Mechanical foot of heat transmission pipe detecting robot for vapor generators

Abstract

The invention provides a mechanical foot of a heat transmission pipe detecting robot for vapor generators. The mechanical foot comprises a primary air cylinder, a secondary air cylinder and a claw. The primary air cylinder is provided with a primary piston guide bushing, a secondary piston of the secondary air cylinder is arranged in an inner cavity of a primary piston of the primary air cylinder and divides the same into a front cavity and a rear cavity, the front cavity is connected with a second air port, and the rear cavity is connected with a third air port. A secondary piston rod of the secondary air cylinder extends into the primary piston guide bushing. The primary air cylinder is provided with a first air port. A compressed spring is arranged between an end cap of the primary air cylinder and the secondary piston. The claw comprises a base, a support rod, a plurality of matched sliders and a plurality of pull rods. The support rod is provided with a conical surface. The rear end of the support rod is connected with an end of the primary piston guide bushing through the base. The sliders are hinged with one ends of the pull rods. The other ends of the pull rods penetrate the base to be connected with the end of the secondary piston rod. The sliders are in sliding fit with the conical surface of the support rod. The mechanical foot can enable the detection robot to stably crawl at the lower end of a pipe plate but does not damage heat transmission pipes in the pipe plate.

Description

technical field [0001] The invention relates to a mechanical foot of a robot, in particular to a mechanical foot of a detection robot used for grasping the inner hole of a heat transfer tube of a steam generator. Background technique [0002] The main function of the steam generator in a nuclear power plant is to transfer the heat of the coolant in the primary circuit to the water in the secondary circuit as a heat exchange device, so that the water in the secondary circuit can be vaporized to generate saturated steam for the power plant in the secondary circuit. The steam generator is also used as a device connecting the primary circuit and the secondary circuit. The steam generator forms a second protective barrier between the primary circuit and the secondary circuit to prevent radioactive leakage. The steam generator heat transfer tube is an important part of the pressure boundary of the primary circuit of the PWR, and is the main barrier to prevent the leakage of radioa...

AI Technical Summary

Problems solved by technology

The mechanical foot of the robot currently used is to grasp the inner hole of the heat transfer tube through a single wedge, and then realize the purpose of crawling at the lower end of the tube sheet. However, since the inner hole of the heat tran

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