Modular rotary heat transfer tube bore clamping mechanism

Abstract

The utility model relates to a kind of modularization rotary heat transfer tube inner hole clamping mechanism, the utility model is to solve the problem that existing heat transfer tube inner hole clamping mechanism cannot be passive rotation, cannot adapt to a variety of aperture heat transfer tube, cannot reliably clamp in the face of complex environment, it includes gripper module, drive module and gripper mounting seat;Gripper module and drive module are connected by gripper mounting seat, drive module includes lifting cylinder, telescopic cylinder and tension cylinder;Tension cylinder and telescopic cylinder are installed in lifting cylinder from inside to outside, the bottom end of gripper mounting seat is connected with the top end of tension cylinder, the top end of gripper mounting seat is connected with gripper module, and the top end of the tensioning piston of tension cylinder is connected with the drive end of gripper module by passing through gripper mounting seat.The utility model belongs to the field of heat transfer tube overhaul.

Description

Technical Field

[0001] This invention relates to a clamping mechanism, specifically a modular rotary heat transfer tube inner hole clamping mechanism. Background Technology

[0002] With the increasing prominence of energy and environmental issues, nuclear power, with its environmentally friendly, clean, stable, and relatively safe characteristics, has received widespread attention from countries around the world. The pressurized water reactor (PWR) configuration, through the special structural design of its steam generator (SG), achieves heat exchange between the primary and secondary loops while confining radioactive materials within the primary loop. This ensures that the secondary loop equipment is not contaminated by nuclear radiation during normal operation. Therefore, the performance of the steam generator is crucial for achieving efficient energy transfer and protecting the secondary loop equipment from nuclear radiation contamination. High-performance robots for maintaining steam generator heat transfer tubes have now been developed.

[0003] Currently, maintenance robots primarily rely on heat transfer tube internal clamping mechanisms to fix themselves to the SG tube sheet. The internal clamping mechanism used by PEGASYS, designed by Westinghouse, incorporates two pneumatically driven degrees of freedom, allowing the grippers to enter and exit the heat transfer tubes and perform clamping and releasing actions. During clamping, a self-locking spring ensures safety in case of gas interruption. When entering and exiting the heat transfer tubes, only one air path is designed, with a return spring achieving the reverse action. This clamping mechanism is simple and lightweight, but due to the lack of lifting freedom, robot assistance is required to ensure it adheres firmly to the tube sheet for reliable clamping. Furthermore, if the grippers are damaged or heat transfer tubes of different diameters need to be clamped, the entire clamping mechanism needs to be replaced. When the gripper positioning accuracy is poor, the return spring has difficulty driving the grippers into the heat transfer tube, resulting in low reliability.

[0004] The heat transfer tube clamping mechanism used in Zetec's ZR100 employs a highly integrated design, utilizing only three solenoid valves to control complex gas paths. Its modular design allows for replaceable clamp modules. However, its spring-controlled default position is released, making it unable to provide self-locking protection in case of gas interruption. While its mechanical self-locking design offers greater clamping force, it is difficult to manually disassemble during gas interruption, reducing its susceptibility to human interference in complex environments and resulting in poor reliability. Furthermore, the clamp modules are threaded and lack a separate rotating mechanism, meaning they can detach during passive rotation.

[0005] Based on the current research status of heat transfer tube inner hole clamping mechanisms in my country, and in response to the above problems, a modular rotary heat transfer tube inner hole clamping mechanism is designed. It can not only adapt to heat transfer tubes with various hole diameters by changing the clamping jaw modules, but also be applicable to various application scenarios such as those requiring fixation and those requiring passive rotation. The mechanism is lightweight, compact, easy to maintain, reliable in use, and easy to install on various maintenance robots. Summary of the Invention

[0006] The purpose of this invention is to solve the problems that existing heat transfer tube inner hole clamping mechanisms cannot be passively rotated, cannot adapt to heat transfer tubes of various diameters, and cannot reliably clamp in complex environments, and thus provide a modular rotary heat transfer tube inner hole clamping mechanism.

[0007] The technical solution adopted by the present invention to solve the above problems is as follows:

[0008] A modular rotary heat transfer tube inner hole clamping mechanism includes a clamping jaw module, a drive module, and a clamping jaw mounting base. The clamping jaw module and the drive module are connected through the clamping jaw mounting base. The drive module includes a lifting cylinder, a telescopic cylinder, and a tensioning cylinder. The tensioning cylinder and the telescopic cylinder are installed inside the lifting cylinder from the inside out. The bottom end of the clamping jaw mounting base is connected to the top end of the tensioning cylinder, and the top end of the clamping jaw mounting base is connected to the clamping jaw module. The top end of the tensioning piston of the tensioning cylinder passes through the clamping jaw mounting base and is connected to the drive end of the clamping jaw module.

[0009] The beneficial effects of this invention are:

[0010] I. This invention enables convenient replacement of the gripper module to adapt to heat transfer tubes with different apertures;

[0011] Second, the present invention provides a rotary gripper mounting base, which can realize rotation around the axis of the gripper module;

[0012] Third, the present invention provides pin holes on the rotary gripper mounting base, which can fix the gripper mounting base to adapt to application scenarios where the gripper module does not need to rotate.

