A pipe plugging device

Abstract

The application discloses a pipeline plugging device, relates to the technical field of pipeline plugging, and is used for solving the problem of robot load alarm caused by plugging into a heat transfer pipe and improving the plugging efficiency of the heat transfer pipe. The pipeline plugging device comprises a first driving mechanism, a plug, a bearing frame, a second driving mechanism and two oppositely arranged sliders. The first driving mechanism is arranged at the driving end of a robot, and the plug is arranged in the pipeline. The plug is arranged at the driving end of the first driving mechanism, and the first driving mechanism drives the plug to move along the axial direction of the plug. The bearing frame is provided with a guide rail, the sliders have a limiting position and a releasing position relative to the plug, the two sliders cover one end of the plug close to the driving end of the first driving mechanism, and the sliders are in the limiting position. The second driving mechanism is arranged on the bearing frame, the sliders are arranged at the driving end of the second driving mechanism, and the second driving mechanism is used for driving the sliders to move along the extension direction of the guide rail and move towards and away from the plug.

Description

Technical Field

[0001] This invention relates to the field of pipeline plugging technology, and in particular to a pipeline plugging device. Background Technology

[0002] The heat transfer tubes of a steam generator are an important component of the primary loop pressure boundary and a crucial barrier to prevent the leakage of radioactive fission products. Prolonged exposure to high temperature, high pressure, and high radiation can cause mechanical or chemical damage to the heat transfer tubes at the feedwater end, leading to serious rupture accidents. Therefore, sealing the heat transfer tubes in the early stages of a potential failure is of paramount importance.

[0003] In existing technologies, when sealing heat transfer tubes, a three-jaw gripper is generally used to hold the plug. Under the action of a robot, the plug is inserted into the heat transfer tube. This can easily cause the robot to trigger an overload alarm during the plug insertion process, affecting the heat transfer tube sealing work. Summary of the Invention

[0004] The purpose of this invention is to provide a pipe plugging device to solve the problem of robot overload alarm when plugs are inserted into heat transfer pipes, thereby improving the plugging efficiency of heat transfer pipes.

[0005] To achieve the above objectives, the present invention provides a pipe plugging device, comprising a first driving mechanism, a plug, a support frame, a second driving mechanism, and two opposing sliders. The first driving mechanism is mounted on the driving end of a robot, and the plug is inserted into a pipe to plug it. The plug is mounted on the driving end of the first driving mechanism, which drives the plug to move along its axial direction. The support frame is mounted on the first driving mechanism and has a guide rail. The extension direction of the guide rail forms an angle α with the axis of the plug, where 0° < α ≤ 90°. The two sliders are slidably mounted on the guide rail, located on opposite sides of the plug. The sliders have a limiting position and a releasing position relative to the plug. When the sliders approach the plug, they cover the end of the plug closest to the driving end of the first driving mechanism, and the sliders are in the limiting position. When the sliders move away from the plug, they are in the releasing position. The second drive mechanism is mounted on the support frame, and the slider is mounted on the drive end of the second drive mechanism. The second drive mechanism is used to drive the slider to move along the extension direction of the guide rail towards and away from the plug, so that the slider switches between the limit position and the release position.

[0006] When using the above technical solution, the plug is positioned at the drive end of the first drive mechanism, and two sliders are slidably mounted on the guide rail, with the two sliders located on opposite sides of the plug. The connection end between the plug and the first drive mechanism is located between the two sliders. The second drive mechanism can drive the sliders to move along the extension direction of the guide rail towards and away from the plug. Thus, when the two sliders move along the rail towards the plug, and the sliders are in a limited position, the two sliders can limit the plug to the drive end of the first drive mechanism, preventing the plug from slipping off the drive end position. Simultaneously, they restrict the position of the plug's axis relative to the first drive mechanism, ensuring that the plug's axis is collinear with the pipe's axis when the plug is inserted into the pipe, facilitating alignment of the plug with the pipe opening. Subsequently, when the plug's axis is collinear with the pipe's axis and the plug is aligned with the pipe opening, the robot can be driven. This drives the first drive mechanism, thereby causing the plug, sliders, support frame, and second drive mechanism to move synchronously towards the pipe opening. Under the robot's thrust, the end of the plug away from the first drive mechanism is inserted into the pipe opening. Subsequently, driven by the second drive mechanism, the two sliders slide along the track away from the plug, releasing the sliders. At this point, the first drive mechanism can be activated to continue driving the plug along its axis, completely inserting it into the pipe opening and sealing the pipe. Compared to existing technologies where a robot is used as the power source throughout the entire process of inserting the plug into the pipe opening, the pipe sealing device provided in this application can be powered by the first drive mechanism, avoiding robot overload alarms and improving the sealing efficiency of the heat transfer tube.

