Installation and removal tool for a steam generator tube sheet inspection positioning robot and control system and method

Abstract

The application discloses a kind of installation and dismounting tool of steam generator tube plate detection positioning robot and its control system, method, including positioning installation tool, positioning installation tool realizes the positioning of steam generator inner chamber tube plate and rope traction;Crawling rope carrier carries steam generator tube plate detection positioning robot and climbs to steam generator tube plate surface along the traction rope of positioning installation tool, or carries steam generator tube plate detection positioning robot and descends along the traction rope of positioning installation tool from steam generator tube plate surface along the traction rope of positioning installation tool and safely evacuates steam generator inner chamber, auxiliary complete the positioning installation and dismounting of steam generator tube plate detection positioning robot.Positioning installation tool includes anchor jaw, anchor jaw is locked and positioned with the pipe hole on steam generator tube plate, and crawling rope carrier is lifted by traction rope;Hand-held mounting rack is detachably connected with anchor jaw by sleeve ring.It realizes accurate positioning and automatic installation, dismounting function.

Description

Technical Field

[0001] This invention belongs to the field of nuclear power maintenance technology, and relates to an installation and disassembly tool and its control system and method for a steam generator tube sheet inspection and positioning robot. Background Technology

[0002] The steam generator is a Class I nuclear safety component in a nuclear power plant, connecting the primary and secondary loop systems. Its tubesheets and inverted U-tubes are particularly vulnerable to high temperatures, high pressures, nuclear radiation, hydrogen adsorption, and corrosion from strong boric acid, thus requiring frequent maintenance and inspection. Steam generator tubesheet inspection and positioning robots are primarily used on the heat transfer tubesheets of steam generators for the inspection and positioning of various tool racks. However, due to the special environment of steam generators, including the impact of nuclear radiation and limited operating space, operators cannot enter the steam generator chamber except in extremely special circumstances. Therefore, the installation and removal of the steam generator tubesheet inspection and positioning robot is not easily achieved. Operators can only stand outside the steam generator and, relying on auxiliary mechanical devices, use a manhole to send the tubesheet inspection and positioning robot into the steam generator and install it on the tubesheet, thus completing the installation and removal work.

[0003] During the construction of nuclear power projects, the installation and dismantling of steam generator tube sheet inspection and positioning robots is often carried out using installation and dismantling tools based on temporary support structures. When the steam generator is installed in place, the temporary support structure can bear the weight of the steam generator, appropriately reducing the workload of operators and allowing the steam generator hoisting equipment to be removed as soon as possible. However, the current installation and dismantling methods based on temporary support structures mostly rely too much on the intervention of operators and require too high a level of skill from the operators. In the process of installing and dismantling tube sheet inspection and positioning robots, there are still problems such as low positioning accuracy, difficulty in manual operation, and low degree of automation.

[0004] Therefore, how to use installation and dismantling tools with temporary support structures as carriers to realize the feeding, positioning, installation, and removal operations of the tube sheet inspection and positioning robot, ensuring the controllability and reliability of the installation and dismantling process, and realizing the automation of the installation and dismantling of the tube sheet inspection and positioning robot, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an installation and disassembly tool for a steam generator tube sheet inspection and positioning robot, so as to solve the problems of low positioning accuracy, difficulty in manual operation, and low degree of automation in the current tube sheet inspection and positioning robot installation and disassembly process.

[0006] Another objective of this invention is to provide a control system and method for installing and disassembling a steam generator tube sheet inspection and positioning robot.

[0007] The first technical solution adopted in this embodiment of the invention is: an installation and disassembly tool for a steam generator tube sheet inspection and positioning robot, comprising: Positioning and installation tools are used to position the tube sheet inside the steam generator and to pull ropes. The rope-climbing vehicle carries the steam generator tube sheet inspection and positioning robot, which ascends to the surface of the steam generator tube sheet along the traction rope of the positioning and installation tool, or carries the steam generator tube sheet inspection and positioning robot, which descends from the surface of the steam generator tube sheet along the traction rope of the positioning and installation tool and safely leaves the steam generator chamber, thus assisting in the positioning, installation and disassembly of the steam generator tube sheet inspection and positioning robot.

