Secondary-side Inter-tube Foreign Object Grabbing Device and Method

Abstract

A secondary-side inter-tube foreign object grasping device and method, comprising a moving tool, a monitoring component, and a grasping tool installed on the moving tool; the moving tool is placed into the steam generator along the handhole, the monitoring component is installed on the moving tool and the grasping tool, and the moving tool, the monitoring component, and the grasping tool are all remotely controlled outside the steam generator; the grasping tool includes a guiding frame, a bending strip, and a foreign object loosening component; the guiding frame rotates relative to the moving tool, the guiding frame is used for guiding in the length direction of the bending strip, and the foreign object loosening component can drive the processing end of the bending strip to rise, extend, and swing. Since the device can directly enter the steam generator and perform operations remotely, it reduces or even avoids the radiation dose of personnel in the irradiated environment, and facilitates the grasping tool to grasp foreign objects at a more suitable position; the processing end of the bending strip can rise, extend, and swing under the action of the foreign object loosening component, realizing the processing of foreign objects.

Description

Technical Field

[0001] The present invention relates to the technical field of steam generator maintenance, and particularly to a device and method for grasping foreign objects between secondary side tubes. Background Art

[0002] A steam generator is a mechanical device that uses the heat energy of fuel or other energy sources to heat water into hot water or steam. A nuclear power steam generator is one of the three major devices in the nuclear island and is the boundary between the primary and secondary circuits of a pressurized water reactor nuclear power plant. It transfers the heat generated by the reactor to the secondary side of the steam generator, and the generated steam is dried by the first- and second-stage steam-water separators and then drives a steam turbine generator to generate electricity. During the construction, installation, operation, and shutdown maintenance processes of the steam generator, due to various reasons, some foreign objects may enter the secondary side of the steam generator, deposit and adhere to the tube sheet after mixing, or form clamping-type foreign objects stuck between the tubes. The residual foreign objects on the tube sheet will pose certain tube rupture hazards to the heat transfer tubes of the steam generator during the operation of the unit (such as impact, vibration, extrusion, wear, corrosion, etc. of the foreign objects on the heat transfer tubes), affecting the safety and reliability of the heat transfer tubes. Therefore, the inspection and removal of foreign objects in the steam generator are also an important task in the maintenance management of nuclear power plant steam generators.

[0003] Currently, the cold side of the secondary side of the steam generator has a double-layer sleeve structure, and foreign objects may appear in the intermediate pipe gallery or between the cold side tubes. When foreign objects appear in the intermediate pipe gallery, a telescopic long rod clamp is used. The telescopic long rod clamp is directly inserted through the SG manhole and gradually extended section by section. The clamp gradually extends along the central pipe gallery to above the foreign object, and then the steel wire rope is retracted through the winch, so that the hinged rod part at the front end bends downward to the foreign object, and then the tightening device at the pressing handle is used to tighten the steel wire rope to close the front end jaws and grasp the foreign object. When foreign objects appear between the cold side tubes, the tool for grasping foreign objects needs to enter through two interfaces of the SG and reach the foreign object position along the cold side outer ring gallery. Different structures of guiding tools are respectively used to enter through the 34.5°, 145.5°, and 180° manholes, and the tool for grasping foreign objects is transported to the foreign object between the tubes for disposal.

[0004] Through the above technical solutions, the current foreign object grasping work on the tube sheet of the steam generator mainly targets loose foreign objects. For foreign objects adhered and fixed to the tube sheet or between the tubes, the clamping force of the clamping tool is insufficient, the operating space is small, the operating direction is single, and the achievable foreign object loosening effect is limited. At the same time, the position of the foreign object is uncertain. Before grasping the foreign object each time, it is necessary to modify the guiding tool and plan the manhole position according to the foreign object position. It is more applicable to several rows of heat transfer tubes near the manhole of the steam generator, with a large grasping difficulty and low grasping efficiency. Summary of the Invention

[0005] The main technical problem to be solved by the present invention is how to reduce the difficulty of grasping foreign objects between the tubes of a steam generator and improve the efficiency of handling foreign objects.

[0006] According to a first aspect, in one embodiment, a device for grasping foreign objects between the secondary side tubes is provided, including: a moving tool for being placed into a manhole, a monitoring component, and a grasping tool installed on the moving tool;

[0007] The grasping tool includes a guiding frame, a bending strip, and a foreign object loosening component;

[0008] The guiding frame rotates relative to the moving tool, and the axial direction of the rotation axis of the guiding frame is parallel to the transverse direction of the bending strip;

[0009] The bending strip passes through the guiding frame and is slidably connected to the guiding frame, and the guiding frame is used for guiding in the length direction of the bending strip;

[0010] The bending strip has a reset state and a foreign object grasping state; in the reset state, both the bending strip and the guiding frame are parallel to the driving surface; in the foreign object grasping state, the guiding frame rotates, the bending strip bends transversely, one end of the bending strip is lifted and approaches the foreign object, and the lifted end of the bending strip is the processing end for processing the foreign object;

[0011] The foreign object loosening component is used to adjust the bending strip to enter the foreign object grasping state, and to adjust the rotation and swing of the guiding frame;

[0012] The monitoring component is arranged on the moving tool or the grasping tool, and both the moving tool and the grasping tool move through remote control.

[0013] Further, in one embodiment, the foreign object loosening component includes a guiding plate, a first connecting rod, and a flipping screw;

[0014] An installation frame is arranged on the moving tool;

[0015] The guiding plate is hinged to the installation frame, and the guiding frame is arranged close to the guiding plate;

[0016] The flipping screw is parallel to the installation frame and rotatably connected to the installation frame. A flipping slider is threadedly connected to the flipping screw, and a guiding groove for restricting the rotation of the flipping slider is formed on the installation frame;

[0017] Both ends of the first connecting rod are respectively rotatably connected to the flipping slider and the guiding plate, and the rotation axis of the first connecting rod is parallel to the hinge axis of the guiding plate and perpendicular to the flipping screw.

