CN214724245U - Rotating structure of heat transfer pipe positioning robot - Google Patents
Rotating structure of heat transfer pipe positioning robot Download PDFInfo
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- CN214724245U CN214724245U CN202023177322.3U CN202023177322U CN214724245U CN 214724245 U CN214724245 U CN 214724245U CN 202023177322 U CN202023177322 U CN 202023177322U CN 214724245 U CN214724245 U CN 214724245U
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- base
- rotary table
- positioning robot
- heat transfer
- air pipe
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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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Abstract
The utility model discloses a heat-transfer pipe positioning robot revolution mechanic, including base and revolving stage, base and revolving stage two parts relative rotation realize the rotation action. The beneficial effects of the utility model reside in that: the air circuit and the circuit switching mechanism slip ring are realized and integrated into a positioning robot structure, so that an electric signal and one path of compressed gas are not limited by a cable and an air pipe and can rotate in an infinite cycle. Inspection efficiency can be greatly improved. Because of the structure of the sliding ring, the valve of the rotary table, the sensor and the like are all arranged in front of the claw of the actuating mechanism, the connection of an air pipe can be reduced. Because the eccentric motor is adopted to drive the synchronous pulley, the overall height of the equipment is reduced, and a space is provided for the installation of the sliding ring. The design of the gas-electric slip ring ensures that only one cable and one air pipe are needed to provide power and signals for the positioning robot.
Description
Technical Field
The utility model belongs to the nondestructive test of steam generator heat-transfer pipe and similar equipment, concretely relates to heat-transfer pipe location robot revolution mechanic.
Background
A Steam Generator (hereinafter, referred to as SG) is a heavy-duty critical equipment next to a core pressure vessel in a nuclear power plant, and is one of the most faulty equipments in the operation of the nuclear power plant. The inner surface of the SG water chamber, the main pipeline joint, the partition plate, the tube plate and thousands of heat transfer tubes are all the objects of SG in-service overhaul and evaluation, wherein the in-service overhaul and evaluation of the heat transfer tubes are the most complicated. The corrosion damage of the heat transfer pipe can cause the radioactive medium in the primary circuit to leak to the secondary circuit, thereby causing serious water pollution and endangering the safety of the primary circuit. Once a leakage accident occurs, the nuclear power station is forced to be shut down emergently, which causes great economic loss and potential safety hazard. Therefore, the regular on-line maintenance and evaluation of SG is the main means for avoiding unplanned shutdown.
The utility model provides a novel nuclear power station steam generator tube sheet location inspection robot structure can solve the maintenance problem of steam generator heat-transfer pipe. The maintenance robot is a device capable of walking on the tube plate, and a rotary structure of the maintenance robot for walking on the tube plate is a key part of the maintenance robot.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a heat-transfer pipe location robot revolution mechanic, it can adapt to steam generator at the complicated operating mode of labour's maintenance, and this structure has realized a neotype tube sheet motion, and is integrated to the location robot structure with gas circuit and circuit switching mechanism in, realizes embedded design for the signal of telecommunication and compressed gas all the way do not receive cable and trachea restriction, can infinitely circulate, can improve inspection efficiency greatly.
The technical scheme of the utility model as follows: a heat transfer pipe positioning robot rotating structure comprises a base and a rotary table, wherein the base and the rotary table rotate relatively to realize rotating action.
And a cable joint and an air pipe quick joint are arranged below the base.
The motor is installed to the below of base, the motor passes through the hold-in range wheelset and drives the harmonic speed reducer ware, the harmonic speed reducer ware passes the base, the harmonic speed reducer ware output is fixed with the connecting axle, the connecting axle is fixed with the sliding ring connecting axle, it is rotatory to drive the sliding ring rotating ring for the signal of telecommunication and the compressed gas of the same kind do not receive the cable and the trachea restriction, can infinitely circulate.
And a slip ring positioning frame is fixed on the slip ring.
The lower part of the base is also provided with an electromagnetic valve group, an IO module and a driver, and the lifting cylinder penetrates through the base and is connected with a lifting column positioned above the base.
And a photoelectric switch is arranged on the upper part of the base and used for determining the zero position of the rotary table.
The rotary table is covered in the shell, the clamping jaws are arranged on the upper portion of the rotary table, and each clamping jaw on the rotary table is retracted, tensioned and released through the second electromagnetic valve, the first electromagnetic valve and the spring.
