Foot type robot for overhauling heat transfer pipes of steam generators of multiple specifications

A technology of steam generator and heat transfer tube, applied in the field of maintenance robots and footed robots, can solve problems such as poor structural adaptability and inflexible movement modes, and achieve a large working space, flexible and diverse movement modes, and strong structural adaptability. Effect

Active Publication Date: 2022-04-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the existing crawling SG heat transfer tube maintenance robot is not flexible enough in movement mode and has poor structural adaptability, and further provides a method for Legged robot for overhauling heat transfer tubes of steam generators with multiple specifications

Method used

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  • Foot type robot for overhauling heat transfer pipes of steam generators of multiple specifications
  • Foot type robot for overhauling heat transfer pipes of steam generators of multiple specifications
  • Foot type robot for overhauling heat transfer pipes of steam generators of multiple specifications

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specific Embodiment approach 1

[0041] Specific implementation mode one: combine Figure 1-Figure 24 To illustrate this embodiment, this embodiment provides a legged robot for overhauling heat transfer tubes of multi-standard steam generators, which includes a base module 1, an operating arm module 3 and four leg modules 2; The seat module 1 includes a base box 4, a shoulder joint motor module 8 and four hip joint motor modules 7; four hip joint motor modules 7 are arranged on the upper end of the base box 4, and A shoulder joint motor module 8 is provided, the top output end of each hip joint motor module 7 is respectively connected to a leg module 2 , and the bottom output end of the shoulder joint motor module 8 is fixedly connected to the working arm module 3 . It is used to realize the swing of the shoulder joint of the working arm module 3. The leg module 2 is used to realize the walking of the robot, and the working arm module 3 is installed under the base module 1 to realize the positioning and main...

specific Embodiment approach 2

[0042] Specific implementation mode two: combination Figure 1-Figure 15 This embodiment is described. This embodiment provides a legged robot for overhauling multi-standard steam generator heat transfer tubes. The leg module 2 includes a leg-joint module 9 and a leg-two-joint module 10; One end of the first joint module 9 is fixedly connected to the top output end of the hip joint motor module 7, and the other end of the first joint module 9 of the leg is connected to the fixed end of the second joint module 10 of the leg. The leg-joint module 9 is fixedly connected to the output end of the hip joint motor module 7 to realize the swing of the hip joint of the leg module 2, and other structural connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0043]Specific implementation mode three: combination Figure 1-Figure 15 This embodiment is described. In this embodiment, a legged robot for overhauling multi-standard steam generator heat transfer tubes is provided. The leg-joint module 9 includes a knee joint motor module 11, a leg-joint housing 12 and The leg-joint cover plate 13; the leg-joint cover plate 13 is mounted on the leg-joint shell 12, and the leg-joint cover plate 13 and the leg-joint shell 12 are provided with an 'L' shaped cavity The knee joint motor module 11 is fixedly installed at one end of the 'L'-shaped cavity, and the side wall of the other end of the 'L'-shaped cavity is fixedly installed on the top output end of the hip joint motor module 7 . The knee joint motor module 11 is an integrated motor module, which is integrally connected by a reducer, a motor and a driver. Other structural connections are the same as in the second embodiment.

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Abstract

The invention relates to a maintenance robot, in particular to a foot type robot used for maintenance of steam generator heat transfer pipes of multiple specifications, and aims to solve the problems that an existing crawling type SG heat transfer pipe maintenance robot is not flexible enough in motion mode and poor in structural adaptability, and the foot type robot comprises a base module, an operation arm module and four leg modules. The base module comprises a base box body, a shoulder joint motor module and four hip joint motor modules; four hip joint motor modules are arranged at the upper end of the base box body, a shoulder joint motor module is arranged at the bottom end of the base box body, the top output end of each hip joint motor module is connected with one leg module, and the bottom output end of each shoulder joint motor module is fixedly connected with the operation arm module. The invention belongs to the field of equipment maintenance.

Description

technical field [0001] The invention relates to a maintenance robot, in particular to a legged robot used for maintenance of heat transfer tubes of multi-standard steam generators. It belongs to the field of equipment maintenance. Background technique [0002] With the increasingly prominent energy and environmental problems, nuclear power has been widely valued by countries all over the world for its environmental protection, cleanliness, stability and relative safety. At present, the annual nuclear power generation has accounted for more than 10% of the world's total power generation. At present, among the nuclear power plants that have been built and operated in the world, more than 70% of the nuclear reactor units adopt the pressurized water reactor structure. The configuration of the pressurized water reactor unit adopts the special structural design of the steam generator (referred to as SG). While realizing the heat exchange between the primary circuit and the second...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 樊继壮张宽张学贺邢真铭徐碧莹欧越赵杰
Owner HARBIN INST OF TECH
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