[0018] Further, in one embodiment, the foreign object loosening component further includes a torsion screw, a limiting strip, and a second connecting rod;

[0019] The torsion screw is rotatably connected to the guide plate. In the reset state, the torsion screw is parallel to the flip screw, and a torsion slider is threadedly connected to the torsion screw.

[0020] The two ends of the second connecting rod are rotatably connected to the torsion slider and the guide frame respectively, and the rotation axis of the second connecting rod is arranged perpendicular to the guide plate and the second connecting rod;

[0021] The limit bar is arranged on the torsion slider, and the guide frame is provided with an oblique groove for the limit bar to extend into and slide. The limit bar slides along the oblique groove to realize the swing of the guide frame.

[0022] Further, in one embodiment, the foreign body loosening assembly further comprises a stepping screw and at least two guide rods, and the bending strip is provided with an adapter seat at the end away from the processing end;

[0023] One end of the guide rod is non-rotatably connected to the adapter, and the other end is axially slidably connected to the mounting bracket; the stepping screw is coaxially threadedly connected to one end of any guide rod away from the adapter.

[0024] Furthermore, in one embodiment, a pressure plate is provided on the mounting frame, and the pressure plate is located between the guide frame and the adapter seat; a gap is formed between the pressure plate and the mounting frame for the bending strip to pass through and slide.

[0025] Further, in one embodiment, the mobile tool comprises a trolley body, a rocker box, an adjustment assembly, and at least two sets of permanent magnetic wheels respectively arranged on both sides of the trolley body;

[0026] The grabbing tool is mounted on the top wall of the trolley body;

[0027] The rocker box is rotatably connected to the two side walls of the trolley body, and the permanent magnetic wheels are rotatably mounted on the rocker box in a one-to-one correspondence, and the permanent magnetic wheels are parallel to the rotation axis of the rocker box and staggered, and the permanent magnetic wheels in the same group can rotate synchronously;

[0028] The adjustment assembly is used to position the rocker box.

[0029] Furthermore, in one embodiment, the adjustment assembly includes a fixing screw, support frames are installed on both sides of the trolley body, the rocker box is arranged and clamped between the trolley body and the support frame, and the rocker box is clamped, and the fixing screw is threadedly connected to the support frame and passes through the support frame to be tightly pressed against the rocker box.

[0030] Furthermore, in one embodiment, the two groups of permanent magnet wheels are respectively provided with a group of driving parts, and when the number of permanent magnet wheels in a group is greater than one, the permanent magnet wheels in the same group rotate synchronously through a synchronous belt.

[0031] In one embodiment, a foreign object grasping device between secondary side pipes is provided, including: a moving tool for being placed into a manhole, a monitoring component, and a grasping tool installed on the moving tool;

[0032] The grasping tool includes a guiding frame, a bending strip, and a foreign object loosening component;

[0033] The guiding frame rotates relative to the moving tool, and the axial direction of the rotation axis of the guiding frame is parallel to the transverse direction of the bending strip;

[0034] The bending strip passes through the guiding frame and is slidably connected to the guiding frame, and the guiding frame is used for guiding in the length direction of the bending strip;

[0035] The bending strip has a reset state and a foreign object grasping state; in the reset state, both the bending strip and the guiding frame are parallel to the mounting frame; in the foreign object grasping state, the guiding frame rotates, the bending strip bends transversely, one end of the bending strip is lifted and approaches the foreign object, and the lifted end of the bending strip is the processing end for processing the foreign object;

[0036] The foreign object loosening component is used to adjust the bending strip to enter the foreign object grasping state, and to adjust the rotation and swing of the guiding frame;

[0037] The monitoring component is arranged on the moving tool or the grasping tool, and both the moving tool and the grasping tool move through remote control.

[0038] Further, in one embodiment, the moving tool includes a trolley body, a rocker arm box, an adjustment component, and at least two groups of permanent magnet wheels respectively arranged on both sides of the trolley body;

[0039] The grasping tool is installed on the top wall of the trolley body;

[0040] The rocker arm box is rotatably connected to both side walls of the trolley body, the permanent magnet wheels are rotatably installed on the rocker arm box one by one, and the permanent magnet wheels are parallel and staggered with the rotation axis of the rocker arm box, and the permanent magnet wheels in the same group can rotate synchronously;

[0041] The adjustment component is used to position the rocker arm box.

[0042] Further, in one embodiment, the adjustment component includes a worm, the worm is perpendicular to the trolley body and is rotatably installed on both sides of the trolley body, and the peripheral side wall of the rocker arm box is arc-shaped and is provided with meshing teeth matching with the worm.

[0043] According to a second aspect, in one embodiment, a method for grasping foreign objects between secondary side pipes is provided, using the above-mentioned foreign object grasping trolley between secondary side pipes, including the following steps:

[0044] S1: Select the manhole into which the device is to be placed according to the location of the foreign object, select the corresponding bending strip according to the material of the foreign object and replace it, and adjust the bending strip to the reset state;

[0045] S2: Control the ground clearance of the trolley body by adjusting the rotation of the rocker box, and then control the height of the entire inter-tube foreign object grabbing device, and fix it through the adjustment component to adapt to the space of the annular corridor or pipe gallery;

[0046] S3: Put the device into the selected manhole, pass through the manhole and the opening of the tube bundle sleeve, and place the device on the bottom lining plate inside the tube bundle sleeve;

[0047] S4: Remotely control the moving tool to move it along the inner wall of the tube bundle sleeve to near the foreign object;

[0048] S5: Process the foreign object through the grabbing tool: Make the bending strip in the foreign object grabbing state through the foreign object loosening component, lift the processing end of the bending strip and face it towards the foreign object, and process and remove the foreign object under the action of the grabbing tool