The beneficial effects of the utility model reside in that: the air circuit and the circuit switching mechanism slip ring are realized and integrated into a positioning robot structure, so that an electric signal and one path of compressed gas are not limited by a cable and an air pipe and can rotate in an infinite cycle. Inspection efficiency can be greatly improved. Because of the structure of the sliding ring, the valve of the rotary table, the sensor and the like are all arranged in front of the claw of the actuating mechanism, the connection of an air pipe can be reduced. Because the eccentric motor is adopted to drive the synchronous pulley, the overall height of the equipment is reduced, and a space is provided for the installation of the sliding ring. The design of the gas-electric slip ring ensures that only one cable and one air pipe are needed to provide power and signals for the positioning robot.
Drawings
Fig. 1 is a schematic view of a rotating structure of a heat transfer tube positioning robot according to the present invention;
FIG. 2 is a schematic view of a susceptor;
FIG. 3 is a diagram of an onboard master control box;
FIG. 4 is a first schematic view of a turntable;
FIG. 5 is a schematic view of a turntable structure;
fig. 6 is a sectional view of a rotary structure of the positioning robot.
In the figure, 1 base, 2 revolving stages, 3 harmonic reducers, 4 lifting columns, 5 lifting cylinders, 6 shells, 7 claws, 8 rotating motor codes, 9 air pipe quick connectors, 10 lifting rings, 11 connecting blocks, 12 cable connectors, 13 sliding ring limiting frames, 14 sliding rings, 15 motors, 16 synchronous belt wheel sets, 17 expansion mechanisms, 18IO modules, 19 electromagnetic valve sets, 20 connecting shafts, 21 first electromagnetic valves, 22 springs, 23 second electromagnetic valves, 24 trigger rods, 25 photoelectric switches and 26 drivers.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Based on the motion principle of a mechanism of a positioning robot, a rotating structure of a heat transfer pipe positioning robot is divided into a base 1 and a rotary table 2, and the two parts rotate relatively to realize rotating action. The base 1 has 3 functions, and is used as a rotary freedom degree base, an airborne main control box of a positioning robot and a lifting freedom degree base.
A cable joint 12 and an air pipe quick joint 9 are arranged below the base 1, and a main cable main air source is respectively connected with the respective matched joints. The base is a local concave structure, and the joint is hidden inside the base so as to protect the joint from being damaged in the process of installation, maintenance, transportation and carrying of the positioning robot, and the concave structure leaves a dismounting space for the joint.
A motor 15, a synchronous pulley group 16, a slip ring 14, an electromagnetic valve group 19, a driver 26 and an IO module 18 are integrated in the base 1, and a harmonic reducer 3, a photoelectric switch 25, an encoder lifting cylinder 5 and a lifting column 4 are arranged on the top cover of the base.
After a main air source is connected into the base through the air pipe quick connector 9, the main air source is divided into four paths of air by a five-way valve island of the electromagnetic valve group 19, wherein two paths of air respectively control the ascending and descending actions of the lifting cylinder through the electromagnetic valve, and the other two paths of air respectively supply a rotary table and a sliding table of the positioning robot. The air pipe for supplying air to the turntable is connected to the fixed ring of the slip ring 14 and then connected to the turntable by the air pipe of the movable ring.
The base driver 26 is mounted on the housing of the base motor 15 by means of a mounting socket, forming with the motor a motor-driver module. The IO module 18 is installed on the guide rail and is limited and fixed on the top plate of the base by a guide rail clamp. The motor 15 is fixed on the motor base of the base.
In order to save space in the vertical direction and reduce the height of equipment, the motor rotating shaft and the rotating freedom degree rotating shaft are eccentrically designed, the middle of the rotating shaft is driven by a synchronous pulley group 16, a driving wheel is fixed on an output shaft of a motor 15 through a jackscrew, a driven wheel is fixed on an input end of a harmonic reducer 3 through a flange, an output end of the harmonic reducer 3 is fixed with a connecting shaft 20 through a group of fixing bolts to drive a rotary table to rotate, and the connecting shaft 20 is fixed with a connecting shaft of a sliding ring 14 to drive the sliding ring 14 to rotate. The slip ring connecting shaft is designed into a structure that a flange plate is matched with a hollow shaft, the hollow shaft is designed to facilitate the air pipe and the electric wire of the slip ring moving ring to pass through and be connected to the rotary table, and in addition, the hollow shaft and the harmonic reducer output rotating speed are synchronous, so that the air pipe and the electric wire are prevented from being worn and damaged in the ceaseless reciprocating rotary motion.
