CN206175945U - Full pneumatic type tube sheet crawl device structure - Google Patents
Full pneumatic type tube sheet crawl device structure Download PDFInfo
- Publication number
- CN206175945U CN206175945U CN201621158217.6U CN201621158217U CN206175945U CN 206175945 U CN206175945 U CN 206175945U CN 201621158217 U CN201621158217 U CN 201621158217U CN 206175945 U CN206175945 U CN 206175945U
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- CN
- China
- Prior art keywords
- movable part
- tube sheet
- base component
- toe
- transfer pipe
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- 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.)
- Withdrawn - After Issue
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Abstract
The utility model relates to a steam generator tubes nondestructive test and maintenance technical field specifically disclose a full pneumatic type tube sheet crawl device structure. Movable part and base part are intercrossing's structure in this crawl device to at the movable part both ends of homonymy and the base part both ends fixed toe that is equipped with respectively, the movable part is connected with the base part through sharp driver part, rectilinear movement on the axis of movable part of messenger's base part whole edge, the base part is connected with the movable part through swinging member, makes the base part swing for the movable part or rotatory certain angle, toe on movable part and the base parts is scalable and tight or unclamp with the heat transfer pipe clamp of tube sheet heat -transfer pipe. This result has improved the stability and the security of equipment, has got rid of the uncertain risk that motor drive and hydraulic drive brought, has greatly reduced inspection personnel's intensity of labour, simultaneously, accessible logical order and path planning realize the location on the tube sheet heat -transfer pipe.
Description
Technical field
The utility model belongs to steam generator heat-transfer pipe Non-Destructive Testing and maintenance technique field, and in particular to a kind of full gas
Dynamic formula tube sheet crawl device structure.
Background technology
The progress of steam generator heat-transfer pipe vortex Examined effect is heavily dependent on tube sheet positioning robot's technology
Progress.The country of the current main nuclear power application in the world is devoted to that efficiency of research and development is high, and the good robot of security is solved
In-service maintenance problem, such as U.S., Japan, France, Germany, all develop the robot for possessing independent intellectual property right.
Current tube sheet positioning robot that is general and being widely recognized be it is a kind of can be in climbing that the enterprising every trade of tube sheet is walked
Row device, crawl device by manhole be installed on steam generator pass on pipe tube sheet heat-transfer pipe (toe of positioner upwards, open,
Insertion pore, whole device is hung by the feet on tube sheet), steam generator tube sheet heat-transfer pipe is that arrangement mode is generally divided into equilateral triangle
It is distributed or square profile, the tube pitch between tube sheet heat-transfer pipe there are different sizes with the change of evaporator model.Root
According to the arrangement mode and tube pitch of tube sheet heat-transfer pipe, with robot path planning, mobile crawl device is accurately fixed by eddy current probe
Immediately below the tested heat-transfer pipe mouth of pipe.So as to realize eddy current inspection, crawl device moves to next to be checked according to inspection program
At heat transfer pore, so move in circles operation, until checking that work is completed.
The content of the invention
The purpose of this utility model is to provide a kind of full pneumatic type tube sheet crawl device structure, and it is by simplifying crawl device
Driving source, increases the stability and reliability of crawl device, it is to avoid more cables are introduced in complicated operating mode, reduces general creeping
The uncertainty and risk that device is driven using motor and hydraulic-driven is brought.
The technical solution of the utility model is as follows：A kind of full pneumatic type tube sheet crawl device structure, the crawl device includes activity
Part, base component and toe, wherein, movable part and base component are cross one another structure, and in the activity of homonymy
Part two ends and base component two ends are fixed with toe respectively；Movable part is connected by linear drives part with base component
Connect, make the overall rectilinear movement along the axis of movable part of base component；Base component passes through tilting member and movable part phase
Connection, makes base component be swung or be rotated to an angle relative to movable part；Pin on movable part and base component
Refer to that scalable and with tube sheet heat-transfer pipe heat-transfer pipe is clamped or unclamped.
Described linear drives part includes Rodless cylinder or multi-stage cylinder.
Described tilting member includes oscillating cylinder or peumatic dial.
Described toe is oblique-wedge clamping system, and toe matches with tube sheet heat-transfer pipe caliber, is driven by double-acting cylinder
It is dynamic to be fixed on heat-transfer pipe, and when toe exits tube sheet heat-transfer pipe, using single-acting cylinder drive installation on base component
Valve island in Lift Part, realize the contraction of toe.