[0049] According to the secondary-side inter-tube foreign object grabbing device of the above embodiment, when grabbing the foreign object, the moving tool drives the grabbing tool into the steam generator, and directly processes and grabs the foreign object inside the equipment; Set an adjustable bending strip, and realize the bending of the bending strip through the foreign object loosening component, that is, realize the elevation of the processing end of the bending strip close to the foreign object, and at the same time adjust the angle between the foreign object and the processing end of the bending strip, which is convenient for the bending strip to apply force; The swinging of the bending strip, that is, the swinging of the bending strip, through the reciprocating movement of the bending strip, is similar to cutting, which is convenient for dealing with adhered foreign objects; The bending strip is in the reset state, which is convenient for the whole device to enter the steam generator, reduces the volume of the whole device in height, rotates the guide frame remotely at the foreign object position, and is in the foreign object grabbing state of the bending strip; The flexible adjustment of the bending strip reduces the difficulty of processing inter-tube foreign objects, improves the processing efficiency, and enters the steam generator to realize full inspection and foreign object grabbing between the secondary-side tube plates. At the same time, the device can be remotely controlled and monitored, reducing or even avoiding the radiation dose of personnel in the irradiation environment, with high reliability and simple and reliable operation. Brief Description of the Drawings

[0050] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0051] Figure 2 For Figure 1 A schematic diagram of the overall structure from another perspective;

[0052] Figure 3 It is an exploded view of the trolley body in an embodiment;

[0053] Figure 4 For Figure 3Structural schematic diagram at the middle rocker box;

[0054] Figure 5 Structural schematic diagram of the trolley body in another embodiment;

[0055] Figure 6 For Figure 5 Structural schematic diagram of the adjustment component in the middle;

[0056] Figure 7 Structural schematic diagram of the grasping tool in an embodiment;

[0057] Figure 8 Structural schematic diagram of the grasping tool without the assembled bending bar in an embodiment;

[0058] Figure 9 For Figure 7 Structural schematic diagram from another perspective.

[0059] Reference numerals:

[0060] 1. Moving tool; 11. Trolley body; 111. Housing; 112. Side plate; 113. Driving member; 1131. Motor; 1132. Synchronous belt; 1133. Gear set; 1134. Transmission shaft; 1135. Driving wheel; 1136. Driven wheel; 12. Rocker box; 121. Box body; 122. Sealing shell; 13. Adjustment component; 131. Set screw; 132. Worm; 133. Fixed frame; 14. Permanent magnet wheel; 15. Cable connector; 16. Support frame; 2. Grasping tool; 21. Mounting frame; 22. Guide frame; 221. Through groove; 23. Guide plate; 24. Bending bar; 25. Foreign object loosening component; 2501. First connecting rod; 2502. Tipping screw; 2503. Guide groove; 2504. Tipping slider; 2505. Torsion screw; 2506. Limit bar; 2507. Second connecting rod; 2508. Avoidance groove; 2509. Inclined groove; 2510. Torsion slider; 2511. Stepping screw; 2512. Guide rod; 26. Adapter seat; 27. Pressure plate; 28. Tool head; 281. High-pressure hose; 282. High-pressure capillary; 3. Monitoring component; 31. PTZ camera; 32. LED light source. Detailed implementation manners

[0061] The present invention will be further described in detail below in conjunction with the specific embodiments and the accompanying drawings. Similar elements in different embodiments are denoted by related similar element numbers. In the following embodiments, many detailed descriptions are provided to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid overwhelming the core part of the present application with excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the descriptions in the specification and the general technical knowledge in the art.

[0062] In addition, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can also be reordered or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for clearly describing a certain embodiment, and do not mean that they are the necessary sequences, unless it is stated otherwise that a certain sequence must be followed.

[0063] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meaning. And the "connection" and "coupling" mentioned in the present application, unless otherwise specified, both include direct and indirect connection (coupling).

[0064] The secondary side cold side of the steam generator is a double-layer sleeve structure. Due to various reasons, foreign objects may enter or deposit inside it, adhere to the tube sheet or get stuck between the tubes. Since the material and position of the foreign objects are different, they may appear in the intermediate pipe gallery or in the cold side tube space. Therefore, generally, targeted grasping is carried out according to the situation of the foreign objects. When the foreign object appears in the intermediate pipe gallery, a telescopic long rod clamp is used to directly clamp it along the straight direction of the intermediate pipe gallery when grasping the foreign object. When the foreign object appears in the cold side tube space, multiple grasping tools are needed to enter the arc-shaped annular gallery along different manholes, and then select a suitable position and angle to insert into the cold side tube space to handle the foreign object.

[0065] The current handheld telescopic long rod clamp is mainly suitable for grasping loose foreign objects. Handheld tools are difficult to operate in the annular gallery, and multiple people and multiple guiding tools are required to cooperate simultaneously for processing. Therefore, for foreign objects adhered and fixed to the tube sheet or between the tubes, the above-mentioned handheld tools have insufficient clamping force, the operable space in the steam generator is limited, the grasping difficulty is large, the grasping efficiency is low, and the on-site dose environment of the steam generator inevitably has a certain degree of harmfulness.

[0066] In an embodiment of the present invention, a mobile tool capable of moving inside a steam generator is adopted, and a foreign object grasping tool is carried. Under video monitoring, the mobile tool and the foreign object grasping tool are remotely controlled externally, so that the mobile tool drives the grasping tool to grasp foreign objects inside the steam generator. By driving the grasping tool into the steam generator with the mobile tool, foreign object treatment and grasping are directly carried out inside the steam generator; remote control is more intelligent and accurate than manual control, and the device can also adapt to movement in the intermediate pipe gallery and annular gallery, facilitating the selection of the best position to grasp foreign objects for loosening and grasping. The monitoring component facilitates clearer observation of the inside of the steam generator, remote control, and remote monitoring, improving the efficiency and effect of foreign object treatment; at the same time, the device can reduce or even avoid the radiation dose of personnel in the irradiation environment, with high reliability and simple and reliable operation.

[0067] In a first aspect, an embodiment provides a foreign object grasping device between secondary side pipes. Please refer to Figure 1 , which includes a mobile tool 1, a monitoring component 3, and a grasping tool 2 installed on the mobile tool 1; the mobile tool 1 is placed inside the steam generator along the handhole, the monitoring component 3 is installed on the mobile tool 1 and the grasping tool 2, and the mobile tool 1, the monitoring component 3, and the grasping tool 2 are all remotely controlled outside the steam generator. The monitoring component 3 can be set on the mobile tool 1 to observe the running path of the mobile tool 1, or can be set on the grasping tool 2 to monitor the foreign object grasping tool 2, so as to remotely control the mobile tool 1 to reach the best position and facilitate controlling the grasping tool 2 to reach the best treatment angle and height.

