Nuclear power plant steam generator maintenance machine quick fixing device

Abstract

The application provides a nuclear power plant steam generator maintenance machine quick fixing device, which comprises a fixed clamping part and a self-adapting positioning part, the fixed clamping part comprises a fixed bottom plate and a fixed clamp head arranged on the fixed bottom plate and used for inserting into a pipe and clamping a pipe wall, the self-adapting positioning part comprises a base capable of being installed with the maintenance machine, and the base is arranged on one side of the fixed bottom plate; the nuclear power plant steam generator maintenance machine quick fixing device comprises a state that the fixed bottom plate is movable relative to the base and a state that the fixed bottom plate is fixed relative to the base. The fixed clamp head is inserted into the pipe of the steam generator to clamp the pipe wall, so that the whole device is fixed, and under the premise that the internal structure of the nuclear steam generator is not changed, the safe, reliable and quick fixing and dismounting of the maintenance machine in the steam generator is realized; and the device also realizes the self-adapting positioning function through the self-adapting positioning part.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant steam generator maintenance technology, and in particular to a quick fixing device for nuclear power plant steam generator maintenance equipment. Background Technology

[0002] The heat transfer tubes and tube sheets of nuclear power plant steam generators require regular inspection. When overhauling the heat transfer tubes and tube sheets of the steam generator, maintenance equipment or robots need to be installed in one of the water chambers. Current installation methods include manual entry into the water chamber for installation and installation assisted by tools through the manhole.

[0003] To hoist inspection equipment and other devices into the steam generator for inspection, a fulcrum needs to be provided under the steam generator tube sheet. This fulcrum allows the inspection equipment to be mounted on or used to install it to a specific location within the steam generator. As mentioned above, providing a fulcrum under the tube sheet requires first securing the inspection equipment to the tube sheet. Current methods primarily involve manually entering the steam generator to set the fulcrum, or using complex equipment to set the fulcrum from outside the steam generator onto the tube sheet. The former method exposes operators to significant radiation doses, posing a health risk, while the latter is time-consuming and inefficient. Therefore, a device is needed that allows for a simple and quick setup of a fulcrum on the tube sheet for installation and fixation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a quick fixing device for the maintenance of steam generators in nuclear power plants, addressing the above-mentioned deficiencies in related technologies.

[0005] The technical solution adopted by the present invention to solve its technical problem includes: providing a quick fixing device for a steam generator maintenance machine in a nuclear power plant, comprising a fixing clamping component and an adaptive positioning component. The fixing clamping component includes a fixing base plate and a fixing chuck disposed on the fixing base plate for inserting into a pipe and clamping the pipe wall. The adaptive positioning component includes a base on which the maintenance machine can be mounted. The base is disposed on one side of the fixing base plate. The quick fixing device for a steam generator maintenance machine in a nuclear power plant includes a state in which the fixing base plate is movable relative to the base and a state in which the fixing base plate is fixed relative to the base.

[0006] Preferably, the adaptive positioning component includes a backlash-eliminating cylinder, a fixed shaft, and a positioning sleeve. The fixed shaft and the backlash-eliminating cylinder are mounted on the base. The backlash-eliminating cylinder includes an axially movable first cylinder rod, which is connected to the positioning sleeve and drives the positioning sleeve to move axially. The fixed base plate is provided with a positioning cavity, and the fixed shaft and the positioning sleeve are mounted in the positioning cavity.

[0007] The first cylinder rod drives the positioning sleeve to move axially to one end of the positioning cavity. The positioning sleeve is radially movable relative to the positioning cavity. The nuclear power plant steam generator maintenance machine quick fixing device is in a state where the fixed base plate is movable relative to the base.

[0008] The first cylinder rod drives the positioning sleeve to move axially to one end of the positioning cavity. The positioning sleeve is fixed to the positioning cavity in the radial direction. The nuclear power plant steam generator maintenance machine quick fixing device is in a state where the fixed base plate is fixed relative to the base.

[0009] Preferably, the positioning cavity includes a large cavity and a small cavity connected in the radial direction of the first cylinder rod, the size of the large cavity is larger than the size of the small cavity and the size of the positioning sleeve, and the size of the small cavity matches the size of the positioning sleeve;

[0010] A first centering slope is formed on one axial side of the positioning sleeve, and a second centering slope corresponding to the first centering slope is formed on the inner side of the small cavity. The first cylinder rod is configured to axially drive the positioning sleeve to move between the large cavity and the small cavity.