[0013] Fourth, this invention achieves independent translational motion of three degrees of freedom through the cooperation of three cylinders and springs, and ensures safety when the air supply is cut off. It also adds two redundant air paths to achieve reliable motion of each degree of freedom.

[0014] Fifth, by combining the magnetic switch with the clamping and retraction actions, reliable clamping detection can be achieved;

[0015] VI. The wedge-shaped design of the gripper module can achieve self-locking by changing the slope and friction, thus increasing reliability;

[0016] VII. The present invention has a simple structure and a clear design of motion degrees of freedom. The driving components, transmission components and their corresponding control components for each motion degree of freedom are all centrally designed and installed, which is conducive to the modular upgrading of the motion function structure and facilitates daily use, maintenance and disassembly. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is the front view of the present invention.

[0019] Figure 3 yes Figure 2 AA view.

[0020] Figure 4 This is a cross-sectional view of the clamping mechanism for inserting the heat transfer tube.

[0021] Figure 5 This is a cross-sectional view of the air hole in the bottom cover of the lifting cylinder.

[0022] Figure 6 yes Figure 3 A partial cross-sectional view at point B.

[0023] Figure 7 This is a cross-sectional view of gripper module 1.

[0024] Figure 8 This is a schematic diagram of the gripper module 1 before assembly.

[0025] Figure 9 yes Figure 8 Enlarged view of point c in the middle.

[0026] Figure 10 This is a schematic diagram of the clamp mounting base stator 301, clamp mounting base rotor 302, clamp mounting base rotor base 303, and bearing 304 before installation. Detailed Implementation

[0027] Specific implementation method one: Combining Figures 1-10 This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism, which includes a clamping jaw module 1, a driving module 2, and a clamping jaw mounting base 3. The clamping jaw module 1 and the driving module 2 are connected through the clamping jaw mounting base 3. The driving module 2 includes a lifting cylinder 201, a telescopic cylinder 203, and a tensioning cylinder 204. The tensioning cylinder 204 and the telescopic cylinder 203 are installed inside the lifting cylinder 201 from the inside out. The bottom end of the clamping jaw mounting base 3 is connected to the top end of the tensioning cylinder 204, and the top end of the clamping jaw mounting base 3 is connected to the clamping jaw module 1. The top end of the tensioning piston 206 of the tensioning cylinder 204 passes through the clamping jaw mounting base 3 and is connected to the driving end of the clamping jaw module 1.

[0028] In this embodiment, gripper module 1 performs the gripping action, and drive module 2 is mainly used to drive gripper module 1 and detect the reliability of gripping. Drive module 2 can also be connected to the robot, enabling the robot to have positioning and gripping functions. The movement of lifting cylinder 201, telescopic cylinder 203, and tensioning cylinder 204 realizes the motion control of gripper module 1, and the gripping function is achieved through gripper module 1.

[0029] Specific Implementation Method Two: Combining Figures 1-4This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism. The drive module 2 further includes a lifting cylinder bottom cover 202, a tensioning cylinder bottom cover 205, a limiting block 207, a limiting block top cover 208, a first spring 11-1, a second spring 11-2, a third spring 11-3, and multiple air pipe connectors 14. The upper end face of the lifting cylinder bottom cover 202 is machined with an annular protrusion and two cylindrical protrusions. The lifting cylinder bottom cover 202 is installed on the bottom end face of the housing of the lifting cylinder 201, and the annular protrusion of the lifting cylinder bottom cover 202 is installed inside the housing of the lifting cylinder 201.