[0068] Please refer to Figure 2 and Figure 3, the mobile tool 1 includes a trolley body 11, a swing arm box 12, an adjustment assembly 13, and at least two sets of permanent magnet wheels 14 respectively arranged on both sides of the trolley body 11; the trolley body 11 includes a hollow housing 111, side plates 112 near the permanent magnet wheels 14 on both sides, and a driving member 113 arranged inside the housing 111, and the two side plates 112 enclose both sides of the housing 111. In this application, two permanent magnet wheels 14 are provided in each group, and the swing arm box 12 is arranged corresponding to the number of permanent magnet wheels 14; the swing arm box 12 is rotatably connected to the side plates 112 on both sides of the trolley body 11, and two swing arm boxes 12 are rotatably connected to any one side plate 112, and the permanent magnet wheels 14 are rotatably installed on the swing arm boxes 12 one by one; the permanent magnet wheels 14 are parallel and staggered with the rotation axes of the swing arm boxes 12, the swing arm box 12 is arranged between the trolley body 11 and the permanent magnet wheels 14, and the trolley body 11 and the permanent magnet wheels 14 are respectively arranged near the two ends of the swing arm box 12 along the length direction. The internal passages of the annular corridor and the central pipe corridor are narrow. By adjusting the rotation of the swing arm box 12 along the trolley body 11, the permanent magnet wheels 14 are driven to approach the bottom surface of the trolley body 11, and then the ground clearance of the bottom surface of the trolley body 11 is adjusted to adapt to the narrow passage inside the steam generator, improve the passing performance of the mobile tool 1 with the gripping tool 2 in the steam generator, make the overall structure small and compact, and be suitable for moving in the narrow space inside the steam generator.

[0069] Please refer to Figure 2 , a cable connector 15 is arranged at the rear end of the trolley body 11 for connecting an external cable to control the movement of the mobile tool 1. The gripping tool 2 is installed on the top wall of the trolley body 11; the adjustment assembly 13 is used to position the swing arm box 12, that is, to position the height of the trolley body 11 from the driving surface.

[0070] Please refer to Figure 3 and Figure 4, in one embodiment, there are two sets of driving members 113, which are respectively used to drive the permanent magnet wheels 14 on both sides of the trolley body 11. The driving member 113 includes a motor 1131, a synchronous belt 1132, a gear set 1133 and two transmission shafts 1134; the two motors 1131 are arranged side by side in the housing 111 of the trolley body 11, and the output shaft of the motor 1131 is coaxially arranged with the rotating shaft on the side plate 112 of the rocker box 12, and the rotation of the rocker box 12 does not interfere with the rotation of the output shaft of the motor 1131. One end of the transmission shaft 1134 is coaxially and fixedly connected to the output shaft of the motor 1131, and the other end passes through the rocker box 12 and is coaxially fixed to the driving pulley 1135 of the synchronous belt 1132; one end of the other transmission shaft 1134 passes into the rocker box 12 and is coaxially rotatably connected to the rocker box 12, and the other end passes through the rocker box 12 and is coaxially fixed to the driven pulley 1136 of the synchronous belt 1132. The synchronous belt 1132 is sleeved on the driving pulley 1135 and the driven pulley 1136 to make the driving pulley 1135 and the driven pulley 1136 rotate synchronously. The gear set 1133 is arranged in the rocker box 12 to drive the permanent magnet wheel 14 to rotate by the transmission shaft 1134. The permanent magnet wheel 14 provides a certain adsorption force, so that the trolley body 11 runs stably and is adsorbed firmly. Moreover, the above-mentioned motor 1131 can also adopt other devices that drive the transmission shaft 1134 to rotate; in this application, the motor 1131 drives any one of the transmission shafts 1134 to rotate, and drives the other transmission shaft 1134 on the same side under the action of the synchronous belt 1132 and the belt pulley, and then decelerates and transmits through the meshing gear set 1133, so that the permanent magnet wheels 14 on the same side rotate simultaneously, making the movement of the trolley body 11 more stable; when the rotation directions and speeds of the two motors 1131 are the same, the straight movement of the trolley body 11 is realized; when the rotation directions or speeds of the two motors 1131 are different, the steering or self-orientation adjustment of the trolley body 11 is realized.

[0071] Please refer to Figure 4 , in one embodiment, the number and size of the gear set 1133 are selected according to the size of the rocker box 12 and the designed speed of the trolley to achieve the function of deceleration or acceleration. In the embodiment of this application, three gears are selected for the gear set 1133. Any one of the gears is coaxially fixed on the transmission shaft 1134, another gear is coaxially fixed at the position where the rotating shaft of the permanent magnet wheel 14 extends into the rocker box 12, and the last gear meshes with the other two gears at the same time to realize transmission, and the rotation of the transmission shaft 1134 drives the permanent magnet wheel 14 to rotate.

[0072] Please refer to Figure 3The rocker box 12 is set to be long and narrow, including a box body 121 and a sealing shell 122, and the box body 121 and the sealing shell 122 are fixedly connected by screws; the two ends of the rocker box 12 are set to be arc-shaped, and are coaxially connected with the transmission shaft 1134 and the permanent magnet wheel 14, respectively. The inner cavity of the rocker box 12 is three connected circular cavities, and the three gears are correspondingly installed in the cavity and meshed in sequence. The length of the rocker box 12 determines the distance between the transmission shaft 1134 and the permanent magnet wheel 14, and then determines the adjustment range of the height of the trolley body 11 from the ground, so that the device has enough margin in the size design, and can enter the outer ring corridor from the hand hole of the steam generator to prevent interference or inability to enter due to actual on-site interface deviations during use. At the same time, sufficient margin can also avoid collisions between the device and the internal structure of the steam generator as much as possible. Among them, the gears of the gear set 1133 are used for transmission on the one hand, and on the other hand, they can also adjust the output speed of the motor 1131, generally reducing speed, so that the speed transmitted to the permanent magnet wheel 14 is more stable.

