Robot for overhauling primary side of steam generator of nuclear power plant

A steam generator and robot technology, applied in the field of robots, can solve the problems of control system controllability and stability reduction, high price, low cost performance, etc., and achieve the effect of improving maintenance efficiency, light weight, and large carrying capacity

Inactive Publication Date: 2010-03-10
HARBIN ENG UNIV
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  • Description
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  • Application Information

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Problems solved by technology

However, its main disadvantage is that the driving mode is a combination of gas, liquid and electricity, which greatly re

Method used

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  • Robot for overhauling primary side of steam generator of nuclear power plant
  • Robot for overhauling primary side of steam generator of nuclear power plant
  • Robot for overhauling primary side of steam generator of nuclear power plant

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Embodiment Construction

[0027] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0028] The robot designed by the present invention is mainly composed of 3 parts: a base unit 1, a rotating unit 2 and a sliding unit 3, such as figure 1shown. The base unit can be divided into two pairs of four modular units with basically the same structure. There are two cylinders in each module, which can produce two lifting movements with different functions. One pair of modular units can also be used for The detection equipment provides a carrying space, and the detection equipment can be easily replaced at any time according to different operation requirements. When working, a pair of pneumatic self-locking expansion mechanisms of the modular unit are required to extend into the heat transfer tube and expand tightly to form a gap with the inner wall. The static friction force will be used to support the total weight of the robot. The rotary unit is driven...

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Abstract

The invention provides a robot for overhauling the primary side of a steam generator of a nuclear power plant, comprising a substrate unit, a rotating unit and a sliding unit. Each modularizing unit is internally provided with two gas cylinders capable of generating two lifting motions with different functions, wherein one pair of modularizing units can simultaneously provide loading spaces for adetecting device. When in use, a pneumatic self-locking expansion mechanism of a pair of modularizing units extends into a heat transfer pipe and is expanded, and a static friction force generated with the inner wall is used for supporting the total weight of the robot; the rotating unit is driven by one servomotor and two gas cylinders for respectively generating two motions of rotation and lifting; and the sliding unit converts the rotation motion of the servomotor into a rectilinear motion by a ball screw shaft and drives the modularizing unit to move on a tube plate hole. The invention isconvenient to be installed through a manhole of the steam generator so as to largely improve the overhauling efficiency, and can realize the fast replacement of operating apparatus for the eddy current inspection, the ultrasonic testing, the tube blockage detection, the water chamber surface condition detection and the like of the heat transfer tube.

Description

(1) Technical field [0001] The present invention relates to a robot. Specifically, it is a maintenance robot that can provide a carrying platform for operating devices such as eddy current inspection, ultrasonic inspection, pipe plugging, and water chamber surface condition inspection of steam generator heat transfer tubes. (2) Background technology [0002] The steam generator is the connection hub between the primary and secondary loops in the nuclear power plant, and it is also one of the equipment with the most failures in the operation of the nuclear power plant. The failure of the steam generator is mostly due to the degradation of the heat transfer tube due to complex mechanical vibration and corrosion incentives, resulting in rupture of the heat transfer tube or leakage at the joint between the tube and the tube sheet. Once the heat transfer tube breaks and leaks, the nuclear power plant will be forced to shut down, causing hundreds of millions of economic losses an...

Claims

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Application Information

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IPC IPC(8): G21C17/017F17D5/00
CPCY02E30/30
Inventor 王立权李林刘尔静穆星科陈东良刘贺王嘉钰王刚吴磊
Owner HARBIN ENG UNIV
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