[0030] Each cylindrical protrusion is machined with a vertical through hole. The bottom cover 202 of the lifting cylinder is machined with two horizontal through holes. One end of each horizontal through hole connects to the vertical through hole of a cylindrical protrusion, and the other end of each horizontal through hole connects to an air pipe connector 14. The two air pipe connectors 14 are vertically mounted on the bottom cover 202. The housing of the telescopic cylinder 203 is vertically and slidably disposed within the housing of the lifting cylinder 201. An annular groove is machined on the outer wall of the bottom end of the housing of the telescopic cylinder 203. The first spring 11-1 is sleeved on the annular groove of the telescopic cylinder 203, and the bottom end of the first spring 11-1 abuts against the annular protrusion of the bottom cover 202 of the lifting cylinder. Tensioning cylinder 204 is a circular sleeve with an annular horizontal plate. Air vents are machined on the side wall of the sleeve. The top of the air vent is located on the bottom surface of the annular horizontal plate and communicates with the space at the bottom of the plate. The bottom of the air vent is located near the bottom of the sleeve. The sleeve is vertically and slidably housed within the sleeve of telescopic cylinder 203. A cylindrical protrusion is machined at the top of the bottom cover 205, and a protrusion with two vertical blind holes is machined at the bottom. A circular rod is machined at the top of the tensioning piston 206. The bottom end of the 6 is machined with a circular groove. The tensioning piston 206 and the third spring 11-3 are vertically arranged inside the housing of the tensioning cylinder 204. The top end of the tensioning piston 206 passes through the annular horizontal plate of the tensioning cylinder 204. The bottom cover 205 of the tensioning cylinder is fixedly installed on the bottom end of the housing of the tensioning cylinder 204. The cylindrical protrusion at the top end of the bottom cover 205 of the tensioning cylinder is located inside the housing of the tensioning cylinder 204. The two cylindrical protrusions of the lifting cylinder bottom cover 202 are respectively located in the vertical blind holes at the bottom end of the tensioning cylinder bottom cover 205. One vertical blind hole on the tensioning cylinder bottom cover 205 communicates with the cavity of the tensioning cylinder 204, and the other vertical blind hole on the tensioning cylinder bottom cover 205 communicates with the cavity of the tensioning cylinder 204. The top of the straight blind hole is connected to the bottom of the air passage on the tensioning cylinder 204 through a through hole. The second spring 11-2 is sleeved on the protrusion with two vertical blind holes at the bottom of the tensioning cylinder bottom cover 205. The bottom of the second spring 11-2 rests on the upper surface of the lifting cylinder bottom cover 202. The limiting block 207 is an annular body. The bottom of the limiting block 207 is fixedly connected to the top of the housing of the telescopic cylinder 203. The top cover 208 of the limiting block is fastened to the top of the limiting block 207. Two air pipe connectors 14 are respectively installed on the side wall near the top and the side wall near the bottom of the housing of the lifting cylinder 201. One air pipe connector 14 is installed on the top side wall of the housing of the telescopic cylinder 203. The air pipe connector 14 on the telescopic cylinder 203 is used to push the tensioning cylinder 204 to realize the retraction action. The extension is achieved by the second spring 11-2 at the bottom pushing the tensioning cylinder 204. The air pipe connector 14 on the upper part of the telescopic cylinder 203 is also provided with a flat surface, and a distance is left between it and the lifting cylinder 201 to ensure normal installation and sealing.A notch is provided at the bottom of the telescopic cylinder 203, allowing air entering from the air pipe connector 14 at the bottom of the lifting cylinder 201 to enter the telescopic cylinder 203. When the gripper module 1 fails to fully reset due to friction or other reasons, air can be inflated to ensure full extension. Since the lifting and extending actions always occur sequentially, only one redundant air path is needed to achieve reliable lifting and extending movements without causing accidents. Other methods are the same as in Specific Implementation Method 1.

[0031] In this embodiment, the lifting cylinder 201 is located on the outermost side, and the housing of the telescopic cylinder 203 is located in the middle. The outer side cooperates with the lifting cylinder 201, acting as a piston for movement. The air pipe connector 14 on the upper part of the housing of the lifting cylinder 201 is used to push the housing of the telescopic cylinder 203 to achieve a downward movement. The upward movement is achieved by the first spring 11-1 at the bottom pushing the housing of the telescopic cylinder 203. An air pipe connector 14 is provided at the lower part of the housing of the lifting cylinder 201. When the gripper module 1 cannot fully return to its original position due to friction or other reasons, it can be inflated to ensure a full upward movement. A connection position is provided on the outer side of the lifting cylinder 201, which can be installed on the robot using a positioning pin 18 and screws 17.

[0032] A vertical blind hole at the bottom end of the tension cylinder bottom cover 205 connects to the bottom end of the air outlet on the tension cylinder 204, allowing air to enter the top of the tension piston 206 to achieve the release action. Clamping is achieved by the third spring 11-3 at the bottom pushing the tension piston 206. Another vertical blind hole at the bottom end of the tension cylinder bottom cover 205 connects to the top end of the tension cylinder bottom cover 205, allowing air to directly push the tension piston 206 upward to increase the clamping force.

[0033] The bottom end of the tension cylinder base cover 205 has two vertical blind holes, which respectively cooperate with the lifting cylinder base cover 202 to form two telescopic air pipes. The lower part of the lifting cylinder base cover 202 has an elongated hole, and an air pipe plug 15 and an air pipe connector 14 are provided on one side of the lower part, so that the air pipe can supply air to the tension cylinder 204 from the air pipe connector 14, and the thickness of the tension cylinder base cover 205 is reduced. The tension cylinder base cover 205 and the tension cylinder 204 are positioned by a locating pin 18, and the lifting cylinder base cover 202 and the lifting cylinder 201 are also positioned by a locating pin 18, to ensure that the telescopic air pipes formed between the tension cylinder base cover 205 and the lifting cylinder base cover 202 can extend and retract normally, and will not jam due to assembly errors.

[0034] Specific implementation method three: Combining Figures 1-4This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism. The drive module 2 further includes a toe-connecting housing 209, a magnetic switch 210, and a magnetic switch base 211. The magnetic switch 210 is mounted on the top side wall of the housing of the telescopic cylinder 203 via the magnetic switch base 211. The toe-connecting housing 209 is mounted on the housing of the telescopic cylinder 203 and the bottom cover 202 of the lifting cylinder.