[0011] When the positioning sleeve is located in the large cavity, there is a gap between the positioning sleeve and the inner wall of the large cavity. The fixing clamping component can move radially relative to the adaptive component in the first cylinder rod direction. The quick-fixing device for the nuclear power plant steam generator maintenance machine is in a movable state where the fixed base plate is relative to the base. When the positioning sleeve moves from the large cavity to the small cavity and the first centering inclined surface contacts the second centering inclined surface, the positioning cavity is aligned with the positioning sleeve. When the positioning sleeve is located in the small cavity, the positioning sleeve cooperates with the small cavity. The fixing clamping component is fixed radially relative to the adaptive component in the first cylinder rod direction. The quick-fixing device for the nuclear power plant steam generator maintenance machine is in a fixed state where the fixed base plate is relative to the base.

[0012] Preferably, the positioning cavity has openings on both sides along the axial direction of the first cylinder rod, the fixed shaft extends into the positioning cavity from one side opening, and the clearance-eliminating cylinder and the base are respectively located on both sides of the fixed base plate.

[0013] Preferably, the first centering slope is a conical surface with the first cylinder rod axis as its axis, and the second centering slope is a conical surface corresponding to the first centering slope.

[0014] Preferably, the adaptive positioning component includes a guide sleeve, and the fixed shaft has a guide cavity with the guiding direction being the axial direction of the first cylinder rod. The first cylinder rod is connected to the guide sleeve, and the guide sleeve is fitted in the guide cavity. The guide sleeve is connected to the positioning sleeve.

[0015] Preferably, the adaptive positioning component includes a limiting pin passing through the guide sleeve and the positioning sleeve, the positioning sleeve being disposed outside the fixed shaft, the fixed shaft being provided with a movable groove extending axially along the first cylinder rod for the limiting pin to move axially, the movable groove penetrating from the outside of the fixed shaft to the guide cavity, and the limiting pin passing through the movable groove.

[0016] Preferably, the fixed base plate is provided with a thrust bearing on the side facing the base.

[0017] Preferably, the fixing clamping component includes a clamping cylinder for driving the fixing chuck to clamp the pipe wall. The clamping cylinder includes a second cylinder rod that can move axially. The fixing chuck includes a housing, a clamping body that can be opened outward on the housing, and a driving member disposed in the housing to drive the clamping body to open outward and retract inward. The second cylinder rod is connected to and drives the driving member to move axially, driving the clamping body to open and retract inward.

[0018] Preferably, the drive member has an outer inclined surface on its outer side, and the clamping body has an inner inclined surface corresponding to the outer inclined surface on its inner side. The fixed clamp includes a rolling element disposed between the inner inclined surface and the outer inclined surface. The drive member axially pushes the rolling element, thereby driving the clamping body to open.

[0019] Preferably, the driving member includes a rod body, a sleeve sleeved outside the rod body, and a rod head connected to the end of the rod body. The rod head is located at one end of the housing. The clamping body includes a connecting end axially close to the rod head and movably connected to the housing, and a connecting end away from the rod head. The rod head is sleeved outside the connecting end of the clamping body, so that the rod body axially pushes the rod head away from the connecting end of the clamping body, and the sleeve axially pushes the rolling element, thereby pushing the clamping body open; or the rod body axially pulls back the rod head to constrain the clamping body to retract, and the sleeve pulls back the rolling element.

[0020] Preferably, the rapid fixing device for the maintenance machine of the nuclear power plant steam generator includes a camera for observing the environment and / or a positioning detection component for detecting whether the fixing clamp of the fixing clamping component is in place in the insertion tube. The camera is mounted on the fixing clamping component or the adaptive positioning component, and the positioning detection component is mounted on the fixing clamping component.

[0021] The technical solution of the present invention has at least the following beneficial effects: the rapid fixing device for the maintenance equipment of the nuclear power plant steam generator includes a fixing clamping component and an adaptive positioning component. The fixing clamp is inserted into the pipe of the steam generator to clamp the pipe wall, thereby fixing the entire device. Without changing the internal structure of the nuclear steam generator, the device can safely, reliably and quickly fix and disassemble the maintenance equipment inside the steam generator. The device also realizes the adaptive positioning function through the adaptive positioning component. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a perspective view of a nuclear power plant steam generator maintenance machine quick-fixing device, a steam generator tube sheet, and a maintenance machine, according to one embodiment of the present invention.