Described Rodless cylinder carries integrated displacement encoder, and by the electromagnetic switch installed in base component Zhong Fa islands
Valve, realizes linear motion Bit andits control relative between movable part and base component, and can control pin by solenoid directional control valve
Refer to the pinching action and the lifting action between control movable part and base component to heat-transfer pipe in tube sheet heat-transfer pipe.
Described oscillating cylinder or peumatic dial is provided with 60 ° or 45 ° of limited blocks；Oscillating cylinder or peumatic dial band
There is integrated displacement encoder, and by the solenoid directional control valve installed in base component Zhong Fa islands, realize movable part and base portion
Linear motion Bit andits control relative between part, and by the controllable toe of solenoid directional control valve to heat-transfer pipe in tube sheet heat-transfer pipe
Lifting action between pinching action and control movable part and base component.
Remarkable result of the present utility model is：A kind of full pneumatic type tube sheet crawl device structure described in the utility model,
The complexity that complete pneumatic mode drives crawl device to greatly reduce inservice inspection is employed, the stability of equipment is improve
And security, the uncertainty and risk that motor drives and hydraulic-driven is brought is eliminated, the work for greatly reducing inspection personnel is strong
Degree；Meanwhile, using linear drives part and tilting member with encoder, can be real by logical order and trajectory planning
Positioning on present tube sheet heat-transfer pipe, in addition, control the proportion directional control valve and solenoid directional control valve of this four groups of actions can collect
Into on the valve island of crawl device bottom, the volume of crawl device is so effectively reduced, and make the tracheae quantity of crawl device and stringing
Mode is optimized.
Brief description of the drawings
Fig. 1 is a kind of full pneumatic type tube sheet crawl device structure positioning schematic diagram described in the utility model；
Fig. 2 is a kind of full pneumatic type tube sheet crawl device structural side view described in the utility model；
Fig. 3 is a kind of full pneumatic type tube sheet crawl device structural front view described in the utility model；
In figure：1st, tube sheet heat-transfer pipe；2nd, crawl device；3rd, movable part；4th, base component；5th, toe；6th, linear drives portion
Part；7th, valve island；8th, tilting member；9th, Lift Part.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the utility model.
As shown in Figures 1 to 3, a kind of full pneumatic type tube sheet crawl device structure, including movable part 3, base component 4 and pin
Refer to 5, wherein, movable part 3 and base component 4 are the structure of the connection that intersects, and in the two ends of movable part 3 of homonymy and base
The two ends of base member 4 are installed with the toe 5 of telescopic oblique-wedge clamping system type, toe 5 and tube sheet heat-transfer pipe pipe respectively
Footpath matches, and is fixed on the heat-transfer pipe of tube sheet by using double-acting cylinder driving wedge clamp system, and exited in toe 5
During tube sheet heat-transfer pipe, using Lift Part 9 of the single-acting cylinder drive installation in the Shang Fa islands 7 of base component 4, toe is realized
5 contraction；Movable part 3 is connected by linear drives part 6 with base component 4, and realizes that base component 4 is overall along work
Moved linearly on the axis of dynamic component 3, wherein, linear drives part 6 includes Rodless cylinder or multi-stage cylinder；Base component 4 leads to
Cross tilting member 8 to be connected with movable part 3, make base component 4 that certain angle is swung or rotated relative to movable part 3
Degree, wherein, tilting member 8 includes oscillating cylinder or peumatic dial, and 60 ° or 45 ° limits are provided with peumatic dial
Position block；Rodless cylinder in movable part 3 carries integrated displacement encoder, the oscillating cylinder in base component 4 or pneumatic point
Scale carries displacement encoder, and by the proportional direction valve in valve island 7 and displacement encoder control movable part 3,
The straight line moving step pitch and the anglec of rotation of base component 4；Solenoid directional control valve is also equipped with valve island 7, and by electromagnetic switch
The controllable toe 5 of valve is between the pinching action and control movable part 3 and base component 4 of heat-transfer pipe in tube sheet heat-transfer pipe 1
Lifting action.