[0035] The magnetic switch 210 can detect the position of the gripper mounting base 3, confirm that the gripper module 1 is fully extended, ensure that the limit block top cover 208 is always in close contact with the heat transfer tube 4, and ensure that the clamping mechanism is in the same horizontal position. Other methods are the same as in Specific Implementation Method 1.

[0036] Specific implementation method four: Combination Figure 3 , Figure 4 and Figure 10 This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism. The clamping base 3 includes a clamping base stator 301, a clamping base rotor 302, a clamping base rotor base 303, and a bearing 304. The clamping base stator 301 is an annular sleeve with an annular groove machined at each end and an annular protrusion machined on the outer wall near the bottom. The clamping base rotor 302 includes a top annular sleeve and a bottom annular sleeve, which are integrally formed, with the diameter of the top annular sleeve being larger than that of the bottom annular sleeve. The clamping base rotor base 303 is an inverted 'T'-shaped sleeve. The annular protrusion on the clamping base stator 301 is located on the tensioning cylinder 204 and the telescopic cylinder 203. The housings are located between and within the housing of the telescopic cylinder 203. The outer wall of the bottom end of the gripper mounting base stator 301 is threadedly connected to the inner wall of the top end of the tensioning cylinder 204. The gripper mounting base rotor base 303 and bearing 304 are located at the bottom end of the gripper mounting base stator 301, and the gripper mounting base rotor base 303 is rotatably connected to the gripper mounting base stator 301 through the bearing 304. The gripper mounting base rotor 302 is located at the top end of the gripper mounting base stator 301. The annular sleeve at the top of the gripper mounting base rotor 302 is located inside the top end of the gripper mounting base stator 301. The annular sleeve at the bottom of the gripper mounting base rotor 302 is threadedly connected to the top end of the gripper mounting base rotor base 303. The circular rod of the tensioning piston 206 passes through the gripper mounting base rotor 302 and the gripper mounting base rotor base 303. Other methods are the same as in specific embodiment three.

[0037] In this embodiment, pin holes are provided on the top of both the rotor 302 and the stator 301 of the gripper mounting base. These holes allow for the fixation of the rotor 302 during gripper module 1 installation, facilitating installation. Pins are installed within the pin holes to fix the rotor 302 and stator 301 relative to each other, preventing rotation and thus enabling the gripper module 1 to be installed. After the gripper module 1 is installed, it is determined whether to install locating pins within the pin holes based on usage requirements. In applications where rotation of the gripper module 1 is not required, locating pins are used to fix the rotor 302; otherwise, the locating pins are removed to allow the gripper module 1 to rotate. The bearing 304 uses a combined bearing, capable of withstanding large axial and radial loads.

[0038] Specific Implementation Method Five: Combining Figures 7-9 This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism. The clamping module 1 includes a clamping shell 101, a slider sleeve 103, a slider cover 104, a slider stop 105, a slider inner post 106, a clamping stop 108, a fourth spring 11-4, and four clamping claws 102. Each clamping claw 102 is an L-shaped block. The inner wall of the vertical L-shaped block is inclined outwards from bottom to top. Protrusions are provided on both sides of the L-shaped block. The bottom of the clamping shell 101 is a circular sleeve, and the top of the clamping shell 101 is a slider mounting bracket. The slider inner post 106 is slidably disposed within the circular sleeve at the bottom of the clamping shell 101. The slider sleeve 103 is fitted onto the slider inner post 106. The slider cover 104 is mounted on the top of the slider sleeve 103. The fourth spring 11-4 is fitted onto the slider sleeve 103, and the top of the fourth spring 11-4 rests against the clamping shell. On the circular sleeve of 101, the bottom end of the fourth spring 11-4 rests on the inner column of the slider 106. The slider stop 105 is installed on the bottom end of the gripper housing 101. Four grippers 102 are evenly distributed radially on the slider mounting frame. The horizontal block at the bottom end of each gripper 102 is located in the opening near the top of the slider sleeve 103. The side wall of the vertical block on each gripper 102 is in contact with the top side wall of the slider mounting frame. The side walls of the slider mounting frame on both sides of the gripper 102 are provided with guide grooves 109. The guide grooves 109 are inclined from the bottom to the top. The two sides of the 'L'-shaped block are respectively provided with protrusions that cooperate with the guide grooves 109 of the side wall of the slider mounting frame. The gripper stop 108 is installed on the top of the slider mounting frame. The top end of the circular rod of the tension piston 206 rests on the bottom end of the inner column of the slider 106. The circular sleeve at the bottom end of the gripper housing 101 is threadedly connected to the gripper mounting seat rotor 302.

[0039] The gripper stop 108 on the slider mounting bracket at the top of the gripper housing 101 is locked and limited by the retaining ring 18, and the circular sleeve at the bottom of the gripper housing 101 is also locked and limited by the retaining ring 18. Other methods are the same as in specific embodiment three. When the inner column 106 of the slider is pushed by the tension piston 206, it moves inside the gripper housing 101 and pushes the four grippers 102 upward. The grippers 102 are installed in the guide groove 109 of the slider mounting bracket at the top of the gripper housing 101. When the grippers 102 move upward, they open along the guide groove 109. The gripper stop 108 prevents the grippers 102 from falling off the top. When the grippers 102 move downward, they retract along the guide groove 109. A fourth spring 11-4 is installed between the gripper housing 101 and the inner column 106 of the slider. When the tension piston 206 descends, the fourth spring 11-4 pushes the inner column 106 of the slider downward, causing the four grippers 102 to close and release. A slider stop 105 is installed at the bottom of the gripper housing 101 to limit the movement of the inner column 106 of the slider.