[0008] Furthermore, the positioning and installation tool includes: Anchor claws are matched with the tube holes on the steam generator tube sheet for locking and positioning, and the climbing rope is lifted and lowered by a traction rope. A handheld mounting bracket is equipped with a collar, and the handheld mounting bracket is detachably connected to the anchor claw via the collar. The positioning and installation tool has two anchor claws, which are symmetrically arranged on the handheld installation frame. The handheld mounting bracket is equipped with a long handheld handle at the bottom; The handheld mounting bracket is equipped with two guide pins, which are positioned between two anchor claws. The installation height of the two guide pins is greater than the installation height of the anchor claws, and the two guide pins are matched with the tube holes of the steam generator tube sheet for pin hole positioning; The two guide pins have a height difference, which satisfies the requirement that the guide surface of the lower guide pin enters the tube hole of the steam generator tube sheet.

[0009] Furthermore, the anchor claw includes: The housing has a traction rope installed at the bottom. Inside the housing, there is an expansion shaft with an outer conical surface at the top and a piston. The piston is located at the bottom of the expansion shaft and is fixedly connected to the expansion shaft. Anchor fingers are sleeved on the expansion shaft, with the upper part of the anchor fingers exposed outside the housing. Three positioning pins are evenly distributed on the exposed part of the anchor fingers and are elastically connected to them. The three positioning pins have inner conical surfaces that match the outer conical surface of the expansion shaft. The expansion and contraction of the positioning pins are controlled by the up and down movement of the expansion shaft, so as to realize the locking and unlocking action of the anchor fingers on the tube holes of the steam generator tube sheet. Compression spring, which is set on the upper part of the piston and sleeved on the outside of the expansion shaft, with the top of the compression spring installed in the compression spring mounting groove in the housing; An air inlet is located on the bottom side of the housing, and the anchor claws are connected to the air source and atmospheric pressure through the air inlet. A magnet is provided between the inner conical surface of the positioning pin and the outer conical surface of the expansion shaft; Sensors are installed at the positions where the piston of the anchor claw moves up and down to its designated positions. After the piston moves up and down to its designated positions, the corresponding sensor sends a piston positioning signal.

[0010] Furthermore, the rope-climbing vehicle includes: The vehicle support frame is equipped with robot mounting holes, and the lower end face of the steam generator tube sheet detection and positioning robot is snapped into the robot mounting holes; The rope climbing device is fixedly connected to the vehicle support frame and moves up and down along the traction rope of the anchor claw. The rope climbing vehicle includes two rope climbing devices, which are symmetrically installed on both sides of the vehicle support frame. Each of the rope climbing devices is equipped with a centering structure at the top, which is matched with the anchor claw for centering and positioning. The traction rope passes sequentially through the guide positioning hole and the climbing rope device.

[0011] Furthermore, the rope-climbing device includes: The climbing rope reel is rotatably connected to the outer casing. The joint module has its output shaft connected to the climbing rope wheel, and the joint module drives the climbing rope wheel to work. The joint module has its own encoder. The rope pressing mechanism is rotatably connected to the inner wall of the outer shell. A rope pressing wheel is installed on the rope pressing mechanism and is located outside the climbing rope wheel. After the traction rope enters the outer shell through the top of the climbing rope device, it passes between the climbing rope wheel and the rope pressing wheel, and then exits through the outer shell after wrapping around the climbing rope wheel once. When the climbing rope device is suspended on the traction rope under gravity, the rope pressing wheel installed on the rope pressing mechanism presses the traction rope tightly against the climbing rope wheel. The tension spring is located above the rope-climbing wheel and the rope-pressing mechanism. When the tension spring is adjusted to contract, it drives the rope-pressing mechanism to press the rope-pressing wheel tightly; when the tension spring is adjusted to extend, it drives the rope-pressing mechanism to release the rope-pressing wheel. The guide cover is located on the side of the climbing rope wheel away from the pressure rope wheel. The guide cover ensures that the traction rope is within the working space of the climbing rope wheel.