[0024] Figure 2 yes Figure 1 A 3D view of a rapid fixing device for maintenance equipment of a nuclear power plant steam generator.

[0025] Figure 3 yes Figure 1 Side view of the quick-fix device for the maintenance machine of the steam generator in a nuclear power plant.

[0026] Figure 4 yes Figure 1 A top view of the quick-fix device for overhauling steam generators in a nuclear power plant.

[0027] Figure 5 yes Figure 2 A sectional view of the fixed clamp along the axial direction.

[0028] Figure 6 yes Figure 5 A magnified view of part A in the middle.

[0029] Figure 7 yes Figure 4 A cross-sectional view of the PP position.

[0030] Figure 8 yes Figure 7 A magnified view of part B in the middle.

[0031] The labels in the diagram represent: 1. Fixed clamping component; 11. Fixed base plate; 11. Positioning cavity; 1111 large cavity; 1112 small cavity; 112 second centering inclined surface; 12. Clamping cylinder; 121 second cylinder rod; 13 fixed chuck; 13. Driving component; 131 rod body; 1310 outer inclined surface; 132 sleeve; 133 clamping body; 1330 inner inclined surface; 1311 connecting end; 1312 free end; 134 rolling element; 135 rod head; 136 housing; 2. Adaptive positioning component; 2. Base; 22 backlash-eliminating cylinder; 221 first cylinder rod; 23 fixed shaft; 231 guide cavity; 232 movable groove; 24 guide sleeve; 25 limit pin; 26 positioning sleeve; 261 first centering inclined surface; 27 thrust bearing; 3. Position detection component; 3. Sensor support plate; 32 position detection sensor; 4. Camera; 5. Steam generator pipe hole; 6. Maintenance machine. Detailed Implementation

[0032] To provide a clearer understanding of the technical features, objectives, and effects of this invention, specific embodiments are now described in detail with reference to the accompanying drawings. It should be understood that if terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," or "outer" appear in the text, indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and describing construction and operation in a specific orientation, they are merely for the convenience of describing the technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on this invention. It should also be noted that unless otherwise explicitly specified and limited, terms such as "install," "connect," "join," "fix," or "set" appearing in the text should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or integration; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. When an element is referred to as being "on" or "below" another element, the element can be located "directly" or "indirectly" on the other element, or there may be one or more intermediary elements. If the terms "first," "second," etc., appear in the text merely for the convenience of describing the technical solution, and are not to be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features, then features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0034] See Figure 1-8 According to one embodiment of the present invention, a quick fixing device for a nuclear power plant steam generator maintenance machine includes a fixing clamping component 1 and an adaptive positioning component 2. The fixing clamping component 1 includes a fixing base plate 11 and a fixing chuck 13 disposed on the fixing base plate 11 for inserting into a pipe and clamping the pipe wall. The adaptive positioning component 2 includes a base 21 on which the maintenance machine 6 can be installed. The base 21 is disposed on one side of the fixing base plate 11. The quick fixing device for a nuclear power plant steam generator maintenance machine includes a state in which the fixing base plate 11 is movable relative to the base 21 and a state in which the fixing base plate 11 is fixed relative to the base 21. When in use, the quick-fixing device for the steam generator maintenance machine of the nuclear power plant is installed on the base 21 of the adaptive positioning component 2. In other words, the base 21 is also the base 21 of the maintenance machine. The backlash elimination cylinder 22 drives the positioning sleeve 26 to move into the large cavity 1111 of the positioning chamber through the first cylinder rod 221, clamping the base 21 and moving it to the tube sheet of the steam generator. The fixing clamp 13 of the fixing clamping component 1 is inserted into the tube hole of the tube sheet of the steam generator. The fixing base plate 11 is movable relative to the base 21. The clamping base 21 does not need to move with high precision, and the alignment of the fixed clamp 13 with the pipe hole does not need to be very precise. When inserting into the pipe hole, the fixed clamping component 1 can also adaptively move to the position where the fixed clamp 13 is aligned with the pipe hole, realizing the adaptive positioning function, so that the fixed clamp 13 can be smoothly inserted into the pipe hole; then the fixed clamp 13 clamps the inner wall of the pipe hole; then the device switches to the state where the fixed base plate 11 is fixed relative to the base 21, so that the maintenance machine 6 is fixed to the steam generator, so as to facilitate the maintenance of the steam generator.