[0040] Specific Implementation Method Six: Combination Figures 1-5 This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism, which further includes two air pipe plugs 15. Each horizontal through hole of the lifting cylinder bottom cover 202 is provided with an air pipe plug 15 at the point where it connects to the outer wall of the lifting cylinder bottom cover 202. Other methods are the same as in specific embodiments two or four.

[0041] Specific implementation method seven: Combining Figure 3 and Figure 4This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism, which further includes multiple sealing rings 12 and multiple guide rings 13. A sealing ring 12 is fitted onto the outer side wall of the lifting cylinder bottom cover 202, which has an annular protrusion machined on its upper end surface. A sealing ring 12 is embedded in the inner side wall of the top end of the lifting cylinder 201's housing. A sealing ring 12 and two guide rings 13 are embedded in the outer side wall of the telescopic cylinder 203's housing, with the sealing ring 12 positioned between the two guide rings 13. A sealing ring 12 and a guide ring 13 are embedded from top to bottom on the inner side wall of the telescopic cylinder 203's housing. A guide ring 13 and a sealing ring 12 are embedded from top to bottom on the inner side wall of the top end of the telescopic cylinder 203's housing. The inner side of the telescopic cylinder 203 cooperates with the tensioning cylinder 204 and the gripper mounting seat 3. The guide ring 13 and sealing ring 12 on the telescopic cylinder 203 seal the cylinder and reduce the radial movement of the tensioning cylinder 204 during its telescopic motion. A guide ring 13 is embedded in the inner wall of the top of the circular sleeve of the gripper housing 101, which cooperates with the slider sleeve 103; a guide ring 13 is also installed between the gripper housing 101 and the inner column of the slider 106 to reduce radial movement. The top of the gripper housing 101 has an external hexagonal wrench mounting position, and the bottom has external threads for easy installation onto the gripper mounting base 3. The bottom cover 202 of the lifting cylinder is sealed to the bottom end of the housing of the lifting cylinder 201 by a sealing ring 12. Other methods are the same as in specific embodiments two or five.

[0042] Specific implementation method eight: Combination Figure 3 , Figure 4 and Figure 8 This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism. The clamping jaw module 1 further includes multiple steel balls 107. A retainer is located near the top of the slider sleeve 103; the upper retainer is at the bottom of the slider cover 104, and the lower retainer is at the top of the slider inner post 106. Four clamping jaws 102 are radially arranged between the upper and lower retainers. The steel balls 107 are evenly distributed on the retainers and are respectively limited by the slider cover 104 and the slider inner post 106. Each clamping jaw 102 has one steel ball 107 above and one below it. The diameter of the steel ball 107 is larger than the thickness of the retainer. The steel balls 107 are installed between the clamping jaws 102 and the slider sleeve 103 to reduce friction.

[0043] Other methods are the same as those in Specific Implementation Method Six.

[0044] Specific Implementation Method Nine: Combining Figures 7-9This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism. The clamping module 1 further includes a first cylindrical pin 16 and a second cylindrical pin 16-1. The first cylindrical pin 16 is inserted into the slider sleeve 103 and the slider inner post 106. The slider cover 104 is mounted on the top of the slider sleeve 103 via the second cylindrical pin 16-1, used to fix the upper steel ball 107.

[0045] The slider sleeve 103 and the inner slider post 106 are relatively fixed in position by the first cylindrical pin 16. The slider cover 104 is fixed on the slider sleeve 103 by the second cylindrical pin 16-1. The slider cover 104, the slider sleeve 103, and the inner slider post 106 provide axial support and limit for the gripper 102 in the slider sleeve 103. Other methods are the same as in specific embodiment six.

[0046] Specific Implementation Method Ten: Combining Figure 6 This embodiment describes a modular rotary heat transfer tube inner hole clamping mechanism, wherein the inner side of the limiting block top cover 208 and the outer side of the limiting block 207 adopt a wave-like fit structure, and an interference fit is generated at the crest of the waves.

[0047] The gap fit at the trough of the two components makes them difficult to separate after installation and achieves the effect of a sliding bearing, allowing the top cover 208 of the limiting block 207 to rotate relative to the limiting block 207. Other structures and methods are the same as in specific embodiment nine.

[0048] Working principle

[0049] This invention has a total of 8 single-step actions and 4 working states.

[0050] The single-step operation of this invention includes: rising: the telescopic cylinder 203, tension cylinder 204, gripper module 1, etc., all rise; falling: the telescopic cylinder 203, tension cylinder 204, gripper module 1, etc., all fall; extending: the tension cylinder 204, gripper module 1, etc., all extend.

[0051] Retraction: Tensioning cylinder 204, gripper module 1, etc., all retract.