[0007] In one possible implementation, the end of the plug furthest from the first drive mechanism is provided with a rounded corner.

[0008] In one possible implementation, a limiting groove that mates with the plug is provided on the side of the slider near the plug.

[0009] In one possible implementation, the diameter of the drive end of the first drive mechanism is smaller than the diameter of the plug.

[0010] In one possible implementation, the cross-section of the driving end of the first driving mechanism is a polygonal structure, and the end of the plug near the first driving mechanism has a polygonal groove that matches the driving end of the first driving mechanism.

[0011] In one possible implementation, α = 90°.

[0012] In one possible implementation, the first drive mechanism is a drive cylinder.

[0013] In one possible implementation, the first drive mechanism is a thin cylinder.

[0014] In one possible implementation, the second drive mechanism is a drive cylinder.

[0015] In one possible implementation, the second drive mechanism is a linear module, with the linear module's slide rail mounted on the support frame and the slider mounted on the linear module's sliding block. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 This is a schematic diagram of the pipe plugging device provided in an embodiment of the present invention;

[0018] Figure 2 This is a top view schematic diagram of the pipe sealing device provided in an embodiment of the present invention;

[0019] Figure 3 This is a side view of the pipe sealing device provided in an embodiment of the present invention.

[0020] Figure label:

[0021] 1-First drive mechanism, 2-End plug, 3-Bearing frame, 4-Slider, 5-Guide rail. Detailed Implementation

[0022] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0025] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] The heat transfer tubes of a steam generator are an important component of the primary loop pressure boundary and a crucial barrier to prevent the leakage of radioactive fission products. Prolonged exposure to high temperature, high pressure, and high radiation can cause mechanical or chemical damage to the heat transfer tubes at the feedwater end, leading to serious rupture accidents. Therefore, sealing the heat transfer tubes in the early stages of a potential failure is of paramount importance.

[0028] In existing technologies, when plugging heat transfer tubes, a three-jaw gripper is typically used to hold the plug, and a robot then inserts the plug into the heat transfer tube. However, the three-jaw gripper only grips the plug and does not provide axial thrust during insertion. Because the pipe diameter at the outlet of the steam generator in high-temperature gas-cooled reactors is currently small, a high-load robot cannot be used. Furthermore, the friction between the plug and the pipe is unstable, which can easily cause the robot to trigger an overload alarm during plug insertion, affecting the heat transfer tube plugging process and impacting subsequent laser welding and welding quality.

[0029] To address the technical problems existing in the prior art, see [link to relevant documentation]. Figures 1 to 3As shown, this embodiment of the invention provides a pipe plugging device, which includes a first drive mechanism 1, a plug 2, a support frame 3, a second drive mechanism, and two opposing sliders 4. The first drive mechanism 1 is mounted on the drive end of a robot, specifically, the first drive mechanism 1 is fixedly installed on the drive end of the robot. The plug 2 is used to insert into the pipe to plug it. The plug 2 is mounted on the drive end of the first drive mechanism 1, and the first drive mechanism 1 drives the plug 2 to move along the axial direction of the plug 2. The support frame 3 can be mounted on the first drive mechanism 1 and can move synchronously with the first drive mechanism 1. The support frame 3 is provided with a guide rail 5, and the extension direction of the guide rail 5 has an angle α with the axis of the plug 2, where 0° < α ≤ 90°. The two sliders 4 are slidably mounted on the guide rail 5, and the two sliders 4 are respectively located on both sides of the plug 2. The sliders 4 have a limiting position and a releasing position relative to the plug 2. When the sliders 4 are close to the plug 2, the two sliders 4 cover the end of the plug 2 that is close to the drive end of the first drive mechanism 1, and the sliders 4 are in the limiting position. When slider 4 moves away from plug 2, slider 4 is in the released position. The second drive mechanism is set on the support frame 3, and slider 4 is set on the drive end of the second drive mechanism. The second drive mechanism is used to drive slider 4 to move along the extension direction of guide rail 5 towards and away from plug 2, so that slider 4 switches between the limited position and the released position.