[0073] Please refer to Figure 3 and Figure 4 In one embodiment, support frames 16 are installed on both sides of the trolley body 11. The support frames 16 are buckled on the transmission pulley to protect the transmission belt and the transmission pulley. The support frames 16 are arranged on the side of the rocker box 12 away from the side plate 112 and are fixed to the side plate 112 by bolts or other detachable means.

[0074] After the support frame 16 is installed, a gap is left between the support frame 16 and the rocker box 12 for the rocker box 12 to rotate. The adjustment component 13 includes a set screw 131, which is threadedly connected to the support frame 16 and passes through the support frame 16 to press against the rocker box 12. The rocker box 12 is fixed by the friction force between the set screw 131 and the rocker box 12 to limit its rotation; the set screw 131 can be perpendicular to the side plate 112 and press against the rocker box 12, so that it is convenient to apply maximum pressure to the rocker box 12 and provide maximum friction. At the same time, the fixing effect is good, it is easy to disassemble and assemble, and the cost is low.

[0075] Please refer to Figure 5 and Figure 6, In one embodiment, another adjustment component 13 can also be used to adjust the rotation of the rocker box 12. The adjustment component 13 includes a worm 132. A fixing frame 133 is fixed on the side plate 112. The worm 132 passes through the support frame 16 and is rotatably installed on the fixing frame 133, and the worm 132 is installed perpendicular to the placement surface of the trolley body 11; the worm 132 is arranged between two rocker boxes 12 on the same side, and the side walls of the two rocker boxes 12 facing the worm 132 are set to be arc-shaped and are provided with meshing teeth that cooperate with and mesh with the worm 132, so that the worm 132 and the side wall of the rocker box 12 form a meshing state of a worm and a worm wheel 132. The side wall of the rocker box 12 is set to be arc-shaped and provided with meshing teeth. By rotating the worm 132 to mesh, the rotation of the rocker box 12 is realized under the cooperation similar to that of a worm and a worm wheel 132. Rotating the worm 132 can adjust the two rocker boxes 12 on the same side at the same time, which is time-saving and labor-saving, and the height error between the two rocker boxes 12 is smaller. At the same time, the positioning of the rocker box 12 is realized under the self-locking characteristic of the worm and the worm wheel 132, and the driving of the trolley is more stable.

[0076] Please refer to Figure 7 and Figure 8 , In one embodiment, the grasping tool 2 includes a mounting frame 21, a guiding frame 22, a guiding plate 23, a bending strip 24 and a foreign object loosening component 25; the mounting frame 21 is used for being fixedly arranged on the top wall of the trolley body 11; the guiding plate 23 is hinged to the top wall of the mounting frame 21 through the foreign object loosening component 25, and the hinge axis of the guiding plate 23 is horizontally arranged; the guiding frame 22 is connected to the guiding plate 23 and is arranged close to the guiding plate 23; the guiding frame 22 is provided with a through groove 221 for the bending strip 24 to pass through, the bending strip 24 passes through the through groove 221 and is slidably connected to the guiding frame 22, the guiding frame 22 is used for guiding in the length direction of the bending strip 24, and the hinge axis of the guiding plate 23 is horizontally parallel to the bending strip 24; the foreign object loosening component 25 is used for driving the guiding plate 23 to rotate.

[0077] Please refer to Figure 7 , The bending strip 24 can be made of a metal soft strip or a flexible material nylon plate strip. The material itself has flexibility under the force condition, which has little influence on the on-site installation. The problem of bump interference at the on-site interface does not need to be considered, and damage to the inside of the steam generator can be avoided. The bending strip 24 is in a long strip shape in this application. The bending strip 24 can slide along the length direction on the guiding frame 22, and the transverse direction of the bending strip 24 is the width direction of the bending strip 24.

[0078] The bending strip 24 has a reset state and a foreign object grasping state; in the reset state, the bending strip 24, the guide frame 22 and the guide plate 23 are all parallel to the mounting frame 21 and parallel to the driving surface, and the guide frame 22 is on the side of the guide plate 23 away from the mounting frame 21; in the foreign object grasping state, the guide plate 23 drives the guide frame 22 to rotate, the bending strip 24 bends transversely, and one end of the bending strip 24 that is lifted is the processing end, and the processing end is used to install and fix the tool head 28, and the tool head 28 is used to approach the foreign object and perform foreign object processing. The foreign object loosening assembly 25 is used to adjust the bending strip 24 to enter the foreign object grasping state. The flexible adjustment of the bending strip 24 facilitates its bending and enables conversion between the reset state and the foreign object grasping state, with higher applicability, reducing the difficulty of processing foreign objects between pipes and improving the processing efficiency.

[0079] Please refer to Figure 7 In one embodiment, the foreign object loosening assembly 25 includes a first connecting rod 2501 and a flipping screw 2502; a guide groove 2503 parallel to the axial direction of the flipping screw 2502 is formed on the mounting frame 21, the flipping screw 2502 is parallel to the mounting frame 21 and penetrates into the guide groove 2503, and the part of the flipping screw 2502 close to the end wall of the guide groove 2503 is rotationally connected to the mounting frame 21 along the axial direction; in the foreign object grasping state, in the present application, both the guide groove 2503 and the flipping screw 2502 are arranged on the mounting frame 21 on the side of the mounting plate away from the mounting frame 21. A flipping slider 2504 arranged in the shape of a square prism is slidably connected in the guide groove 2503, the flipping screw 2502 passes through the flipping slider 2504 and is threadedly connected thereto, and the guide groove 2503 is used to limit the rotation of the flipping slider 2504. Both ends of the first connecting rod 2501 are rotationally connected to the flipping slider 2504 and the guide plate 23 respectively, and the rotation axis of the first connecting rod 2501 is parallel to the hinge axis of the guide plate 23 and perpendicular to the flipping screw 2502.