[0052] Tensioning: Tensioning piston 206 pushes jaw 102 to open.

[0053] Release: The tension piston 206 descends, and the fourth spring 11-4 pushes the jaws 102 to close.

[0054] Secondary lifting and extension: If the elastic force of the first spring 11-1 and the second spring 11-2 is insufficient, air is supplied to the air pipe joint 14 at the bottom of the lifting cylinder 201 to ensure that the lifting and extension actions are completed.

[0055] Rotation: Gripper module 1 rotates relative to drive module 2.

[0056] The principles of the eight single-step actions of this invention will be explained below:

[0057] When the cylinder rises, the air pipe connector 14 at the top of the housing of the lifting cylinder 201 exhausts air, and all the internal components of the lifting cylinder 201 can be raised by the push of the first spring 11-1 and the second spring 11-2 at the bottom.

[0058] When the cylinder 201 is lowered, air is supplied to the air pipe connector 14 at the top of the housing, which allows all the internal components of the cylinder 201 to descend.

[0059] When the cylinder extends, the air pipe connector 14 at the top of the telescopic cylinder 203 exhausts air. Driven by the second spring 11-2 at the bottom, all components inside the telescopic cylinder 203 can rise relative to the telescopic cylinder 203. This is the extension action.

[0060] When the telescopic cylinder 203 is retracted, air is supplied to the air pipe connector 14 at the top, which allows all the internal components of the telescopic cylinder 203 to descend relative to the telescopic cylinder 203. This is the retraction action.

[0061] When tensioned, the left air pipe connector 14 of the lifting cylinder bottom cover 202 supplies air, and the right air pipe connector 14 exhausts air, so that the bottom of the tensioning piston 206 is pushed by the gas and the third spring 11-3, thereby pushing the inner column of the slider 106, causing the four jaws 102 to open and clamp the heat transfer tube 4.

[0062] When the air is released, the left air pipe connector 14 of the lifting cylinder bottom cover 202 exhausts air and the right air pipe connector 14 supplies air, which can push the top of the tension piston 206 down by the gas, thereby pushing the inner column 106 of the slider down by the fourth spring 11-4, causing the four grippers 102 to close and be released from the heat transfer tube 4.

[0063] During the second upward extension, if the first spring 11-1 or the second spring 11-2 is not strong enough to complete the movement during the upward movement, air is supplied from the air pipe joint 14 at the bottom of the lifting cylinder 201 to push the telescopic cylinder 203 or the tensioning cylinder 204 to complete the upward and extension movement.

[0064] Rotation: When the gripper module 1 holds the heat transfer tube 4, the drive module 2 can be passively rotated by the robot.

[0065] The four working states of this invention are composed of the above-mentioned eight single-step actions, including: distance state: release, retraction, and descent; extension state: rise, extension, and release; clamping state: rise, extension, and tension; and standard clamping state: rise, tension, and retraction. The working principles of the four working states of this invention are explained below:

[0066] In the "away" state, after the release, retraction, and descent, the gripper module 1 retracts from the heat transfer tube 4, and the limit block top cover 208 moves away from the heat transfer tube 4. The "away" state can transition to the "extended" state, and can also return from the "extended" state to the "away" state.

[0067] In the extended state, the system executes the release, rise, and extended states. At this time, the gripper module 1 is inserted into the heat transfer tube 4, and the limit block top cover 208 is tightly attached to the heat transfer tube 4. The extended state can be switched to the away state or the clamping state, and can also return to the extended state from the away state or the clamping state.

[0068] In the clamping state, after rising, extending, and tensioning, the top cover 208 of the limit block is pressed against the heat transfer tube 4, and the gripper module 1 is inserted into and clamps the heat transfer tube 4. The clamping state can be switched to the standard clamping state or the extended state, and can also return from the standard clamping state or the extended state to the clamping state.

[0069] In the standard clamping state, after entering the clamping state, a retraction action is performed. The magnetic switch 210 detects whether the gripper module 1 has retracted, and ensures that the limit block top cover 208 is tightly attached to the heat transfer tube 4. The standard clamping state can be switched to the clamping state, and it can also be returned from the clamping state to the standard clamping state.

[0070] By alternating between a distanced state, an extended state, a clamping state, and a standard clamping state, this invention achieves reliable clamping of the heat transfer tube 4. Furthermore, since the gripper mounting base 3 is rotatable and equipped with locating pin holes, the clamping mechanism is adaptable to both applications requiring and not requiring rotation. Moreover, because the gripper module 1 can be threaded onto the gripper mounting base 3, it can be quickly replaced to accommodate heat transfer tubes 4 with different apertures. In summary, this invention demonstrates strong reliability and adaptability in applications with varying apertures and diverse application requirements.

