CN207009092U - A kind of heat-transfer pipe overhauls positioning device structure - Google Patents
A kind of heat-transfer pipe overhauls positioning device structure Download PDFInfo
- Publication number
- CN207009092U CN207009092U CN201720630106.9U CN201720630106U CN207009092U CN 207009092 U CN207009092 U CN 207009092U CN 201720630106 U CN201720630106 U CN 201720630106U CN 207009092 U CN207009092 U CN 207009092U
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- heat
- transfer pipe
- claw
- arm part
- main element
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- 238000012546 transfer Methods 0.000 title claims abstract description 90
- 210000000078 claw Anatomy 0.000 claims abstract description 62
- 238000012423 maintenance Methods 0.000 claims abstract description 27
- 239000011148 porous material Substances 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims abstract description 3
- 238000013519 translation Methods 0.000 claims description 24
- 230000003028 elevating effect Effects 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 2
- 238000009659 non-destructive testing Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000008358 core component Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229940002988 pegasys Drugs 0.000 description 1
- 108010092853 peginterferon alfa-2a Proteins 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
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- Heat-Exchange Devices With Radiators And Conduit Assemblies (AREA)
Abstract
Steam generator heat-transfer pipe and similar devices Non-Destructive Testing and maintenance technique field are the utility model is related to, specifically discloses a kind of heat-transfer pipe maintenance positioning device structure；The device includes main element, arm part and tool ends end part, wherein, main element is fixed on arm part, and main element can slide back and forth along arm part straight line；Claw A is provided with main element, claw B is provided with arm part both ends；Described claw A and claw B can be by expanding clamping fixed in heat-transfer pipe of evaporator pore；When the claw A on main element is fixed on heat-transfer pipe of evaporator pore, the rotation by main element relative to arm part, the tool ends end part of the end installation of arm part is driven to turn to specified location.The positioner can be checked maintenance edge heat-transfer pipe or minor diameter heat-transfer pipe of evaporator, significantly improve positioner in edge heat-transfer pipe or minor diameter heat-transfer pipe of evaporator location efficiency.
Description
Technical field
The invention belongs to steam generator heat-transfer pipe and similar devices Non-Destructive Testing and maintenance technique field, and in particular to one
Kind heat-transfer pipe maintenance positioning device structure.
Background technology
According to statistics, 1/4 is there are about in the unplanned shutdown number of Foreign Pressurized Water nuclear power station is made by steam generator accident
Into, each shutdown can all cause hundreds of millions of economic losses, and produce very big potential safety hazard.Steam generator accident
Main cause is heat transfer tracheal rupture, and it is inevitable that the burn into of heat-transfer pipe, which is thinned, consumed in nuclear power operation, to steam
In-service maintenance, the assessment that generator is periodically carried out including heat-transfer pipe are the Main Means for avoiding unplanned shutdown.Steam is sent out
The in-service service work of raw device primary side is mainly carried out in hydroecium, and is in " critical path " of nuclear power maintenance, is had tight
The time restriction of lattice.Steam generator hydroecium is high-radiation area, and in-service maintenance or leakage handle need remote control special
Automation equipment or robot complete.
Core component of the positioner as steam generator heat-transfer pipe examination and repair system, its most important function are for instrument
End pieces provide a moveable platform on steam generator tube sheet, and passage path plans that positioner is specific with its
Move mode delivery guider is walked and positioned on heat-transfer pipe tube sheet, and after reaching precalculated position, tool ends end part will check
Probe or maintenance tool navigate to target heat-transfer pipe, carry out maintenance task.
The structure of positioner directly influences the operating efficiency of maintenance.The positioner of main flow is that one kind can be at present
The device that the enterprising every trade of heat-transfer pipe tube sheet is walked, locator is installed on steam generator tube sheet heat-transfer pipe by manhole, according to pipe
The arrangement mode and tube pitch of plate heat-transfer pipe, locator set mobile route according to planning, are directed to device and are transported to overhauled
Immediately below the heat-transfer pipe mouth of pipe.So as to realize the maintenance task of steam generator.
The Pegasys of US Westinghouse company, because " cross " structure itself limits, space-consuming is big, edge or small
Limitation of movement in diameter hydroecium,
And the ZR100 types positioning robot of Zetec Inc. of the U.S. is into " casing " structure, and its tool ends end is arranged on ZR100 machines
On body, the heat-transfer pipe quantity that same position location checks is few.