[0030] With the above technical solution, the plug 2 is disposed at the driving end of the first driving mechanism 1, and two sliders 4 are slidably disposed on the guide rail 5, with the two sliders 4 located on both sides of the plug 2. The connection end between the plug 2 and the first driving mechanism 1 is located between the two sliders 4. The second driving mechanism can drive the sliders 4 to move closer to and further away from the plug 2 along the extension direction of the guide rail 5. Thus, when the two sliders 4 move along the rail towards the plug 2, so that the sliders 4 are in the limited position, the two sliders 4 can limit the plug 2 to the driving end of the first driving mechanism 1, preventing the plug 2 from slipping off the driving end of the first driving mechanism 1. At the same time, it limits the position of the axis of the plug 2 relative to the first driving mechanism 1, so as to ensure that when the plug 2 is inserted into the pipe, the axis of the plug 2 is collinear with the axis of the pipe, which is beneficial to align the plug 2 with the pipe opening. Subsequently, when the axis of plug 2 is collinear with the axis of the pipe and plug 2 is aligned with the pipe opening, the robot can be driven. The robot's drive end drives the first drive mechanism 1 to move, thereby causing plug 2, slider 4, support frame 3, and the second drive mechanism to move synchronously towards the pipe opening. Under the robot's thrust, the end of plug 2 away from the first drive mechanism 1 is inserted into the pipe opening. After this, driven by the second drive mechanism, the two sliders 4 slide along the track away from plug 2, so that the sliders 4 are in the release position and disengaged from plug 2. At this time, the first drive mechanism 1 can be activated to continue driving plug 2 to move along its axis, so that plug 2 is completely inserted into the pipe opening until the end face of plug 2 near the first drive mechanism 1 is parallel to the pipe opening, completing the pipe sealing.

[0031] Of course, the entire process of inserting the plug 2 into the pipe can also be powered by the first drive mechanism 1. In this case, the first drive mechanism 1 replaces the robot. Compared with the prior art where the robot is used as the power source for the entire process of inserting the plug 2 into the pipe opening, the pipe sealing device provided in this application can be powered by the first drive mechanism 1, avoiding the situation where the robot is overloaded and alarms. This solves the problem of robot overload alarms caused by excessive friction between the plug 2 and the pipe when it is inserted into the pipe, and further improves the sealing efficiency of the heat transfer tube.

[0032] The pipe plugging device provided in this embodiment of the invention can be applied not only to heat transfer tubes of steam generators, but also to other scenarios requiring pipe plugging, without specific limitations. When the pipe plugging device is applied to a high-temperature gas-cooled reactor steam generator, it can be used not only at the outlet end but also at the outlet end. Furthermore, the pipe plugging device provided in this embodiment of the invention can be installed on a linear module or other multi-axis robot. The structure of the plug 2 matches the structure of the pipe to be plugged; for example, when the structure of the pipe to be plugged is cylindrical, the plug 2 is a cylindrical structure.

[0033] In practical implementation, the number of second drive mechanisms corresponds to the number of sliders 4, with one second drive mechanism driving one slider 4 to slide along the guide rail 5. When the two sliders 4 are in the limit position near the plug 2, they can tightly clamp the plug 2 to restrict its degrees of freedom, prevent it from rotating, and ensure the relative position of the plug 2 and the robot. Of course, there can be a certain gap between the two sliders 4 and the plug 2, as long as it ensures that the axis of the plug 2 is collinear with the axis of the pipe when the plug 2 is aligned with the pipe opening; no specific limitation is made here. It should be noted that... (See...) Figure 1 As shown, when the slider 4 is in the limiting position, the two sliders 4 can simultaneously cover the driving end of the first driving mechanism 1 and the part of the plug 2 near the driving end of the first driving mechanism 1, so as to control the axial position of the plug 2.

[0034] After the plug 2 is inserted into the pipe, the driving end of the first driving mechanism 1 retracts away from the pipe. Alternatively, the robot can be driven to retract the first driving mechanism 1. Since the driving end of the first driving mechanism 1 is in surface contact with the plug 2, the plug 2 will not be dragged when the driving end of the first driving mechanism 1 retracts, thus avoiding affecting the effect of pipe sealing.

[0035] In one possible implementation, such as Figures 1 to 3 As shown, the end of the plug 2 away from the driving end of the first driving mechanism 1 is provided with a rounded corner. This makes it easier to insert the plug 2 into the pipe, thereby improving the efficiency of pipe sealing and avoiding excessive friction between the plug 2 and the pipe, which could cause pipe bending.