Claims

1. A modular rotary heat transfer tube inner hole clamping mechanism, characterized in that: It includes a gripper module (1), a drive module (2), and a gripper mounting base (3); the gripper mounting base (3) includes a gripper mounting base stator (301), a gripper mounting base rotor (302), a gripper mounting base rotor base (303), and a bearing (304); the gripper module (1) includes a gripper housing (101), a slider sleeve (103), a slider cover (104), a slider stop (105), a slider inner column (106), a gripper stop (108), a fourth spring (11-4), and four grippers (102); The gripper module (1) and the drive module (2) are connected by a gripper mounting base (3). The drive module (2) includes a lifting cylinder (201), a telescopic cylinder (203), and a tensioning cylinder (204). The tensioning cylinder (204) and the telescopic cylinder (203) are installed inside the lifting cylinder (201) from the inside out. The bottom end of the gripper mounting base (3) is connected to the top end of the tensioning cylinder (204), and the top end of the gripper mounting base (3) is connected to the gripper module (1). The top end of the tensioning piston (206) of the tensioning cylinder (204) passes through the gripper mounting base (3) and is connected to the drive end of the gripper module (1). The gripper mounting base stator (301) is an annular sleeve with an annular groove machined at each end. An annular protrusion is machined on the outer wall near the bottom of the annular sleeve. The gripper mounting base rotor (302) includes a top annular sleeve and a bottom annular sleeve, which are integrally formed. The diameter of the top annular sleeve is larger than the diameter of the bottom annular sleeve. The gripper mounting base rotor base (303) is an inverted 'T'-shaped sleeve. The annular protrusion on the gripper mounting base stator (301) is located between the housings of the tension cylinder (204) and the telescopic cylinder (203) and is situated within the housing of the telescopic cylinder (203). The outer wall at the bottom of the gripper mounting base stator (301) is adjacent to the top of the tension cylinder (204). The inner wall is threaded. The gripper mounting base rotor base (303) and bearing (304) are located at the bottom end of the gripper mounting base stator (301). The gripper mounting base rotor base (303) is rotatably connected to the gripper mounting base stator (301) through the bearing (304). The gripper mounting base rotor (302) is located at the top end of the gripper mounting base stator (301). The top annular sleeve of the gripper mounting base rotor (302) is located inside the top end of the gripper mounting base stator (301). The bottom annular sleeve of the gripper mounting base rotor (302) is threadedly connected to the top end of the gripper mounting base rotor base (303). The circular rod of the tensioning piston (206) passes through the gripper mounting base rotor (302) and the gripper mounting base rotor base (303). The gripper (102) is an 'L'-shaped block, and the inner wall of the vertical block of the 'L'-shaped block is inclined outward from bottom to top. The two sides of the block are respectively provided with protrusions. The bottom of the gripper shell (101) is a circular sleeve, and the top of the gripper shell (101) is a slider mounting bracket. The slider inner column (106) is slidably disposed in the circular sleeve at the bottom of the gripper shell (101). The slider sleeve (103) is fitted on the slider inner column (106). The slider cover (104) is installed on the top of the slider sleeve (103). The fourth spring (11-4) is fitted on the slider sleeve (103), and the top of the fourth spring (11-4) abuts against the circular sleeve of the gripper shell (101), and the bottom of the fourth spring (11-4) abuts against the slider inner column (106). The slider stop (105) is installed on the bottom of the gripper shell (101). The four grippers (102) are evenly distributed radially. On the slider mounting frame, the horizontal block at the bottom of each gripper (102) is set in the opening near the top of the slider sleeve (103). The side wall of the vertical block on each gripper (102) is in contact with the side wall of the top of the slider mounting frame. The side walls of the slider mounting frame are provided with guide grooves (109) on both sides of the gripper (102). The guide grooves (109) are inclined from the bottom to the top. The two sides of the 'L'-shaped block are respectively provided with protrusions that cooperate with the guide grooves (109) of the side wall of the slider mounting frame. The gripper stop (108) is installed on the top of the slider mounting frame. The top of the circular rod of the tension piston (206) is pressed against the bottom of the inner column (106) of the slider. The circular sleeve at the bottom of the gripper housing (101) is threadedly connected to the gripper mounting seat rotor (302).

2. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 1, characterized in that: The drive module (2) also includes a lifting cylinder bottom cover (202), a tensioning cylinder bottom cover (205), a limiting block (207), a limiting block top cover (208), a first spring (11-1), a second spring (11-2), a third spring (11-3), and multiple air pipe connectors (14); the upper end face of the lifting cylinder bottom cover (202) is machined with an annular protrusion and two cylindrical protrusions. The lifting cylinder bottom cover (202) is installed on the bottom end face of the housing of the lifting cylinder (201), and the annular protrusion of the lifting cylinder bottom cover (202) is installed inside the housing of the lifting cylinder (201). Each cylindrical protrusion is machined with a vertical through hole. The bottom cover (202) of the lifting cylinder is machined with two horizontal through holes. One end of each horizontal through hole is connected to the vertical through hole of a cylindrical protrusion, and the other end of each horizontal through hole is connected to an air pipe connector (14). The two air pipe connectors (14) are vertically installed on the bottom cover (202) of the lifting cylinder. The housing of the telescopic cylinder (203) is vertically and slidably disposed inside the housing of the lifting cylinder (201). The outer wall of the bottom end of the housing of the telescopic cylinder (203) is machined with an annular groove. The first spring (11-1) is sleeved on the annular groove of the telescopic cylinder (203), and the bottom end of the first spring (11-1) abuts against the annular protrusion of the bottom cover (202) of the lifting cylinder, tensioning the air. The cylinder (204) is a circular sleeve with an annular horizontal plate on it. An air vent is machined on the side wall of the tension cylinder (204). The top of the air vent on the tension cylinder (204) is located on the bottom surface of the annular horizontal plate and communicates with the space at the bottom of the annular horizontal plate. The bottom of the air vent on the tension cylinder (204) is located near the bottom of the tension cylinder (204) housing. The tension cylinder (204) housing is vertically and slidably mounted inside the telescopic cylinder (203) housing. A cylindrical protrusion is machined on the top of the tension cylinder bottom cover (205), and a protrusion with two vertical blind holes is machined on the bottom of the tension cylinder bottom cover (205). A circular rod is machined on the top of the tension piston (206), and a circular rod is machined on the bottom of the tension piston (206). A circular groove is provided. A tensioning piston (206) and a third spring (11-3) are vertically arranged inside the housing of a tensioning cylinder (204). The top of the tensioning piston (206) passes through the annular horizontal plate of the tensioning cylinder (204). A tensioning cylinder bottom cover (205) is fixedly installed on the bottom end of the housing of the tensioning cylinder (204). A cylindrical protrusion at the top of the tensioning cylinder bottom cover (205) is located inside the housing of the tensioning cylinder (204). Two cylindrical protrusions of the lifting cylinder bottom cover (202) are respectively located in the vertical blind holes at the bottom end of the tensioning cylinder bottom cover (205). One vertical blind hole on the tensioning cylinder bottom cover (205) communicates with the cavity of the tensioning cylinder (204), and the other vertical blind hole on the tensioning cylinder bottom cover (205) communicates with the cavity of the tensioning cylinder (204). The top end is connected to the bottom end of the air outlet of the tensioning cylinder (204) through the through hole. The second spring (11-2) is sleeved on the protrusion with two vertical blind holes at the bottom end of the tensioning cylinder bottom cover (205). The bottom end of the second spring (11-2) is pressed against the upper end surface of the lifting cylinder bottom cover (202). The limiting block (207) is an annular body. The bottom end of the limiting block (207) is fixedly connected to the top end of the housing of the telescopic cylinder (203). The top cover (208) of the limiting block is fastened to the top end of the limiting block (207). Two air pipe connectors (14) are respectively installed on the side wall near the top end and the side wall near the bottom end of the housing of the lifting cylinder (201). One air pipe connector (14) is installed on the top side wall of the housing of the telescopic cylinder (203).

3. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 2, characterized in that: The drive module (2) also includes a toe connection housing (209), a magnetic switch (210), and a magnetic switch base (211); the magnetic switch (210) is mounted on the housing of the telescopic cylinder (203) near the top side wall via the magnetic switch base (211), and the toe connection housing (209) is mounted on the housing of the telescopic cylinder (203) and the bottom cover (202) of the lifting cylinder.

4. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 2, characterized in that: It also includes two air pipe plugs (15), and each horizontal through hole of the lifting cylinder bottom cover (202) is provided with an air pipe plug (15) at the connection between the horizontal through hole and the outer wall of the lifting cylinder bottom cover (202).

5. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 1, characterized in that: It also includes multiple sealing rings (12) and multiple guide rings (13); a sealing ring (12) is fitted on the outer side wall of the lifting cylinder bottom cover (202) with an annular protrusion; a sealing ring (12) is embedded in the inner side wall of the top of the lifting cylinder (201); a sealing ring (12) and two guide rings (13) are embedded in the outer side wall of the telescopic cylinder (203); the sealing ring (12) is located between the two guide rings (13); a sealing ring (12) and a guide ring (13) are embedded from top to bottom on the inner side wall of the telescopic cylinder (203); a guide ring (13) and a sealing ring (12) are embedded from top to bottom on the inner side wall of the top of the telescopic cylinder (203); a guide ring (13) is embedded in the inner side wall of the top of the circular sleeve of the gripper shell (101).

6. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 1, characterized in that: The gripper module (1) also includes multiple steel balls (107). A retainer is provided near the top of the slider sleeve (103). The upper retainer is at the bottom of the slider cover (104), and the lower retainer is at the top of the slider inner column (106). Four grippers (102) are arranged radially between the upper and lower retainers. Multiple steel balls (107) are evenly distributed on the retainer and are limited by the slider cover (104) and the slider inner column (106) respectively. Each gripper (102) has a steel ball (107) above and below it.

7. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 6, characterized in that: The gripper module (1) also includes a first cylindrical pin (16) and a second cylindrical pin (16-1); the first cylindrical pin (16) is inserted into the slider sleeve (103) and the inner column of the slider (106), and the slider cover (104) is installed on the top of the slider sleeve (103) through the second cylindrical pin (16-1).

8. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 6, characterized in that: The inner side of the top cover (208) of the limiting block and the outer side of the limiting block (207) adopt a wave-like fit structure, and an interference fit is generated at the crest of the two.

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