[0035] Preferably, the adaptive positioning component 2 includes a backlash-eliminating cylinder 22, a fixed shaft 23, and a positioning sleeve 26. The fixed shaft 23 and the backlash-eliminating cylinder 22 are mounted on the base 21. The backlash-eliminating cylinder 22 includes an axially movable first cylinder rod 221. The first cylinder rod 221 is connected to the positioning sleeve 26 and drives the positioning sleeve 26 to move axially. The fixed base plate 11 is provided with an open positioning cavity, in which the fixed shaft 23 and the positioning sleeve 26 are located.

[0036] The first cylinder rod 221 drives the positioning sleeve 26 to move axially to one end of the positioning cavity. The positioning sleeve 26 is movable in the radial direction relative to the positioning cavity. The nuclear power plant steam generator maintenance machine quick fixing device is in a state where the fixed base plate 11 is movable relative to the base 21.

[0037] The first cylinder rod 221 drives the positioning sleeve 26 to move axially to one end of the positioning cavity. The positioning sleeve 26 is fixed to the positioning cavity in the radial direction. The nuclear power plant steam generator maintenance machine quick fixing device is in a fixed state with the fixed base plate 11 relative to the base 21.

[0038] More preferably, the positioning cavity includes a large cavity 1111 and a small cavity 1112 connected together. In the radial direction of the first cylinder rod 221, the size of the large cavity 1111 is larger than the size of the small cavity 1112 and the size of the positioning sleeve 26, and the size of the small cavity 1112 matches the size of the positioning sleeve 26.

[0039] A first centering slope 261 is formed on one axial side of the positioning sleeve 26, and a second centering slope 112 corresponding to the first centering slope 261 is formed on the inner side of the small cavity 1112. The first cylinder rod 221 is configured to drive the positioning sleeve 26 to move between the large cavity 1111 and the small cavity 1112 axially.

[0040] With the positioning sleeve 26 located in the large cavity 1111, since the radial dimension of the large cavity 1111 is larger than the radial dimension of the positioning sleeve 26 in the first cylinder rod 221, there is a gap between the positioning sleeve 26 and the inner wall of the large cavity 1111. The fixing base plate 11 can move relative to the base 21 in the radial direction of the first cylinder rod 221, thereby fixing the clamping component 1 can move relative to the adaptive component in the radial direction of the first cylinder rod 221. The nuclear power plant steam generator maintenance machine quick fixing device is in a movable state of the fixing base plate 11 relative to the base 21; when the positioning sleeve 26 moves from the large cavity 1111 to the small cavity 1112 and the first With the centering inclined surface 261 in contact with the second centering inclined surface 112, the positioning cavity and the positioning sleeve 26 are aligned. With the positioning sleeve 26 located in the small cavity 1112, since the size of the small cavity 1112 in the radial direction of the first cylinder rod 221 matches the size of the positioning sleeve 26 in the radial direction of the first cylinder rod 221, the positioning sleeve 26 cooperates with the small cavity 1112, and the fixed base plate 11 is fixed relative to the base 21 in the radial direction of the first cylinder rod 221, thereby fixing the clamping component 1 relative to the adaptive component in the radial direction of the first cylinder rod 221. The nuclear power plant steam generator maintenance machine quick fixing device is in the state where the fixed base plate 11 is fixed relative to the base 21.