[0012] The second technical solution adopted in this embodiment of the invention is: a control system for the installation and disassembly tools of a steam generator tube sheet inspection and positioning robot, comprising: The main control console stores the set working parameters, receives the air pressure of the anchor claw and the piston position signal, and receives the encoder information of the joint module of the climbing rope vehicle. Based on the piston position signal and encoder information, it generates and sends control commands to the anchor claw and joint module. The control commands of the anchor claw include air pressure fluid working parameter commands and anchor claw working state conversion commands. The pneumatic platform receives pneumatic fluid working parameter commands sent by the main control console, adjusts and feeds back the air pressure of the anchor claws; The positioning and installation tool control console receives the anchor claw working status conversion command and controls the air inlet of the anchor claw to make corresponding connection and conversion with the air source and atmospheric pressure according to the command, and controls the anchor claw to perform locking or releasing actions. The rope climbing vehicle control console receives control commands from the joint modules and drives the corresponding joint modules to move according to the commands.

[0013] Furthermore, the aerodynamic platform includes: The pressure regulating valve adjusts the working air pressure of the anchor claw according to the received air pressure and fluid working parameter instructions; The pressure regulating valve stabilizes the working air pressure of the anchor claw according to the received air pressure and fluid working parameter instructions, and controls the air pressure within the rated working range. The pressure sensor monitors the working air pressure input to the anchor claw in real time. The pressure regulating valve, pressure stabilizing valve, and pressure sensor are all installed in the air inlet of the anchor claw and on the pipeline connected to the air source. The location installation tool console includes: The air valve is a three-position two-way solenoid valve, and the air valve is installed in the air inlet of the anchor claw and the pipeline that connects the air source and atmospheric pressure. An electromagnetic relay is installed in the control circuit of the air valve to control the operation of the air valve. The first communication module is installed on the control circuit of the electromagnetic relay and is used to communicate between the main control console and the electromagnetic relay. The first communication module receives the anchor claw working state switching command and sends a control signal to the electromagnetic relay to control the coil of the electromagnetic relay to switch between being energized and de-energized, so that the contacts of the electromagnetic relay switch between closing and opening, thereby controlling the coil of the air valve to switch between being energized and de-energized; the coil of the air valve switches between being energized and de-energized, controlling the air inlet of the anchor claw to switch between being connected to the air source and atmospheric pressure, thereby realizing the locking and unlocking of the anchor claw; The rope climbing vehicle control console includes: The second communication module receives motion commands from the rope climbing device and sends drive signals. The motion controller controls the movement of the joint modules of the two rope-climbing devices of the rope-climbing vehicle according to the received drive signals; A voltage stabilization and protection module is installed on the connection line between the joint module and the working power supply to provide voltage stabilization and protection for the joint module.

[0014] Furthermore, the control system for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot also includes: Signal conditioners are used to amplify, filter, isolate, compensate, and protect encoder signals and communication network signals, and to amplify and convert encoder signals and communication network signals into a form that is easy to identify and compatible with data acquisition or machine control. The human-computer interaction interface is bidirectionally connected to the main console, allowing for parameter settings and the display and feedback of parameter status. The installation / removal start confirmation module and the installation / removal end confirmation module are connected to the main control console respectively. The debugging and confirmation module is connected to the main console. When installing / removing the steam generator tube sheet inspection and positioning robot, after the handheld mounting frame drives the anchor claw to the position of the steam generator tube sheet, the installation / removal start determination module is triggered. The installation / removal start determination module sends a first trigger signal to the main control console, and the main control console controls the anchor claw to perform a locking action; and controls the climbing rope carrier to drive the steam generator tube sheet inspection and positioning robot to the steam generator tube sheet for positioning and installation, or controls the climbing rope carrier to rise to the steam generator tube sheet and connect with the steam generator tube sheet inspection and positioning robot; after the steam generator tube sheet inspection and positioning robot is installed or connected to the climbing rope carrier, the main control console controls the climbing rope carrier to descend; after the climbing rope carrier has descended, the handheld long rod drives the handheld mounting frame to connect with the anchor claw, triggering the installation / removal end determination module, which sends a second trigger signal to the main control console, and the main control console controls the anchor claw to perform a releasing action; When the rope climbing vehicle is leveled, the debugging and determination module is triggered. The debugging and determination module sends a third trigger signal to the main control console. The two rope climbing devices of the rope climbing vehicle are synchronized through the main control console, thus completing the leveling of the rope climbing vehicle.