[0080] The process of the bending strip 24 entering the foreign object grasping state is as follows: remotely control the rotation of the flipping screw 2502 to drive the flipping slider 2504 to slide along the guide groove 2503 towards the direction close to the hinge axis of the guide plate 23. The two ends of the first connecting rod 2501 rotate, causing the angle between the first connecting rod 2501 and the mounting frame 21 to change and gradually tend to be vertical, thereby pushing the guide plate 23 to rotate along its hinge axis, and the bending strip 24 then follows the rotation of the guide frame 22 to achieve bending and reach the foreign object grasping state. As the processing end of the bending strip 24 is gradually lifted, the tool head 28 approaches the foreign object; by controlling the rotation angle of the guide plate 23, the height of the tool head 28 and the angle towards the foreign object can be controlled, which is applicable to the processing of foreign objects in different positions, with higher applicability, and is simple to operate, stable and reliable.

[0081] Please refer to Figure 8 and Figure 9, in one embodiment, the foreign object loosening assembly 25 further includes a torsion screw 2505, a limiting strip 2506 and a second connecting rod 2507; an avoidance groove 2508 is formed on the guide plate 23. In the reset state, the torsion screw 2505 is parallel to the flipping screw 2502. The torsion screw 2505 is rotationally connected to the guide plate 23 along the axial direction and penetrates into the avoidance groove 2508. A torsion slider 2510 is threadedly connected to the torsion screw 2505, and the torsion slider 2510 is located in the avoidance groove 2508. The limiting strip 2506 is fixedly arranged on the side wall of the torsion slider 2510 facing the guide frame 22. An inclined groove 2509 for the limiting strip 2506 to extend into and slide is formed on the guide frame 22 to limit the rotation of the torsion slider 2510. Both ends of the second connecting rod 2507 are rotationally connected to the torsion slider 2510 and the guide frame 22 respectively, and the rotation axis of the second connecting rod 2507 is perpendicular to the guide plate 23 and the second connecting rod 2507. During the process of the limiting strip 2506 sliding along the inclined groove 2509, the second connecting rod 2507 gradually tends to be perpendicular to the torsion screw 2505, thereby causing the guide frame 22 to drive the bent strip 24 to shift laterally. By continuously changing the rotation direction of the torsion screw 2505, the swinging of the guide frame 22 is realized.

[0082] When the adjustment tool head 28 is used to handle foreign objects: remotely control the rotation of the torsion screw 2505, drive the torsion slider 2510 to slide along the inclined groove 2509 under the action of the limiting strip 2506. The position of the torsion screw 2505 is fixed, and the angle between the eccentric screw and the torsion screw 2505 changes and gradually tends to be perpendicular to the torsion screw 2505, thereby causing the entire guide frame 22 to shift laterally. By changing the rotation direction of the torsion screw 2505, the lateral swinging of the guide frame 22 can be realized, that is, the bent strip 24 drives the tool head 28 to swing laterally, and the foreign object is loosened by the swinging of the tool head 28. The provided second connecting rod 2507 is used to connect the guide frame 22, prevent the guide frame 22 from detaching from the guide plate 23, and at the same time can cooperate with the limiting strip 2506 to limit the swinging of the guide frame 22, thereby making the swinging of the bent strip 24 and the bent strip 24 more stable and reliable.

[0083] Please refer to Figure 9, In one embodiment, the foreign object loosening assembly 25 further includes a stepping screw 2511 and at least two guide rods 2512. A transfer seat 26 is provided at one end of the bending strip 24 away from the tool head 28. In this application, three guide rods 2512 are provided. The guide rods 2512 are parallel to the flipping screw 2502, and one end is fixedly provided on the transfer seat 26, and the other end passes through the mounting frame 21 and is axially slidably connected to the mounting frame 21; the guide rods 2512 are used to connect and support the transfer seat 26, and guide and support the bending strip 24. The three guide rods 2512 are evenly distributed on the side of the bending strip 24 facing the mounting frame 21. The stepping screw 2511 is coaxially threadedly connected to one end of the middle guide rod 2512 away from the transfer seat 26. By remotely controlling the rotation of the stepping screw 2511, the position of the stepping screw 2511 is relatively fixed with respect to the mounting frame 21. The middle guide rod 2512 drives the adapter to move closer to or away from the mounting frame 21 under the action of the thread. Under the guiding action of the other two guide rods 2512, the transfer seat 26 moves more smoothly along the axial direction of the guide rod 2512. The transfer seat 26 is equivalent to pushing or pulling the bending strip 24 to slide along the guiding frame 22, lengthening or shortening the length of the bending strip 24 passing through one side of the guiding frame 22, so as to adjust the length of the bending strip 24 according to foreign objects of different heights and angles.

[0084] Generally, after the guiding plate 23 rotates until the bending strip 24 reaches the best processing angle with the foreign object, and then in cooperation with the extension or shortening of the bending strip 24, the bending strip 24 can accurately reach the best foreign object processing position, improving the effect and efficiency of foreign object processing. The bending strip 24 between the transfer seat 26 and the guiding frame 22 can be used for margin control during the foreign object processing process, improving the applicability and practicality of this device.

[0085] Please refer to Figure 7 , The flipping screw 2502, the torsion screw 2505 and the stepping screw 2511 are all driven by an external flexible shaft, eliminating the need to install a drive on the device, reducing the overall volume and weight of the device, and facilitating crawling in the narrow channels inside the steam generator; at the same time, using an external flexible shaft for driving can adapt to the annular channels of the internal gallery, with strong applicability, and also avoid damage to the inside of the steam generator caused by rigid collisions.

[0086] Please refer to Figure 8 , A pressing plate 27 is fixedly provided on the mounting frame 21. The pressing plate 27 is located between the guiding frame 22 and the transfer seat 26; a gap is formed between the pressing plate 27 and the mounting frame 21 for the bending strip 24 to pass through and slide. On the one hand, the pressing plate 27 can cooperate with the mounting frame 21 to guide the bending strip 24 to make it smoother. On the other hand, it can cooperate with the guiding frame 22 to form a bending angle, controlling the bending position of the bending strip 24 between the guiding frame 22 and the pressing plate 27, and avoiding the bending strip 24 from arching and affecting the operation of foreign object processing.