The rotation of some other prior art can only typically rotate to fixed angle, can not 360 degree of positioned at arbitrary angles, separately
There is one-time positioning in outer prior art, heat-transfer pipe checks the problem of number is few.And when carrying out Inspection, main element and hand
Two groups of claws of arm member need to hold on heat-transfer pipe simultaneously, and these all have a strong impact on inspection efficiency.
The content of the invention
It is an object of the invention to provide a kind of heat-transfer pipe to overhaul positioning device structure, and it can appoint meeting conventional maintenance
On the basis of business demand, maintenance edge heat-transfer pipe or minor diameter heat-transfer pipe of evaporator are checked, significantly improve positioning dress
Put in edge heat-transfer pipe or minor diameter heat-transfer pipe of evaporator location efficiency.
Technical scheme is as follows：A kind of heat-transfer pipe overhauls positioner, and the device includes main element, arm part
Part and tool ends end part, wherein, main element is fixed on arm part, and main element can be along before arm part straight line
After slide；Claw A is provided with main element, claw B is provided with arm part both ends；Described claw A and claw B can lead to
Expansion clamping fixed is crossed in heat-transfer pipe of evaporator pore；When the claw A on main element is fixed on heat-transfer pipe of evaporator pore
When, the rotation by main element relative to arm part, drive the tool ends end part of the end installation of arm part to turn to
Specified location.
Described main element includes claw A, hollow rotating platform and lifting electric cylinders, wherein, several claws A is fixed
On claw pallet, claw pallet is fixedly connected by hollow rotating platform with lifting electric cylinders, wherein, lifting electric cylinders are enclosed on lifting
On double guide rails and elevating screw, by elevating screw lifting electric cylinders can be driven to be moved up and down along the double guide rails of lifting.
Described arm part includes sliding electric cylinders, translation leading screw and the double guide rails of translation, wherein, slide electric cylinders and be enclosed on phase
On the translation leading screw and translation pair guide rails mutually be arrangeding in parallel, and translate leading screw and translate double guide rail both sides and clamped admittedly by end plate
It is fixed；Described slip electric cylinders are fixedly connected with main element.
Auxiliary guide rail is additionally provided with described arm part, wherein, auxiliary guide rail is fixed positioned at the double guide rail offsides of translation
On the end plate of the double guide rail both sides of translation.
Claw B is respectively equipped with the end plate of the double guide rail both sides of described translation.
Described tool ends end part includes oscillating motor and tool rack, and described tool rack is arranged on arm part side
On end plate, and under oscillating motor drive, tool rack is set to be rotated relative to arm part；Or it is respectively mounted in arm part both sides
Tool rack.
Electric rotating machine is additionally provided with described main element, claw pallet can be driven relative to lifting electricity by electric rotating machine
Cylinder rotates.
Described claw pallet is provided with the row of several claws A, its arrangement mode and quantity according to heat-transfer pipe of evaporator
The load weight of row mode and whole maintenance positioner determines.
Described claw pallet is provided with 4 claw A.
Described tool rack end is provided with guide pipe, for will check that probe is transported to heat transfer pipe port to be checked；It is described to lead
Xiang Guanke cover using main element center as the center of circle, within arm part length except self structure interference all heat-transfer pipes, one
Secondary positioning, complete multiple heat-transfer pipe inspections.
The remarkable result of the present invention is：A kind of heat-transfer pipe maintenance positioner of the present invention has advantages below：
(1) when implementing positioner positioning function, heat-transfer pipe is alternately firmly grasped using two groups of clamping units of main element and arm part, is matched somebody with somebody
The rectilinear movement and rotation of main element and arm part are closed, positioner may be implemented on regularly arranged heat-transfer pipe by planning
Walk track；(2) during implementation tool end pieces positioning operation, the claw of main element is held on heat-transfer pipe, arm part
Claw is unclamped, and can be moved linearly and rotate at any time relative to main element, and service kit end pieces are sent into target hole position；
(3) positioner overall structure is into " one " font so that its own structure space-consuming is smaller, flexible movements, acts by itself
The influence of volume is small, can significantly improve being imitated in edge heat-transfer pipe or the positioning of minor diameter heat-transfer pipe of evaporator for positioner
Rate；(4) tool ends end part is connected on arm part so that guider can be covered using main element center as the center of circle, hand
Except all heat-transfer pipes of self structure interference within arm lengths, one-time positioning, multiple heat-transfer pipe inspections are completed, check efficiency greatly
Improve；(5) because arm part has symmetry, tool ends end part may be mounted at the both ends of arm part, when both ends all fill
Upper guider, efficiency are double；(6) during heat-transfer pipe upkeep operation, it is only necessary to which main element is firmly grasped on heat-transfer pipe, tool end
Part itself angle rotatable, coordinate main element and arm part relative linear displacement and rotation, make tool ends end part adjust to
Any one position movement locus in coverage, can find out optimal path by optimizing movement locus algorithm；(7) positioning dress
The electric cylinders structure that can be taken in putting, hollow rotating platform structure can reduce device overall weight and space-consuming to a certain degree.