[0015] The third technical solution adopted in this embodiment of the invention is: a control method for the installation and disassembly tools of a steam generator tube sheet inspection and positioning robot, comprising the following steps: Step S1: Power on and perform a self-test. Read and display the air pressure of the anchor claw and the parameters of the joint module. Adjust the air pressure value and check whether the control system of the steam generator tube plate detection positioning robot installation and disassembly tool is normal as described above. Step S2: Using a long hand rod, send the positioning installation tool and anchor claw through the manhole to the surface of the steam generator tube sheet, trigger the main control console, control the anchor claw to perform the locking action through the main control console, and determine whether the anchor claw is clamped based on whether the main control console receives a proximity switch signal indicating that the piston of the anchor claw has moved upward into place. After confirming clamping, remove the positioning installation tool using the long hand rod. Step S3: After threading the two traction ropes into the two climbing rope devices, trigger the main control console again to synchronize the two climbing rope devices and complete the leveling of the climbing rope vehicle. Step S4: Load the steam generator tube sheet inspection and positioning robot into the carrier support frame of the rope climbing vehicle, and trigger the main control console again. Control the two rope climbing devices to climb the rope synchronously through the main control console, drive the carrier support frame to rise, and send the steam generator tube sheet inspection and positioning robot into the predetermined position inside the steam generator. Step S5: Connect the steam generator tube sheet detection and positioning robot to the tube sheet; Step S6: Trigger the main control console again, drive the two joint modules to rotate synchronously in opposite directions through the main control console, drive the two climbing rope devices to slide down synchronously along the traction rope, and remove the steam generator. Step S7: Use the long hand lever to move the positioning and installation tool to the designated position on the steam generator tube sheet. After the positioning and installation tool is connected to the anchor claw, trigger the main control console again. Use the main control console to control the anchor claw to perform the release action. Then use the long hand lever to move the positioning and installation tool and the anchor claw away from the steam generator. Step S8: After the steam generator tube sheet inspection is completed, disassemble the steam generator tube sheet inspection and positioning robot.

[0016] Furthermore, during the ascent in step S4, the encoder signals of the joint modules of the two climbing rope devices are read in real time to comprehensively judge the balance of the vehicle support frame. Specifically, by testing and summarizing the relationship between slippage and driving torque, a slippage model is established, and the driving torque of the joint module is read. When the driving torque changes, it indicates that slippage has occurred. Based on the change in driving torque, the slippage distance is calculated using the slippage model, and then adjustments are made based on position control to ensure synchronous lifting on both sides. The specific process of the steps is as follows: First, proceed to step S2; Then, the main control console is triggered to control the two rope climbing devices to climb the rope synchronously, driving the vehicle support frame to rise to the designated position and connect with the steam generator tube sheet detection and positioning robot; Finally, execute steps S6-S7 to complete the disassembly of the steam generator tube sheet inspection and positioning robot and anchor claw.

[0017] The beneficial effects of the embodiments of the present invention are: 1. The proposed installation and dismantling tools and control system for the steam generator tube sheet inspection and positioning robot include a handheld mounting frame, anchor claws, a rope climbing carrier, and a manhole guide plate. Under the action of guide pins, it can quickly complete positioning and installation, ensuring unique tube sheet positioning, reducing the system's error rate and improving operator convenience. Its anchor claws possess anchoring capacity under heavy loads, providing safe and reliable traction for the subsequent delivery and installation of the steam generator tube sheet inspection and positioning robot. This safety and reliability significantly improves operational convenience and reliability in practical applications, meeting the needs of nuclear power steam generator tube sheet inspection tasks for delivery, installation, dismantling, and removal of the inspection and positioning platform. It can also be applied to the installation and dismantling of the inspection and positioning robot in the inspection process of heat transfer tubes of various specifications of steam generators. This achieves precise positioning and automatic installation and dismantling of the steam generator tube sheet inspection and positioning robot, reducing the difficulty of operation for personnel and solving the problems of low positioning accuracy, difficult manual operation, and low automation in the current installation and dismantling process of tube sheet inspection and positioning robots. 2. The rope climbing vehicle uses its own weight to press the traction rope, ensuring that there is no slippage of the rope climbing vehicle relative to the traction rope during the ascent, which improves the mobility and reliability of the rope climbing vehicle and overcomes the slippage problem during the rope climbing process. 3. Under the premise that there is no slippage of the single-sided rope climbing vehicle, by controlling the synchronization of the rope climbing actuator, the rope climbing vehicle can achieve synchronous climbing on both sides during the climbing process, ensuring the posture and installation position of the detection and positioning robot, which greatly improves the installation positioning accuracy and convenience during the installation process. The installation and disassembly process of this invention does not require operators to bear any load or drive of the device, which greatly improves the convenience of operators, significantly reduces the operational pressure on nuclear power workers, and reduces personnel's exposure to nuclear radiation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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.