The encoder is installed to base hold-in range wheelset action wheel upside, and the encoder is fixed in the action wheel pivot through the jackscrew. In order to improve the transmission precision and reduce the load of an output shaft of the frameless motor, a support bearing is arranged between an encoder and a driving wheel rotating shaft, and the encoder is fixed on a top plate of a base through screws. A photoelectric switch is arranged at a proper position of the top plate of the base and used for determining the zero position of the rotary table, the photoelectric switch is arranged on the top plate of the base through an installation block, and the trigger rod 24 is arranged in a special groove of a lower shell of the rotary table.
Two sets of lifting cylinders 5 and lifting columns 4 are designed on two sides of a rotating freedom degree rotating shaft, the lifting cylinders and the lifting columns 4 are main moving parts of lifting freedom degrees, the lifting cylinders provide power for lifting motion and are controlled by air supply of a five-way valve island in a base, and the lifting columns 4 play roles in improving motion precision, protecting piston rods and increasing structural strength under the cooperation of linear bearings. The lower ends of the lifting cylinder and the linear bearing are arranged on the top plate of the base, and the upper ends of the lifting cylinder and the linear bearing are fixed on the connecting block 11. Connecting block and base support are together with fix with screw, and the base support has played the effect that supports lift degree of freedom motion and translation degree of freedom motion, and the lifting ring 10 is installed at base support center, can play the limiting displacement of pairing rotation degree of freedom pivot, improves the rotational degree of freedom motion precision to the vibration when weakening the rotation.
The air circuit of the turntable mechanism is complex, each jaw mechanism needs three air circuits, and the retraction, the tensioning and the release of the positioning and clamping mechanism are respectively controlled by a solenoid valve 23 and a spring through a solenoid valve 21. The air pipe is led out from the slip ring connecting shaft of the base and provides power for the clamping jaws.
Three jack catchs are installed on the revolving stage, and the jack catch shell is fixed by revolving stage roof and revolving stage bottom plate, and the spring one end of jack catch is hung the spring lifting hook on the revolving stage roof, and the other end is hung on the bottom cover of location clamping mechanism, still is equipped with proximity switch on the spring lifting hook, cooperates with the trigger bar of jack catch bottom, and detectable location clamping mechanism's operating condition.
As shown in figure 6, the rotating structure of the utility model is installed on the positioning robot, and the cable joint 12 is connected with a power supply and an air source through the air pipe quick joint 9. After entering an onboard main control box, a power supply is respectively connected with an upper IO module, a driver, a motor, an electromagnetic valve and an encoder, and after a main air source is connected into a base through an air pipe quick connector 9, the main air source is divided into four paths of air by a five-way valve island of an electromagnetic valve group 19, wherein two paths of air respectively control the ascending and descending actions of a lifting cylinder through the electromagnetic valve, and the other two paths of air respectively supply a rotary table and a sliding table of a positioning robot. The air pipe for supplying air to the turntable is connected to the fixed ring of the slip ring 14 and then connected to the turntable by the air pipe of the movable ring. The air pipe is led out from the slip ring connecting shaft of the base and provides power for the clamping jaws. Each jaw mechanism on the rotary table 2 needs three paths of air, and the retraction, the tensioning and the release of the jaws are respectively controlled by the springs through the second electromagnetic valve 23 and the first electromagnetic valve 21. Three jack catchs are installed on the revolving stage, and the jack catch shell is fixed by revolving stage roof and revolving stage bottom plate, and the spring one end of jack catch is hung the spring lifting hook on the revolving stage roof, and the other end is hung on the bottom cover of location clamping mechanism, still is equipped with proximity switch on the spring lifting hook, cooperates with the trigger bar of jack catch bottom, and detectable location clamping mechanism's operating condition. The clamping jaws are expanded in the heat transfer tube of the evaporator so as to be hung on the tube plate.
The driver driving motor rotates, by encoder control rotation angle and precision, the motor drives synchronous pulley group rotatory, synchronous pulley group's action wheel is fixed in 15 output shafts of motor through the jackscrew, synchronous pulley group's follow driving wheel is fixed in harmonic reducer 3 input through the flange, harmonic reducer output is fixed with connecting axle 20 through a set of fixing bolt, at this moment, because the jack catch expands tightly in the evaporimeter heat transfer tube on the revolving stage, hang on the tube sheet, because the relative motion relation between base and the revolving stage, therefore the base is rotatory, (if the base is fixed, then the revolving stage is rotatory) connecting axle 20 is fixed with sliding ring 14 connecting axle, it is rotatory to drive sliding ring 14 rotating ring. The slip ring connecting shaft is designed into a structure that a flange plate is matched with a hollow shaft, the hollow shaft is designed to facilitate the air pipe and the electric wire of the slip ring moving ring to pass through and be connected to the rotary table, and in addition, the hollow shaft and the harmonic reducer output rotating speed are synchronous, so that the air pipe and the electric wire are prevented from being worn and damaged in the ceaseless reciprocating rotary motion.