[0041] When using the rapid fixing device for the steam generator maintenance machine of this nuclear power plant, the maintenance machine 6 is installed on the base 21 of the adaptive positioning component 2. In other words, the base 21 is also the base of the maintenance machine 6. The clearance-eliminating cylinder 22 drives the positioning sleeve 26 to move into the large cavity 1111 of the positioning chamber through the first cylinder rod 221, clamping the base 21 and moving it to the tube sheet of the steam generator. The fixing clamp 13 of the fixing clamping component 1 is inserted into the tube hole 5 of the tube sheet of the steam generator. Since there is a gap between the positioning sleeve 26 and the inner wall of the large cavity 1111—an adjustment space for three degrees of freedom (translation in the X and Y directions and rotation in the XY plane)—the fixing clamping component 1 can move radially relative to the adaptive positioning component 2 in the first cylinder rod 221. The movement of the clamping base 21 does not need to be too precise, and the alignment of the fixing clamp 13 with the tube hole 5 does not need to be too precise. At the same time, the fixed clamping component 1 can also adaptively move to the position where the fixed clamp 13 is aligned with the pipe hole 5, realizing the adaptive positioning function, so that the fixed clamp 13 can be smoothly inserted into the pipe hole 5; then the fixed clamp 13 clamps the inner wall of the pipe hole 5, and then the gap-eliminating cylinder 22 drives the positioning sleeve 26 to move towards the small cavity 1112 through the first cylinder rod 221. The first centering inclined surface 261 contacts the second centering inclined surface 112, driving the positioning cavity to center with the positioning sleeve 26, thereby driving the base 21 to be positioned relative to the fixed base plate 11; then, the gap-eliminating cylinder 22 drives the positioning sleeve 26 to move into the small cavity 1112 through the first cylinder rod 221. The positioning sleeve 26 cooperates with the small cavity 1112, eliminating the gap that allows the fixed clamping component 1 to move radially relative to the adaptive positioning component 2 in the first cylinder rod 221, realizing the fixation of the fixed clamping component 1 relative to the adaptive positioning component 2.

[0042] This rapid fixing device for the maintenance equipment of the nuclear power plant steam generator can use the inner wall of the bundle tubes inside the nuclear steam generator as a fixing anchor point. By inserting the fixing clamp 13 into the tubes of the steam generator and clamping the tube wall, the entire device can be fixed. Without changing the internal structure of the nuclear steam generator, it can use the structure and parameters of the tube hole 5 of the steam generator tube sheet to achieve a safe, reliable and rapid fixing and disassembly fulcrum for the maintenance equipment on the steam generator tube sheet, so as to complete the installation and fixing of the maintenance equipment and avoid personnel entering the nuclear steam generator and being exposed to nuclear radiation. The device also eliminates the positioning error of the fixing clamp 13 relative to the tube hole 5 during the automatic installation of the equipment through the adaptive positioning component 2, so that the movement operation of the device does not need to be too precise, and the fixing clamp 13 can be smoothly inserted into the tube, realizing the adaptive positioning function.

[0043] Preferably, there are multiple fixing clamps 13, each inserted into a tube, thereby improving the load capacity of the rapid fixing device for the maintenance equipment of the nuclear power plant steam generator and adapting to the fixed installation of heavy-load equipment. The spacing between the fixing clamps 13 corresponds to the spacing between the bundled tubes of the object being used, and the number of fixing clamps 13 is related to the weight of the maintenance equipment they support.

[0044] Preferably, the positioning cavity has openings on both sides of the first cylinder rod 221 in the axial direction, the base 21 is located on one side of one of the openings of the positioning cavity, the fixed shaft 23 extends into the positioning cavity from the other opening, and the clearance-eliminating cylinder 22 and the base 21 are respectively located on both sides of the fixed base plate 11.

[0045] Preferably, the first centering inclined surface 261 is a conical surface with the axis of the first cylinder rod 221 as the axis, and the second centering inclined surface 112 is a conical surface corresponding to the first centering inclined surface 261. Through the contact of the two conical surfaces, the positioning cavity is driven to center with the positioning sleeve 26, thereby driving the base 21 to be positioned relative to the fixed base plate 11.

[0046] Preferably, the adaptive positioning component 2 includes a guide sleeve 24, and the fixed shaft 23 is provided with a guide cavity 231 whose guiding direction is the axial direction of the first cylinder rod 221. The first cylinder rod 221 is connected to the guide sleeve 24, and the guide sleeve 24 is fitted in the guide cavity 231. The guide sleeve 24 is connected to the positioning sleeve 26.

[0047] More preferably, the adaptive positioning component 2 includes a limiting pin 25 radially inserted in the guide sleeve 24 and the positioning sleeve 26. The limiting pin 25 fixes the guide sleeve 24 and the positioning sleeve 26 together. The positioning sleeve 26 is located outside the fixed shaft 23. The fixed shaft 23 is provided with a movable groove 232 extending axially along the first cylinder rod 221 for the limiting pin 25 to move axially. The movable groove 232 penetrates from the outside of the fixed shaft 23 to the guide cavity 231. The limiting pin 25 passes radially through the movable groove 232. The first cylinder rod 221 drives the guide sleeve 24, the limiting pin 25 and the positioning sleeve 26 to move axially.