A kind of specific work process of full pneumatic type tube sheet crawl device structure described in the utility model is：This practicality is new
Full pneumatic type tube sheet crawl device 2 described in type is positioned on tube sheet heat-transfer pipe 1, the toe 5 on movable part 3 or base component 4
Can be clamped in heat-transfer pipe, when two toes of base component 4 are fixed on heat exchanger tube, in can unclamping movable part 3
Toe 5, the toe 5 for making movable part 3 using Lift Part 9 exits tube sheet heat-transfer pipe, by the rotation of tilting member 8 and
The linear motion of linear drives part 6, changes two hole positions to be fixed of toe 5 in movable part 3, and reach predetermined hole position
Afterwards, the toe 5 of movable part 3 is fixed；The toe 5 of base component 4 is unclamped, is driven using the rotation of tilting member 8 and straight line
The linear running of dynamic component 6, changes the hole position of the fixation of two toe 5 in base component 4, after reaching predetermined hole position, base component 4
Toe 5 is fixed, and according to path planning, and so on, crawl device 2 can realize walking and positioning on the soft heat pipe 1 of tube sheet.
Claims (6)
1. a kind of full pneumatic type tube sheet crawl device structure, it is characterised in that：The crawl device includes movable part (3), base component
(4) and toe (5), wherein, movable part (3) and base component (4) are cross one another structure, and in the movable part of homonymy
Part (3) two ends and base component (4) two ends are fixed with toe (5) respectively；Movable part (3) is by linear drives part (6)
It is connected with base component (4), makes the overall rectilinear movement along the axis of movable part (3) of base component (4)；Base component
(4) it is connected with movable part (3) by tilting member (8), base component (4) is swung relative to movable part (3)
Or rotate to an angle；Toe (5) on movable part (3) and base component (4) it is scalable and with the biography of tube sheet heat-transfer pipe (1)
Heat pipe is clamped or unclamped.
2. a kind of full pneumatic type tube sheet crawl device structure according to claim 1, it is characterised in that：Described linear drives
Part (6) includes Rodless cylinder or multi-stage cylinder.
3. a kind of full pneumatic type tube sheet crawl device structure according to claim 1, it is characterised in that：Described tilting member
(8) including oscillating cylinder or peumatic dial.
4. a kind of full pneumatic type tube sheet crawl device structure according to claim 1, it is characterised in that：Described toe (5)
It is oblique-wedge clamping system, toe (5) matches with tube sheet heat-transfer pipe (1) caliber, is driven by double-acting cylinder and be fixed on heat transfer
Guan Shang, and when toe (5) exits tube sheet heat-transfer pipe, using single-acting cylinder drive installation on base component (4) Shang Fa islands
(7) Lift Part (9) in, realizes the contraction of toe (5).
5. a kind of full pneumatic type tube sheet crawl device structure according to claim 2, it is characterised in that：Described Rodless cylinder
With integrated displacement encoder, and by the solenoid directional control valve installed in base component (4) Zhong Fa islands (7), realize movable part
(3) linear motion Bit andits control relative between base component (4), and by the controllable toe (5) of solenoid directional control valve to pipe
Lifting action in plate heat-transfer pipe (1) between the pinching action of heat-transfer pipe and control movable part (3) and base component (4).
6. a kind of full pneumatic type tube sheet crawl device structure according to claim 3, it is characterised in that：Described oscillating cylinder
Or peumatic dial is provided with 60 ° or 45 ° of limited blocks；Oscillating cylinder or peumatic dial carry integrated displacement encoder, and lead to
The solenoid directional control valve installed in base component (4) Zhong Fa islands (7) is crossed, is realized relative between movable part (3) and base component (4)
Linear motion Bit andits control, and by controllable clamping of the toe (5) to heat-transfer pipe in tube sheet heat-transfer pipe (1) of solenoid directional control valve
Lifting action between action and control movable part (3) and base component (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621158217.6U CN206175945U (en) | 2016-10-25 | 2016-10-25 | Full pneumatic type tube sheet crawl device structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621158217.6U CN206175945U (en) | 2016-10-25 | 2016-10-25 | Full pneumatic type tube sheet crawl device structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206175945U true CN206175945U (en) | 2017-05-17 |
Family
ID=58679460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621158217.6U Withdrawn - After Issue CN206175945U (en) | 2016-10-25 | 2016-10-25 | Full pneumatic type tube sheet crawl device structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206175945U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| CN109968230A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of annular tubesheet positioning device |
-
2016
- 2016-10-25 CN CN201621158217.6U patent/CN206175945U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106641574A (en) * | 2016-10-25 | 2017-05-10 | 核动力运行研究所 | Full pneumatic type tube plate crawler structure |
| CN106641574B (en) * | 2016-10-25 | 2019-09-17 | 核动力运行研究所 | A kind of full pneumatic type tube sheet crawl device structure |
| CN109968230A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of annular tubesheet positioning device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170517 Effective date of abandoning: 20190917 |