trolleys is multiple, the wire-pulling trolleys are arranged on one side or two sides of the robot, the wire-pulling trolleys on one side or two sides of the robot are connected end to end, the wire-pulling trolleys close to the robot are connected with the robot, each wire clamp is at least arranged on each wire-pulling trolley and used for fixing an external cable, and the external cable is analyzed by utilizing a cable catenary theory, so that a reasonable length range of the external cable is obtained.
9. The traversing arrangement of nested motion cables for a orbital walking robot and a trailer carrying device according to claim 7 or 8, wherein: the wire clamp comprises a wire clamp shell, a flexible clamping cable movable part and a flexible clamping cable fixing part, wherein the flexible clamping cable fixing part is arranged at the bottom of the wire clamp shell, the flexible clamping cable movable part is movably sleeved on the wire clamp shell, and the flexible clamping cable movable part positioned in the wire clamp shell corresponds to the flexible clamping cable fixing part and is used for fixing an external cable; the bearing weight of the number of the wire clamps is at least the weight of the wires which are hung on the ground and wound around the annular track platform in a circle.
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| CN110745644A (en) * | 2018-07-23 | 2020-02-04 | 卡特彼勒环球矿业欧洲有限公司 | Cable handling system for longwall mining machine |
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| CN101364452B (en) * | 2008-09-27 | 2011-01-26 | 哈尔滨工程大学 | Nuclear power steam generator pipe detection robot |
| JP5850964B2 (en) * | 2014-02-19 | 2016-02-03 | ファナック株式会社 | Robot traveling device having cable track, robot system, and processing system |
| JP6578837B2 (en) * | 2015-09-15 | 2019-09-25 | 東京電力ホールディングス株式会社 | Remote control robot system |
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| CN109358115B (en) * | 2018-11-02 | 2020-11-27 | 上海工程技术大学 | Online ultrasonic detection device and detection method for flange bolt of nuclear main pump |
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