[0087] The mounting frame 21, pressure plate 27, guide plate 23, guide frame 22 and other components of the grabbing tool 2 are mainly manufactured by 7075 aluminum alloy, and the remaining guide rods 2512, connecting rods, etc. are manufactured by 304 and other stainless steels, various screws are made of 40Cr material, and the matching nuts are made of tin bronze (ZQSn6-6-1), and necessary parts are treated with anti-corrosion.

[0088] Please refer to Figure 3 In one embodiment, the monitoring component 3 includes a pan-tilt camera 31 and an endoscope (not shown in the figure). The pan-tilt camera 31 is installed at the front end of the trolley body 11, and the side view camera is driven to rotate by a pan-tilt brushless motor 1131. The specification of the pan-tilt camera 31 is Φ24*48mm. When working, it can perform video inspection of the outer ring corridor of the steam generator and the nearby heat transfer tubes, and can also be used for monitoring the status of foreign body disposal. The endoscope can be set on the mounting frame 21 to monitor the status of the grasping tool 2. A circle of LED light sources 32 are arranged in a ring outside the pan-tilt camera 31, and multiple LED light sources 32 facing one side of the bending strip 24 (upward) are arranged (not shown in the figure), and the brightness of the LED light source 32 is adjustable to meet the environmental brightness requirements during video inspection and foreign body grasping.

[0089] Please refer to Figure 2 In one embodiment, the tool head 28 is fixed to the end of the bending strip 24 by screws, and the processing end of the bending strip 24 can be equipped with different tool heads 28 according to the material and position of the foreign matter. The thickness of the tool head 28 is not more than 4 mm, which meets the requirements of entering the heat transfer tube and handling the foreign matter. The tool head 28 for handling foreign matter should include (but not limited to) loosening foreign matter, adjusting the posture of foreign matter, grabbing foreign matter, etc., to meet the requirements of handling foreign matter between the heat transfer tubes of the steam generator, such as shovels, magnets, hooks, etc., with a variety of means for loosening and removing foreign matter. In actual use, prepare a plurality of bending strips 24, and different tool heads 28 are directly installed on each bending strip 24. The bending strip 24 is directly replaced according to the working conditions to achieve the replacement of the tool head 28, which is simple and quick, and improves the replacement efficiency.

[0090] refer to Figure 7 In one embodiment, the tool head 28 adopts a high-pressure flushing loosening tool. In the embodiment of the present application, the guide rods 2512 on both sides are set to be hollow, and one end of the guide rod 2512 adapter seat 26 is used to communicate with the high-pressure hose 281. The high-pressure hose 281 is connected to an external water source and supplied with water through a portable high-pressure pump; high-pressure capillaries 282 are provided on both sides of the bending strip 24 corresponding to the high-pressure flushing loosening tool, and a cavity connected to the inner cavity of the guide rod 2512 and the inner cavity of the water pipe is opened inside the adapter seat 26. The end of the high-pressure capillary 282 facing away from the adapter seat 26 is connected to the nozzle of the high-pressure flushing loosening tool, and the foreign objects stuck between the pipes are impacted by passing high-pressure water to try to loosen them.

[0091] Reference Figure 1 In one embodiment, an existing wet and dry vacuum cleaner (not shown in the figure) can be used. It is connected to the suction interface on the wall-climbing robot through an adapter, and with the cooperation of a suction pipe, it can suck the mud or residual water near the foreign object, creating good construction conditions for the disposal of foreign objects by other tools.

[0092] According to the second aspect, in one embodiment, a method for grasping foreign objects between secondary-side pipes is provided. Using the above-mentioned foreign-object grasping cart between secondary-side pipes, it includes the following steps:

[0093] S1: Select the manhole into which the device is to be placed according to the position of the foreign object, and select and replace the corresponding tool head 28 and bending strip 24 according to the material and condition of the foreign object;

[0094] S2: Control the ground clearance of the device according to the size of the annulus space of the steam generator. By removing the set screw 131 or rotating the worm 132, adjust the rotation of the rocker box 12 to control the ground clearance of the trolley body 11, and then control the height of the entire foreign-object grasping device between pipes. Then fix the position of the rocker box 12 by installing the set screw 131 or self-locking the worm and worm gear 132; Install the supporting cable and the external flexible shaft (or cable and water pipe) and power on;

[0095] S3: Put the moving tool 1 and the grasping tool 2 into the selected manhole. The device passes through the manhole and the opening of the tube bundle sleeve, and the device is placed on the bottom lining plate inside the tube bundle sleeve, and the permanent magnet wheel 14 contacts the corresponding surface;

[0096] S4: Remotely control the two motors 1131 to drive the permanent magnet wheels 14 on both sides of the trolley body 11 to rotate synchronously, so as to realize the straight movement of the moving tool 1. By controlling the different rotation speeds of the two motors 1131, the turning of the moving tool 1 is realized until the moving tool 1 moves along the inner wall of the tube bundle sleeve to near the foreign object;

[0097] S5: Process the foreign object through the grasping tool 2: Remotely control the external flexible shaft to drive the turning screw 2502, the torsion screw 2505, and the stepping screw 2511 to rotate, drive the lifting, elongation, and swinging of one end of the tool head 28 of the bending strip 24, and the bending strip 24 is in the foreign-object grasping state and processes the foreign object; According to different working conditions, different tool heads 28 can be replaced for operation until the foreign object is grasped and cleaned up.

[0098] The above uses specific examples to elaborate on the present invention, which is only used to help understand the present invention and is not used to limit the present invention. For those skilled in the technical field to which the present invention belongs, according to the idea of the present invention, several simple deductions, deformations or replacements can also be made.