More it is applicable the chamber structure of small evaporator or heat exchanger.
Brief description of the drawings
Fig. 1 overhauls positioner rearview for a kind of heat-transfer pipe of the present invention；
Fig. 2 overhauls positioner rearview for another heat-transfer pipe of the present invention；
Fig. 3 overhauls positioner schematic perspective view for a kind of heat-transfer pipe of the present invention；
Fig. 4 overhauls positioner use state A for a kind of heat-transfer pipe of the present invention；
Fig. 5 overhauls positioner use state B for a kind of heat-transfer pipe of the present invention；
Fig. 6 overhauls positioner use state C for a kind of heat-transfer pipe of the present invention；
Fig. 7 overhauls positioner use state D for a kind of heat-transfer pipe of the present invention；
In figure：1st, main element；2nd, arm part；3rd, tool ends end part；4th, claw A；5th, claw B；6th, auxiliary guide rail；7、
Translate leading screw；8th, electric cylinders are slided；9th, electric rotating machine；10th, hollow rotating platform；11st, electric cylinders are lifted；12nd, oscillating motor；13rd, put down
Move double guide rails；14th, double guide rails are lifted；15th, elevating screw；16th, claw pallet；17th, guide pipe；18th, tool rack；19th, evaporator
Heat-transfer pipe.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in further detail to the present invention.
As shown in Fig. 1~7, a kind of heat-transfer pipe overhauls positioner, the device include main element 1, arm part 2 and
Tool ends end part 3, wherein, main element 1 is fixed on arm part 2, and can make main element 1 along the straight line of arm part 2
Move forward and backward, claw A4 is fixed with main element 1, claw B5, claw A4 and claw B5 are fixed with the both ends of arm part 2
Can be by expanding clamping fixed between heat-transfer pipe of evaporator 19, the claw A4 on main element 1 is fixed on evaporator heat transfer
On between pipe 19, by the rotation of main element 1, the rotating operation of arm part 2 can be driven, the end of arm part 2 is provided with
Tool ends end part 3, wherein, tool ends end part 3 can rotate along the axle of the end of arm part 2, tool ends end part 3 is covered work
Has the inswept arc position of end pieces 3；Main element 1 includes claw A4, hollow rotating platform 10, lifting electric cylinders 11, wherein, Gu
Several claws A4 being scheduled on claw pallet 16 is fixedly connected by hollow rotating platform 10 with lifting electric cylinders 11, according to heat transfer
The arrangement mode and load weight of pipe set the claw A4 of fair amount on claw pallet 16, such as on claw pallet 16
Four claw A4 are installed；The lifting electric cylinders 11 being enclosed in lifting double guide rails 14 and elevating screw 15 are fixed under hollow rotating platform
Side, by the rotation of elevating screw 15, hollow rotating platform is driven to be moved up and down along the double guide rails 14 of lifting, and pass through electric rotating
Machine 9 drives claw pallet 16 to be rotated relative to lifting electric cylinders 11；Arm part 2 includes sliding electric cylinders 8, translation leading screw 7 and auxiliary
Assistant director of a film or play's rail 6, wherein, slide electric cylinders 8 and be enclosed on translation leading screw 7 with the double guide rails 13 of translation, making slip electric cylinders 8 in translation leading screw 7
Rotate the double side-to-side movements of guide rail 13 of lower edge translation；Translation leading screw 7, the double both ends of guide rail 13 of translation are fixedly clamped by end plate, and
Auxiliary guide rail 6 is installed between the double offside two end plates of guide rail 13 of translation, for adapting to larger load weight；In arm part 2
Claw B5 is separately installed with the end plate of both ends, and tool ends end part 3 is installed outside a side end panel, wherein, tool ends end part 3 wraps
Oscillating motor 12, guide pipe 17 and tool rack 18 are included, tool rack 18 is arranged in the side end panel of arm part 2 one, and is being swung
Under motor 12 drives, tool rack 18 is rotated relative to arm part 2, guide pipe 17 is installed in the end of tool rack 18, is used for
It will check that probe is transported to heat transfer pipe port to be checked.