As shown in fig. 1, a rotating structure of a heat transfer pipe positioning robot comprises a base 1 and a rotary table 2, as shown in fig. 2 and 3, a cable connector 12 and an air pipe quick connector 9 are mounted below the base 1, and a main cable main air source is respectively connected with the respective matched connectors. As shown in fig. 2, a motor 15 is installed below the base 1, the motor 15 drives the harmonic reducer 3 through a synchronous pulley set 16, the harmonic reducer 3 passes through the middle position of the base, the output end of the harmonic reducer 3 is fixed with a connecting shaft 20 through a set of fixing bolts to drive the turntable to rotate, and the connecting shaft 20 is fixed with the connecting shaft of the slip ring 14 to drive the rotating ring of the slip ring 14 to rotate. A slip ring positioning frame 13 is fixed on the slip ring 14, an electromagnetic valve group 19, an IO module 18 and a driver 26 are also installed below the base 1, the lifting cylinder 5 passes through the base 1 and is connected with a lifting column 4 positioned above the base 1,
the photoelectric switch 25 is arranged on the upper part of the base 3 through a mounting block and is used for determining the zero position of the turntable, and the trigger rod 24 is arranged in a special groove of the lower shell of the turntable 2.
The shell 6 covers the rotary table 2, the upper part of the rotary table 2 is provided with 3 clamping jaws 7, each clamping jaw mechanism on the rotary table 2 needs three paths of air, and the springs respectively control the retraction, the tensioning and the release of the clamping jaws through the second electromagnetic valve 23 and the first electromagnetic valve 21. Three jack catchs are installed on the revolving stage, and the jack catch shell is fixed by revolving stage roof and revolving stage bottom plate, and the spring one end of jack catch is hung the spring lifting hook on the revolving stage roof, and the other end is hung on the bottom cover of location clamping mechanism, still is equipped with proximity switch on the spring lifting hook, cooperates with the trigger bar of jack catch bottom, and detectable location clamping mechanism's operating condition. The clamping jaws are expanded in the heat transfer tube of the evaporator so as to be hung on the tube plate.
Claims (5)
1. A heat-transfer pipe location robot revolution mechanic which characterized in that: the rotary table comprises a base and a rotary table, wherein the base and the rotary table rotate relatively to realize a rotating action;
a cable joint and an air pipe quick joint are arranged below the base;
the rotary table is covered in the shell, the clamping jaws are arranged on the upper portion of the rotary table, and each clamping jaw on the rotary table is retracted, tensioned and released through the second electromagnetic valve, the first electromagnetic valve and the spring.
2. The heat transfer tube positioning robot rotary structure according to claim 1, characterized in that: the motor is installed to the below of base, the motor passes through the hold-in range wheelset and drives the harmonic speed reducer ware, the harmonic speed reducer ware passes the base, the harmonic speed reducer ware output is fixed with the connecting axle, the connecting axle is fixed with the sliding ring connecting axle, it is rotatory to drive the sliding ring rotating ring for the signal of telecommunication and the compressed gas of the same kind do not receive the cable and the trachea restriction, can infinitely circulate.
3. The heat transfer pipe positioning robot rotary structure according to claim 2, characterized in that: and a slip ring positioning frame is fixed on the slip ring.
4. The heat transfer tube positioning robot rotary structure according to claim 1, characterized in that: the lower part of the base is also provided with an electromagnetic valve group, an IO module and a driver, and the lifting cylinder penetrates through the base and is connected with a lifting column positioned above the base.
5. The heat transfer tube positioning robot rotary structure according to claim 1, characterized in that: and a photoelectric switch is arranged on the upper part of the base and used for determining the zero position of the rotary table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023177322.3U CN214724245U (en) | 2020-12-25 | 2020-12-25 | Rotating structure of heat transfer pipe positioning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023177322.3U CN214724245U (en) | 2020-12-25 | 2020-12-25 | Rotating structure of heat transfer pipe positioning robot |
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| Publication Number | Publication Date |
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| CN214724245U true CN214724245U (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023177322.3U Active CN214724245U (en) | 2020-12-25 | 2020-12-25 | Rotating structure of heat transfer pipe positioning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
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2020
- 2020-12-25 CN CN202023177322.3U patent/CN214724245U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
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