Claims

1. A foreign object grasping device between secondary side tubes, characterized in that, Comprising: A mobile tool (1) for being placed into a manhole, a monitoring component (3), and a grasping tool (2) installed on the mobile tool (1); The grasping tool (2) includes a guiding frame (22), a bent strip (24), and a foreign object loosening component (25); The guiding frame (22) rotates relative to the mobile tool (1), and the axial direction of the rotation axis of the guiding frame (22) is parallel to the transverse direction of the bent strip (24); The bent strip (24) passes through the guiding frame (22) and is slidably connected to the guiding frame (22), and the guiding frame (22) is used for guiding in the length direction of the bent strip (24); The bent strip (24) has a reset state and a foreign object grasping state; in the reset state, both the bent strip (24) and the guiding frame (22) are parallel to the driving surface; in the foreign object grasping state, the guiding frame (22) rotates, the bent strip (24) bends transversely, one end of the bent strip (24) is lifted and close to the foreign object, and the lifted end of the bent strip (24) is a processing end for processing the foreign object; The foreign object loosening component (25) is used to adjust the bent strip (24) to enter the foreign object grasping state, and to adjust the rotation and swing of the guiding frame (22); The monitoring component (3) is arranged on the mobile tool (1) or the grasping tool (2), and both the mobile tool (1) and the grasping tool (2) move through remote control; The foreign object loosening component (25) includes a guiding plate (23), a first connecting rod (2501), and a flipping screw (2502); An installation frame (21) is arranged on the mobile tool (1); The guiding plate (23) is hinged on the installation frame (21), and the guiding frame (22) is arranged close to the guiding plate (23); The flipping screw (2502) is parallel to the installation frame (21) and rotatably connected to the installation frame (21), a flipping slider (2504) is threadedly connected to the flipping screw (2502), and a guiding groove (2503) for restricting the rotation of the flipping slider (2504) is formed on the installation frame (21); Both ends of the first connecting rod (2501) are rotatably connected to the flipping slider (2504) and the guiding plate (23) respectively, and the rotation axis of the first connecting rod (2501) is parallel to the hinge axis of the guiding plate (23) and perpendicular to the flipping screw (2502); The foreign object loosening component (25) further includes a torsion screw (2505), a limiting strip (2506), and a second connecting rod (2507); The torsion screw (2505) is rotatably connected to the guiding plate (23), and in the reset state, the torsion screw (2505) is parallel to the flipping screw (2502), and a torsion slider (2510) is threadedly connected to the torsion screw (2505); Both ends of the second connecting rod (2507) are rotatably connected to the torsion slider (2510) and the guiding frame (22) respectively, and the rotation axis of the second connecting rod (2507) is perpendicular to the guiding plate (23) and the second connecting rod (2507); The limit bar (2506) is arranged on the torsion slider (2510), and the guide frame (22) is provided with an inclined groove (2509) for the limit bar (2506) to extend into and slide, and the limit bar (2506) can achieve the swing of the guide frame (22) by sliding along the inclined groove (2509); The foreign body loosening assembly (25) further comprises a stepping screw (2511) and at least two guide rods (2512); the bending strip (24) is provided with an adapter seat (26) away from the processing end; One end of the guide rod (2512) is non-rotatably connected to the adapter, and the other end is axially slidably connected to the mounting frame (21); the stepping screw (2511) is coaxially threadedly connected to one end of any guide rod (2512) away from the adapter seat (26); A pressing plate (27) is provided on the mounting frame (21), and the pressing plate (27) is located between the guide frame (22) and the adapter seat (26); a gap is formed between the pressing plate (27) and the mounting frame (21) for the bending strip (24) to pass through and slide.

2. The secondary-side inter-tube foreign object grasping device according to claim 1, wherein, The mobile tool (1) comprises a trolley body (11), a rocker box (12), an adjustment assembly (13), and at least two groups of permanent magnetic wheels (14) respectively arranged on both sides of the trolley body (11); The grabbing tool (2) is mounted on the top wall of the trolley body (11); The rocker box (12) is rotatably connected to the two side walls of the trolley body (11), and the permanent magnetic wheels (14) are rotatably mounted on the rocker box (12) in a one-to-one correspondence, and the permanent magnetic wheels (14) are parallel to the rotation axis of the rocker box (12) and are staggered, so that the permanent magnetic wheels (14) in the same group can rotate synchronously; The adjustment component (13) is used to position the rocker box (12).

3. The foreign object grabbing device between secondary side tubes according to claim 2, wherein, The adjustment assembly (13) includes a set screw (131), support frames (16) are installed on both sides of the trolley body (11), the rocker box (12) is arranged and clamped between the trolley body (11) and the support frame (16), and the rocker box (12) is clamped, and the set screw (131) is threadedly connected to the support frame (16) and passes through the support frame (16) to tightly abut against the rocker box (12).

4. The foreign object grasping device between secondary side tubes according to claim 2, wherein The adjustment assembly (13) comprises a worm (132), the worm (132) being perpendicular to the trolley body (11) and rotatably mounted on both sides of the trolley body (11), and the peripheral side wall of the rocker box (12) being arranged in an arc shape and provided with meshing teeth cooperating with the worm (132).

5. The secondary-side inter-tube foreign object grasping device according to claim 2, wherein, The two groups of permanent magnetic wheels (14) are respectively provided with a group of driving parts (113); when the number of the permanent magnetic wheels (14) in a group is greater than one, the permanent magnetic wheels (14) in the same group rotate synchronously via a synchronous belt (1132).

6. A method for grasping foreign objects between secondary side tubes, characterized in that, The device for catching foreign matter between secondary side pipes as claimed in any one of claims 2 to 5 comprises the following steps: S1: selecting a hand hole for inserting the device according to the location of the foreign object, selecting and replacing a corresponding bending strip (24) according to the material of the foreign object, and adjusting the bending strip (24) to be in a reset state; S2: By adjusting the rotation of the rocker box (12), control the ground clearance of the trolley body (11), and then control the height of the entire foreign object grabbing device in the pipe space, and fix it through the adjustment component (13) to adapt to the space of the annular corridor or pipe gallery; S3: Place the device through the selected manhole, pass through the manhole and the opening of the tube bundle sleeve, and place the device on the bottom lining plate of the tube bundle sleeve; S4: Remotely control the moving tool (1) to move it along the inner wall of the tube bundle sleeve to near the foreign object; S5: Process the foreign object through the grabbing tool (2): Make the bending strip (24) in the foreign object grabbing state through the foreign object loosening component (25), lift the processing end of the bending strip (24) and face it towards the foreign object, and process and remove the foreign object under the action of the grabbing tool (2).

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