[0048] Preferably, a thrust bearing 27 is provided on the side of the fixed base plate 11 facing the base 21. The thrust bearing 27 is arranged around the fixed shaft 23, and the shaft ring of the thrust bearing 27 is fixed to the fixed shaft 23 by a snap ring. The seat ring of the thrust bearing 27 is installed in the fixed base plate 11, providing a movable platform and supporting force for the self-adjusting position of the fixing clamping component 1. The base 21 is fixed to the lower end of the fixed shaft 23 by screws.

[0049] Preferably, the fixing clamping component 1 includes a clamping cylinder 12 for driving the fixing chuck 13 to clamp the pipe wall. The clamping cylinder 12 includes a second cylinder rod 121 that can move axially. The fixing chuck 13 includes a cylindrical housing 136, a clamping body 133 that can be opened outward on the housing 136, and a driving member provided in the housing 136 to drive the clamping body 133 to open outward and retract inward. The second cylinder rod 121 is connected to and drives the driving member to move axially, driving the clamping body 133 to open and retract inward. Specifically, the number of clamping bodies 133 can be at least two, circumferentially distributed on the outside of the housing 136.

[0050] More preferably, the drive member has an outer inclined surface 1310 on its outer side, and the clamping body 133 has an inner inclined surface 1330 corresponding to the outer inclined surface 1310 on its inner side. The fixed clamp 13 includes one or at least two rolling elements 134 disposed between the inner inclined surface 1330 and the outer inclined surface 1310. The second cylinder rod 121 drives the drive member to axially push the rolling elements 134, thereby driving the clamping body 133 to open.

[0051] More preferably, the driving component includes a rod 131, a sleeve 132 sleeved outside the rod 131, and a rod head 135 connected to the end of the rod 131. The rod head 135 is located outside one end of the housing 136. The clamping body 133 includes a connecting end 1311 axially close to the rod head 135 and movably connected to the housing 136, and a connecting end 1311 away from the rod head 135. The rod head 135 is sleeved outside the connecting end 1311 of the clamping body 133, so that the rod 131 axially pushes the rod head 135 away from the connecting end 1311 of the clamping body 133 and the sleeve 132 axially pushes the rolling element 134, thereby pushing the clamping body 133 to open, or the rod 131 axially pulls back the rod head 135 to constrain the clamping body 133 to retract and the sleeve 132 pulls back the rolling element 134. Specifically, the process of the clamping cylinder 12 driving the clamping body 133 to open the inner wall of the clamping tube hole 5 is as follows: the clamping cylinder 12 simultaneously pushes the rod body 131 and the sleeve 132 axially through the second cylinder rod 121. The rod body 131 pushes the rod head 135 away from the connecting end 1311 of the clamping body 133, so that the clamping body 133 loses its constraint. The sleeve 132 pushes the rolling body 134, and the rolling body 134 pushes the inner inclined surface 1330 of the clamping body 133, driving the clamping body 133 to open, thereby clamping the inner wall of the tube hole 5 of the tube sheet. The process of clamping cylinder 12 driving clamping body 133 to retract and clamp the inner wall of tube hole 5 is as follows: clamping cylinder 12 pulls back rod body 131 and sleeve 132 axially through second cylinder rod 121. Sleeve 132 pulls back rolling body 134, so that clamping body 133 loses the supporting force of opening. Rod body 131 pulls back rod head 135. Rod head 135 is sleeved on the connecting end 1311 of clamping body 133, constraining clamping body 133 to retract. Clamping body 133 loosens the inner wall of tube hole 5 of tube sheet.

[0052] Preferably, the rapid fixing device for the nuclear power plant steam generator maintenance machine includes a camera 4 for observing the environment and / or a positioning detection component 3 for detecting whether the fixing clamp 13 of the fixing clamping component 1 is inserted into the tube in place. The camera 4 is mounted on the fixing clamping component 1 or the adaptive positioning component 2. The camera 4 collects the position information of the bundle tube in real time and the software analyzes and compares it to determine the relative position of the fixing device with respect to the anchor point of the bundle tube. Then, the software controls the maintenance machine 6 to correct the position of the fixing device, insert the bundle tube, and fix it. The positioning detection component 3 is mounted on the fixing clamping component 1. The positioning detection component 3 is used to detect whether the fixing device is inserted into the fixing anchor point in place and to fix the fixing device on the fixing anchor point, ensuring the reliability of the fixing clamp. More preferably, the positioning detection component 3 includes a sensor support plate 31 mounted on the fixing base plate 11 of the fixing clamping component 1 and a positioning detection sensor 32 mounted on the sensor support plate 31.