[0036] In some embodiments, a limiting groove is provided on the side of the slider 4 near the plug 2 to cooperate with the plug 2. When the slider 4 is in the limiting position, the limiting grooves of the two sliders 4 can form a limiting space to restrict the position of the plug 2, preventing the plug 2 from tilting and helping to limit the axial position of the plug 2. At the same time, when the slider 4 clamps the plug 2, the contact area between the slider 4 and the plug 2 increases, and the pressure on the plug 2 is smaller, avoiding deformation of the plug 2 and affecting the sealing performance of the pipeline.

[0037] In one alternative embodiment, the diameter of the driving end of the first driving mechanism 1 is smaller than the diameter of the plug 2. In this way, when the driving end of the first driving mechanism 1 retracts and exits after the plug 2 is fully inserted into the pipe, the driving end of the first driving mechanism 1 will not cause dragging or friction on the pipe.

[0038] In one example, the drive end of the first drive mechanism 1 has a polygonal cross-section, and the end of the plug 2 near the first drive mechanism 1 has a polygonal groove that mates with the drive end of the first drive mechanism 1. This increases the contact area between the drive end of the first drive mechanism 1 and the plug 2, ensuring the stability of the plug 2's movement when the first drive mechanism 1 drives the plug 2. Simultaneously, it improves the accuracy of the plug 2's axial position.

[0039] For example, the angle α between the extension direction of the guide rail 5 and the axis of the plug 2 can be 10°, 30°, 45°, 60°, 80°, etc., without specific limitation, and subject to actual conditions. In specific implementation, the angle α between the extension direction of the guide rail 5 and the axis of the plug 2 is 90°, that is, the moving direction of the slider 4 is perpendicular to the axis of the plug 2. In this way, the moving distance of the slider 4 can be shortened, the length of the guide rail 5 can be shortened, the volume of the pipe sealing device can be reduced, and the structural compactness can be improved.

[0040] As an alternative, both the first drive mechanism 1 and the second drive mechanism can be drive cylinders. Drive cylinders have a simple principle and structure, are easy to install and maintain, and have a large output force, making it easy to insert the plug 2 into the pipe. As an example, the first drive mechanism 1 can be a thin-type cylinder, which occupies less space, has a lightweight structure, an aesthetically pleasing appearance, and can provide a large force. The second drive mechanism is a linear module, with the linear module's slide rail set on the support frame 3 and the slider 4 set on the linear module's sliding block, enriching the diversity of the second drive mechanism. Of course, this is only an example and not a specific limitation.

[0041] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0042] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A pipe plugging device, characterized in that, include: The first drive mechanism is used to be installed at the drive end of the robot; A plug is used to insert into a pipe to seal the pipe; the plug is disposed at the drive end of the first drive mechanism, and the first drive mechanism is used to drive the plug to move along the axial direction of the plug; A support frame is disposed on the first drive mechanism; a guide rail is disposed on the support frame, and the extension direction of the guide rail has an angle α with the axis of the plug, 0°<α≤90°; Two sliders are arranged opposite each other and are slidably disposed on the guide rail. The two sliders are respectively located on both sides of the plug. The slider has a limiting position and a releasing position relative to the plug. When the slider is close to the plug, the two sliders cover the end of the plug that is close to the driving end of the first driving mechanism, and the slider is in the limiting position. When the slider is away from the plug, the slider is in the releasing position. A limiting groove that cooperates with the plug is provided on the side of the slider that is close to the plug. A second driving mechanism is disposed on the support frame; the slider is disposed on the driving end of the second driving mechanism, and the second driving mechanism is used to drive the slider to move along the extension direction of the guide rail towards and away from the plug, so that the slider switches between the limited position and the release position.

2. The pipe plugging device according to claim 1, characterized in that, The end of the plug that is away from the driving end of the first driving mechanism is provided with a rounded corner.

3. The pipe plugging device according to claim 1, characterized in that, The diameter of the driving end of the first driving mechanism is smaller than the diameter of the plug.

4. The pipe plugging device according to claim 1, characterized in that, The cross-section of the driving end of the first driving mechanism is a polygonal structure, and the end of the plug near the first driving mechanism is provided with a polygonal groove that cooperates with the driving end of the first driving mechanism.

5. The pipe plugging device according to claim 1, characterized in that, The value of α is 90°.

6. The pipe plugging device according to claim 1, characterized in that, The first driving mechanism is a driving cylinder.

7. The pipe plugging device according to claim 6, characterized in that, The first drive mechanism is a thin cylinder.

8. The pipe plugging device according to claim 1, characterized in that, The second driving mechanism is a driving cylinder.

9. The pipe plugging device according to claim 1, characterized in that, The second driving mechanism is a linear module, the slide rail of the linear module is disposed on the support frame, and the slider is disposed on the sliding block of the linear module.

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