[0019] Figure 1 This is a schematic diagram of the components of the installation and disassembly tools for the steam generator tube sheet inspection and positioning robot in this embodiment.

[0020] Figure 2 This is a schematic diagram of the handheld mounting frame of the installation and disassembly tool for the steam generator tube sheet inspection and positioning robot in this embodiment.

[0021] Figure 3 This is a schematic diagram of the anchor claw of the installation and disassembly tool of the steam generator tube sheet inspection and positioning robot in this embodiment.

[0022] Figure 4 This is an exploded view of the anchor claw structure of the installation and disassembly tool of the steam generator tube sheet inspection and positioning robot in this embodiment.

[0023] Figure 5 This is a schematic diagram of the rope-climbing vehicle used for installing and dismantling the steam generator tube sheet inspection and positioning robot in this embodiment.

[0024] Figure 6 This is a schematic diagram of the rope-climbing device of the installation and disassembly tool for the steam generator tube sheet inspection and positioning robot in this embodiment.

[0025] Figure 7 This is a structural block diagram of the control system for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot in this embodiment.

[0026] In the diagram, 1. Anchor claw, 1-1. Positioning pin, 1-2. Expansion shaft, 1-3. Compression spring, 1-4. Piston, 1-5. Housing, 1-6. Air inlet, 1-7. Magnet, 2. Rope climbing vehicle, 3. Vehicle support frame, 4. Traction rope, 5. Handheld mounting frame, 6. Handheld long rod, 7. Guide pin, 8. Robot mounting hole, 9. Centering structure, 10. Rope climbing device, 10-1. Guide cover, 10-2. Rope pressing wheel, 10-3. Tension spring, 10-4. Rope pressing mechanism, 10-5. Rope climbing wheel, 10-6. Joint module, 10-7. Handle, 11. Counterweight bracket. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1 This embodiment provides a tool for positioning the tube sheet inside a steam generator and sending a steam generator tube sheet inspection and positioning robot into the tube sheet working area. This tool assists the steam generator tube sheet inspection and positioning robot in entering the steam generator chamber, rising to the tube sheet, and positioning and installing relative to the tube sheet. It also facilitates the installation and disassembly of the steam generator tube sheet inspection and positioning robot. Figure 1 As shown, it includes: Positioning and installation tools are used to position the tube sheet inside the steam generator and to pull ropes. The rope-climbing vehicle 2 carries the steam generator tube sheet inspection and positioning robot, which climbs up to the surface of the steam generator tube sheet along the traction rope 4 of the positioning and installation tool, or carries the steam generator tube sheet inspection and positioning robot down from the surface of the steam generator tube sheet along the traction rope 4 of the positioning and installation tool and safely evacuates from the steam generator chamber, thus assisting in the positioning, installation and disassembly of the steam generator tube sheet inspection and positioning robot.

[0029] In some embodiments, the positioning installation tool includes: Anchor claw 1 is matched with the pipe hole on the steam generator tube sheet for locking and positioning, and is pulled up and down by a flexible rope, i.e., traction rope 4. Handheld mounting bracket 5, such as Figure 2 As shown, a collar is installed on the handheld mounting frame 5, and the handheld mounting frame 5 is detachably connected to the anchor claw 1 through the collar. When installing the steam generator tube sheet detection and positioning robot, the anchor claw 1 is placed inside the collar, and the handheld mounting frame 5 is used to lift the anchor claw 1 upwards and send the anchor claw 1 into the steam generator tube sheet. After the anchor claw 1 completes the locking action, the handheld mounting frame 5 is pulled down to separate the collar from the anchor claw 1, so that the handheld mounting frame 5 can be safely removed from the steam generator chamber. When removing the anchor claw 1, it is only necessary to place the collar of the handheld mounting frame 5 on the lower part of the anchor claw 1, and then unlock the anchor claw 1. The anchor claw 1 naturally rests on the collar of the handheld mounting frame 5 to achieve quick connection, and the handheld mounting frame 5 drives the anchor claw 1 to be quickly removed.