[0053] In summary, this rapid fixing device for the maintenance machine of the nuclear power plant steam generator uses the inner wall of the bundle tubes inside the nuclear steam generator as the fixing anchor point. The fixing clamp 13 is inserted into the tubes of the steam generator to clamp the tube wall, thus fixing the entire device. Without altering the internal structure of the nuclear steam generator, it utilizes the structure and parameters of the tube sheet bore 5 to achieve safe, reliable, and rapid fixing and disassembly of the maintenance machine 6 inside the steam generator, preventing personnel from entering the nuclear steam generator and being exposed to nuclear radiation. The device also uses an adaptive positioning component 2 to eliminate positioning errors of the fixing clamp 13 relative to the bore 5 during automatic installation, allowing for less precise movement of the device while still enabling the fixing clamp 13 to be smoothly inserted into the tube, achieving adaptive positioning. The device can also be manually or remotely controlled to align the maintenance machine 6 with the fixing anchor point, and can be quickly fixed and disassembled. In the event of depressurization or malfunction, the maintenance machine 6 can automatically detach from the nuclear steam generator, leaving no foreign objects for the user.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications, combinations, and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A nuclear power plant steam generator maintenance machine quick fixing device, characterized in that, The device comprises a fixed clamping part (1) and an adaptive positioning part (2), the fixed clamping part (1) comprises a fixed bottom plate (11) and a fixed clamp head (13) arranged on the fixed bottom plate (11) for inserting into a pipe and clamping the pipe wall, the adaptive positioning part (2) comprises a base (21) on which a maintenance machine can be installed, the base (21) is arranged on one side of the fixed bottom plate (11), the device comprises a state that the fixed bottom plate (11) is movable relative to the base (21) and a state that the fixed bottom plate (11) is fixed relative to the base (21); The adaptive positioning part (2) comprises a clearance elimination cylinder (22) and a positioning sleeve (26), the fixed bottom plate (11) is provided with a positioning cavity, the clearance elimination cylinder (22) comprises a first cylinder rod (221) which is axially movable; The positioning cavity comprises a large cavity (1111) and a small cavity (1112) connected in series, in the radial direction of the first cylinder rod (221), the size of the large cavity (1111) is larger than the size of the small cavity (1112) and the size of the positioning sleeve (26), and the size of the small cavity (1112) matches the size of the positioning sleeve (26); An axial side of the positioning sleeve (26) forms a first centering inclined surface (261), an inner side of the small cavity (1112) forms a second centering inclined surface (112) corresponding to the first centering inclined surface (261), and the first cylinder rod (221) is configured to axially drive the positioning sleeve (26) to move between the large cavity (1111) and the small cavity (1112); In the state that the positioning sleeve (26) is located in the large cavity (1111), there is a gap between the positioning sleeve (26) and the inner wall of the large cavity (1111), the fixed clamping part (1) is movable relative to the adaptive part in the radial direction of the first cylinder rod (221), and the device is in the state that the fixed bottom plate (11) is movable relative to the base (21); in the state that the positioning sleeve (26) moves from the large cavity (1111) to the small cavity (1112) and the first centering inclined surface (261) contacts the second centering inclined surface (112), the positioning cavity and the positioning sleeve (26) are centered; in the state that the positioning sleeve (26) is located in the small cavity (1112), the positioning sleeve (26) cooperates with the small cavity (1112), the fixed clamping part (1) is fixed relative to the adaptive part in the radial direction of the first cylinder rod (221), and the device is in the state that the fixed bottom plate (11) is fixed relative to the base (21).

2. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 1, characterized in that, The adaptive positioning component (2) comprises a fixed shaft (23), the fixed shaft (23) and the anti-backlash cylinder (22) are arranged on the base (21), the first cylinder rod (221) is connected with the positioning sleeve (26) and drives the positioning sleeve (26) to axially move; the fixed shaft (23) and the positioning sleeve (26) are arranged in the positioning cavity; The first cylinder rod (221) drives the positioning sleeve (26) to axially move to one end of the positioning cavity, the positioning sleeve (26) is movable in the radial direction of the positioning cavity, and the nuclear power plant steam generator maintenance machine quick fixing device is in a state that the fixed bottom plate (11) is movable relative to the base (21); The first cylinder rod (221) drives the positioning sleeve (26) to axially move to one end of the positioning cavity, the positioning sleeve (26) is movable in the radial direction of the positioning cavity, and the nuclear power plant steam generator maintenance machine quick fixing device is in a state that the fixed bottom plate (11) is movable relative to the base (21).

3. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 2, characterized in that, The positioning cavity is open on both sides in the axial direction of the first cylinder rod (221), the fixed shaft (23) extends into the positioning cavity from one side opening of the positioning cavity, and the anti-backlash cylinder (22) and the base (21) are arranged on both sides of the fixed bottom plate (11).

4. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 2, characterized in that, The first centering inclined surface (261) is a conical surface with the axis of the first cylinder rod (221) as the axis, and the second centering inclined surface (112) is a conical surface corresponding to the first centering inclined surface (261).

5. The apparatus of claim 2, wherein: The adaptive positioning component (2) comprises a guide sleeve (24), a guide cavity (231) with a guide direction in the axial direction of the first cylinder rod (221) is arranged in the fixed shaft (23), the first cylinder rod (221) is connected with the guide sleeve (24), the guide sleeve (24) is arranged in the guide cavity (231) in a matched mode, and the guide sleeve (24) is connected with the positioning sleeve (26).

6. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 5, characterized in that, The adaptive positioning component (2) comprises a limiting pin (25) penetrating the guide sleeve (24) and the positioning sleeve (26), the positioning sleeve (26) is arranged outside the fixed shaft (23), the fixed shaft (23) is provided with a movable groove (232) extending in the axial direction of the first cylinder rod (221) and axially movable for the limiting pin (25), the movable groove (232) penetrates from the outside of the fixed shaft (23) to the guide cavity (231), and the limiting pin (25) penetrates the movable groove (232).

7. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 2, characterized in that, The fixed bottom plate (11) is provided with a thrust bearing (27) on one side facing the base (21).

8. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 2, characterized in that, The fixed clamping component (1) comprises a clamping cylinder (12) for driving the fixed chuck (13) to clamp the pipe wall, the clamping cylinder (12) comprises a second cylinder rod (121) which can move axially, the fixed chuck (13) comprises a shell (136), a clamping body (133) which can be outwardly expanded on the shell (136), and a driving member provided in the shell (136) for driving the clamping body (133) to expand outwardly and retract inwardly, the second cylinder rod (121) is connected with and drives the driving member to move axially, thereby driving the clamping body (133) to expand and retract.

9. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 8, characterized in that, An outer inclined surface (1310) is provided outside the driving member, an inner inclined surface (1330) corresponding to the outer inclined surface (1310) is provided inside the clamping body (133), the fixed chuck (13) comprises a rolling body (134) provided between the inner inclined surface (1330) and the outer inclined surface (1310), the driving member axially pushes the rolling body (134), thereby driving the clamping body (133) to expand.

10. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 9, characterized in that, The driving member comprises a rod body (131), a sleeve (132) sleeved outside the rod body (131), and a rod head member (135) connected to the end of the rod body (131), the rod head member (135) is provided at one end of the shell (136), the clamping body (133) comprises a connecting end (1311) which is close to the rod head member (135) in the axial direction and is movably connected with the shell (136), and a connecting end (1311) which is away from the rod head member (135), the rod head member (135) is sleeved outside the connecting end (1311) of the clamping body (133), so that the rod body (131) axially pushes the rod head member (135) away from the connecting end (1311) of the clamping body (133) and the sleeve (132) axially pushes the rolling body (134), thereby pushing the clamping body (133) to expand, or the rod body (131) axially pulls back the rod head member (135) to constrain the clamping body (133) to retract, and the sleeve (132) pulls back the rolling body (134).

11. The nuclear power plant steam generator maintenance machine quick fixing device according to claim 2, characterized in that, The nuclear power plant steam generator maintenance machine quick fixing device comprises a camera (4) for observing the environment and / or a position detection component (3) for detecting whether the fixed chuck (13) of the fixed clamping component (1) is in place when inserted into the pipe, the camera (4) is provided on the fixed clamping component (1) or the self-adaptive positioning component (2), and the position detection component (3) is provided on the fixed clamping component (1).

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