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Articulated crawling robot for steam generator heat pipe detection

A technology of crawling robots and steam generators, applied in manipulators, manufacturing tools, etc., can solve the problems of large overall size of robots, limitation of tube sheet models, small detection area, etc., and achieve easy equipment handling, high safety and stability, The effect of large load

Inactive Publication Date: 2018-01-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide an articulated crawling robot for steam generator heat pipe detection, to solve the problem that after the toes of the existing robot PEGASYS are fixed, the heat pipe detected is a single row heat pipe, and when different heat discharge pipes are detected, it needs to be changed at least twice The position of the toes, after fixing, the detection area is small, and the operation is inconvenient; when the existing robot ZR-100 performs safety inspection on heat pipes, the overall size of the robot is large and it is easily limited by the model of the tube plate

Method used

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  • Articulated crawling robot for steam generator heat pipe detection
  • Articulated crawling robot for steam generator heat pipe detection
  • Articulated crawling robot for steam generator heat pipe detection

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specific Embodiment approach 1

[0028] Specific implementation mode one: combine figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 with Image 6 Describe this embodiment. This embodiment includes a mechanism body 1 and a detection tool interface 3; the mechanism body 1 includes a left rotary joint 11, a middle rotary joint 12, and a right rotary joint 13. The rotary joint 12 and the right rotary joint 13 have the same structure, the left rotary joint 11, the middle rotary joint 12 and the right rotary joint 13 are sequentially connected to form a three-degree-of-freedom mechanical arm, and the toe module 2 includes a left toe assembly 21 and the right toe assembly 22, the left toe assembly 21 is arranged in the left revolving joint 11, the right toe assembly 22 is arranged in the right revolving joint 13, and the detection tool interface 3 is arranged in the left revolving joint 11 On the outer wall or the outer wall of the right rotary joint 13.

specific Embodiment approach 2

[0029] Specific implementation mode two: combination Figure 4 with Figure 5Describe this embodiment. In this embodiment, the left rotary joint 11 includes a joint seat 218, a first main shaft gear 216, a first main shaft 217, a first bearing 219, a first servo motor 2127, a first motor shaft gear 2128, The first connecting shaft 2130 and the first intermediate gear 2131, the first main shaft 217 is set in the joint seat 218, the first main shaft gear 216 is located between the joint seat 218 and the first main shaft 217 and is set on the first main shaft 217 Above, the first bearing 219 is set on the first main shaft 217 and located below the first main shaft gear 216, the first connecting shaft 2130 is installed on one side of the joint seat 218, and the first connecting shaft 2130 is set on the first An intermediate gear 2131 , the first motor shaft gear 2128 is set on the output shaft of the first servo motor 2127 , and the first motor shaft gear 2128 meshes with the fir...

specific Embodiment approach 3

[0030] Specific implementation mode three: combination figure 1 , figure 2 , image 3 , Figure 4 with Figure 5 Describe this embodiment. In this embodiment, the left rotary joint 11 further includes a first baffle plate 215, a first end cover 2112, a first built-in sealing ring 2113, and a first shaft end stop ring 2129. The first main shaft The top of 217 is provided with a first baffle 215, the first end cover 2112 is detachably connected to the bottom of the joint seat 218, the first built-in sealing ring 2113 is set outside the first main shaft 217 and is located in the first end cover 2112, so The first shaft retaining ring 2129 is sleeved on the first connecting shaft 2130 . Other unmentioned structures and connections are the same as those in the second embodiment.

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Abstract

The invention relates to a joint type crawling robot for detecting a heat pipe of a steam generator, in particular to a joint type crawling robot. After a toe of a conventional robot PEGASYS is fixed, the detected heat pipe is a single heat exchange pipe; when the robot is used for detecting different heat pipes, the position of the toe is changed for at least two times; after being fixed, the conventional robot PEGASYS is small in detecting area and inconvenient to operate; when a conventional robot ZR-100 performs safety detection on the heat pipe, the problem that the robot is large in overall dimension and easy to limit by the type of a pipe plate exists. According to the joint type crawling robot disclosed by the invention, the structures of a left rotating joint, a middle rotating joint and a right rotating joint are the same, and the three rotating joints form a three-freedom-degree mechanical arm; a toe module comprises a left toe assembly and a right toe assembly, wherein the left toe assembly is arranged in the left rotating joint; the right toe assembly is arranged in the right rotating joint, an interface of a detecting tool is formed in the outer wall of the left rotating joint or the outer wall of the right rotating joint. The joint type crawling robot disclosed by the invention is used for heat pipe detection.

Description

technical field [0001] The invention relates to an articulated crawling robot, which belongs to the technical field of mechatronics. Background technique [0002] With the development of the nuclear industry, the issue of nuclear power safety inspection has become increasingly prominent. The safety monitoring of steam generator heat pipe has become an important content in nuclear power safety. The robots used for steam generator heat pipe detection are mainly divided into two categories: series robots and crawling robots. Among them, crawling robots are gradually occupying a leading position in the market due to their simple structure, small size, light weight, and easy carrying and handling. At present, there are two main types of crawling robots used for steam generator heat pipe detection: PEGASYS, finger gripping robot and ZR-100. [0003] The PEGASYS robot published in the invention patent "Miniature manipulator for serving the interior of nuclear steam generator tub...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 闫继宏樊继壮蔡汝飞李戈张新彬赵杰
Owner HARBIN INST OF TECH
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