A kind of heat-transfer pipe maintenance positioner of the present invention, after the target heat-transfer pipe of Awaiting Overhaul is confirmed, that is, needs
Running fix device and when being allowed to delivery vehicle end pieces 3 and arriving target hole position, first as shown in Figure 4 in card in main element 1
Claw B5 in pawl A4 and arm part 2 is firmly grasped on heat-transfer pipe of evaporator 19, the claw A4 in main element 1 in Fig. 5
Unclamp, and drive elevating screw 15 and the double guide rails 14 of lifting to act using electric cylinders 11 are lifted, so as to drive on driving part 1
Claw 4A exits from heat-transfer pipe of evaporator 19；The driving of electric cylinders 8 translation leading screw 7 and the double guide rails 13 of translation are slided, makes main element
1 is moved near corresponding heat-transfer pipe hole position along auxiliary guide rail 6；Claw A4 alignment heat-transfer pipe of evaporator 19 in main element 1
Claw A4 is sent into heat-transfer pipe of evaporator 19 promptly by middle corresponding hole site, lifting electric cylinders 11, then the claw B5 in arm part 2
Unclamp, lifting motor 14 acts again, drives the claw B5 in arm part 2 to exit heat-transfer pipe of evaporator 19；Arm part 2 exists
The hole position that claw B5 thereon is moved to alignment heat-transfer pipe of evaporator 1 under the driving of electric cylinders 8 is slided, lifting motor 11 is by hand
Claw B5 in arm member 2 firmly grasps heat-transfer pipe of evaporator 1, in this way, tool ends end part 3 is carried to target location；When need more
When changing target heat-transfer pipe, according to path planning, and so on, alternately above-mentioned motion mode, tool ends end part 3 can change position
Reach different target hole positions；In implementation tool 3 positioning operation of end pieces, when the claw A4 of main element 1 passes in evaporator
After the endoporus of heat pipe 19 clamps, the claw B5 of arm part 2 is unclamped, and is moved back the claw B5 of arm part 2 by lifting electric cylinders 11
Go out heat-transfer pipe of evaporator 1, arm part 2 can be with stepless around the central rotation of main element 1, its anglec of rotation by electric rotating machine 9
Regulation, meanwhile, arm part 2 can will be connected to arm with respect to the straight-line displacement of main element 1 by both motor patterns
Tool ends end part 3 on part 2 is accurately moved to below corresponding heat-transfer pipe of evaporator pore.Along with tool ends end part 3
It can be rotated by oscillating motor 12, tool ends end part 3 is reached the path of target hole position becomes variation, can pass through
Path planning algorithm selects the mode that walks of optimum efficiency, and tool ends end part 3 can be with the case where the position of main element 1 is constant
All hole positions of device body constructive interference are not positioned within the length range covering of delivery arm part 2.And so on, use
Appropriate trajectory planning, positioner can cover the maintenance task of all evaporators heat-transfer pipe 19, and can greatly improve
Overhaul efficiency.
Claims (10)
1. a kind of heat-transfer pipe overhauls positioner, it is characterised in that：The device include main element (1), arm part (2) and
Tool ends end part (3), wherein, main element (1) is fixed on arm part (2), and main element (1) can be along arm part
Part (2) straight line slides back and forth；Claw A (4) is provided with main element (1), claw B (5) is provided with arm part (2) both ends；
Described claw A (4) and claw B (5) are by expanding clamping fixed in heat-transfer pipe of evaporator (19) pore；When main element (1)
On claw A (4) when being fixed on heat-transfer pipe of evaporator (19) pore, by main element (1) relative to arm part (2)
Rotation, the tool ends end part (3) of the end installation of arm part (2) is driven to turn to specified location.
A kind of 2. heat-transfer pipe maintenance positioner according to claim 1, it is characterised in that：Described main element (1)
Including claw A (4), hollow rotating platform (10) and lifting electric cylinders (11), wherein, several claws A (4) is fixed on claw support
On disk (16), claw pallet (16) is fixedly connected by hollow rotating platform (10) with lifting electric cylinders (11), wherein, lift electric cylinders
It is enclosed on lifting double guide rails (14) and elevating screw (15), drives lifting electric cylinders (11) double along lifting by elevating screw (15)
Guide rail (14) moves up and down.
A kind of 3. heat-transfer pipe maintenance positioner according to claim 1, it is characterised in that：Described arm part (2)
Including sliding electric cylinders (8), translation leading screw (7) and the double guide rails (13) of translation, wherein, slip electric cylinders (8), which are enclosed on to be parallel to each other, to be set
On the double guide rails (13) of translation leading screw (7) and translation put, and translate leading screw (7) and translate double guide rail (13) both sides and pass through end plate
It is fixedly clamped；Described slip electric cylinders (8) are fixedly connected with main element (1).
A kind of 4. heat-transfer pipe maintenance positioner according to claim 3, it is characterised in that：Described arm part (2)
In be additionally provided with auxiliary guide rail (6), wherein, auxiliary guide rail (6) is fixed on the double guide rails of translation positioned at double guide rail (13) offsides of translation
(13) on the end plate of both sides.
A kind of 5. heat-transfer pipe maintenance positioner according to claim 3 or 4, it is characterised in that：Described translation is double to be led
Claw B (5) is respectively equipped with the end plate of rail (13) both sides.
A kind of 6. heat-transfer pipe maintenance positioner according to claim 1, it is characterised in that：Described tool ends end part
(3) oscillating motor (12) and tool rack (18) are included, described tool rack (18) is arranged on the side end panel of arm part (2) one
On, and under oscillating motor (12) drive, tool rack (18) is rotated relative to arm part (2)；Or in arm part (2)
Both sides are respectively mounted tool rack (18).
A kind of 7. heat-transfer pipe maintenance positioner according to claim 1 or 2, it is characterised in that：Described main element
(1) electric rotating machine (9) is additionally provided with, drives claw pallet (16) to be rotated relative to lifting electric cylinders (11) by electric rotating machine (9).
A kind of 8. heat-transfer pipe maintenance positioner according to claim 2, it is characterised in that：Described claw pallet (16)
Several claws A (4), its arrangement mode and quantity are provided with according to the arrangement mode of heat-transfer pipe of evaporator (19) and whole inspection
The load weight for repairing positioner determines.
A kind of 9. heat-transfer pipe maintenance positioner according to claim 1 or 8, it is characterised in that：Described claw pallet
(16) 4 claw A (4) are provided with.
A kind of 10. heat-transfer pipe maintenance positioner according to claim 6, it is characterised in that：Described tool rack (18)
End is provided with guide pipe (17), for will check that probe is transported to heat transfer pipe port to be checked；Guide pipe (17) covering is with master
Body component (1) center is the center of circle, and all heat-transfer pipes of self structure interference are removed within arm part (2) length, and one-time positioning is complete
Into multiple heat-transfer pipe inspections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720630106.9U CN207009092U (en) | 2017-06-02 | 2017-06-02 | A kind of heat-transfer pipe overhauls positioning device structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720630106.9U CN207009092U (en) | 2017-06-02 | 2017-06-02 | A kind of heat-transfer pipe overhauls positioning device structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207009092U true CN207009092U (en) | 2018-02-13 |
Family
ID=61446150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720630106.9U Withdrawn - After Issue CN207009092U (en) | 2017-06-02 | 2017-06-02 | A kind of heat-transfer pipe overhauls positioning device structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207009092U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108986941A (en) * | 2017-06-02 | 2018-12-11 | 核动力运行研究所 | A kind of heat-transfer pipe maintenance positioning device structure |
| CN109659048A (en) * | 2018-12-21 | 2019-04-19 | 核动力运行研究所 | A kind of high temperature gas cooled reactor heat-transfer pipe check device |
| CN113738999A (en) * | 2021-09-14 | 2021-12-03 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
-
2017
- 2017-06-02 CN CN201720630106.9U patent/CN207009092U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108986941A (en) * | 2017-06-02 | 2018-12-11 | 核动力运行研究所 | A kind of heat-transfer pipe maintenance positioning device structure |
| CN108986941B (en) * | 2017-06-02 | 2024-02-09 | 核动力运行研究所 | Heat transfer pipe overhauls positioner structure |
| CN109659048A (en) * | 2018-12-21 | 2019-04-19 | 核动力运行研究所 | A kind of high temperature gas cooled reactor heat-transfer pipe check device |
| CN109659048B (en) * | 2018-12-21 | 2024-02-09 | 核动力运行研究所 | High-temperature gas cooled reactor heat transfer tube inspection device |
| CN113738999A (en) * | 2021-09-14 | 2021-12-03 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
| CN113738999B (en) * | 2021-09-14 | 2023-11-10 | 哈尔滨工业大学 | Robot for overhauling heat transfer tube of steam generator |
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