[0030] In some embodiments, due to the high relative positioning accuracy requirements for the tube sheet positioning and installation of nuclear power steam generators, the positioning and installation tool has two anchor claws 1, such as... Figure 2 As shown, the two anchor claws 1 are symmetrically arranged on the handheld mounting bracket 5.

[0031] In some embodiments, such as Figure 2 As shown, the handheld mounting bracket 5 is equipped with two guide pins 7, which are positioned between the two anchor claws 1; The installation height of the two guide pins 7 is greater than the installation height of the anchor claw 1. The two guide pins 7 are matched with the tube holes of the steam generator tube sheet for pin hole positioning. By first inserting the two guide pins 7 into the corresponding tube holes of the steam generator tube sheet, quick positioning is achieved. Then, the anchor claw 1 is locked with the corresponding tube holes of the steam generator tube sheet to achieve quick installation.

[0032] Specifically, the two guide pins 7 have a height difference. The height difference must be such that the guide surface of the lower guide pin 7 basically enters the tube hole of the steam generator tube sheet. When positioning the steam generator tube sheet, first ensure that one guide pin 7 is centered, and then center the second guide pin 7, which makes the operation more convenient.

[0033] In some embodiments, the distance between the two anchor claws 1 on the handheld mounting bracket 5 and the guide pin 7 nearby can simultaneously accommodate both diamond-shaped and square steam generator tube sheet specifications, eliminating the need to change the positioning and installation tools when switching between different specifications of steam generators in different operating environments.

[0034] In some embodiments, such as Figure 2 As shown, a handheld mounting bracket 5 is equipped with a handheld long pole 6 at the bottom. The length of the handheld long pole 6 needs to meet the requirement of inserting the two anchor claws 1 and two guide pins 7 at the top of the handheld mounting bracket 5 into the tube holes of the steam generator tube sheet by hand, so as to achieve the accessibility of the steam generator tube sheet space, while taking into account the limited working space in the inner corridor of the nuclear power steam generator.

[0035] In some embodiments, the handheld long pole 6 is formed by detachably splicing several short poles, which can realize quick disassembly and assembly, and at the same time facilitate the splicing of handheld long poles 6 of corresponding lengths according to needs.

[0036] In some embodiments, the positioning and installation tool further includes a manhole guide plate disposed at the manhole. The manhole guide plate serves to guide and protect against collisions when the rope-climbing carrier 2 carries the steam generator tube sheet inspection robot through the manhole of the steam generator chamber. At the same time, it reduces the operator's use of the installation and disassembly tools, reducing the operator's stress while ensuring the safety and convenience of the installation and disassembly work.

[0037] In some embodiments, since the positioning load capacity requirement for the tube sheet positioning installation of nuclear power steam generator is high, the anchor claw 1 described in this embodiment adopts a pneumatic method and has a 60KG load capacity under the input parameters of a controllable air pressure source in a standard nuclear power environment of 0.6Mpa. At the same time, it adopts a compression spring unlocking method, so the anchor claw 1 only needs one air source supply when it has both locking and unlocking action capabilities.

[0038] In some embodiments, such as Figures 3-4 As shown, the anchor claw 1 includes: The housing 1-5 has a traction rope 4 installed at the bottom. Inside the housing 1-5, there is an expansion shaft 1-2 with an outer conical surface at the top and a piston 1-4. The expansion shaft 1-2 is set with a specific inclined surface angle to ensure that the anchor claw 1 has the maximum load capacity when it expands. The piston 1-4 is located at the bottom of the expansion shaft 1-2 and is fixedly connected to the expansion shaft 1-2. Anchor fingers are sleeved on the expansion shaft 1-2, with the upper part of the anchor fingers exposed outside the housing 1-5. Three positioning pins 1-1 are evenly distributed on the exposed part of the anchor fingers and are elastically connected to them. The three positioning pins 1-1 have inner conical surfaces that match the outer conical surface of the expansion shaft 1-2. The expansion and contraction of the positioning pins 1-1 are controlled by the up and down movement of the expansion shaft 1-2, so as to realize the locking and unlocking action of the anchor fingers 1 on the tube holes of the steam generator tube sheet. The contact area between the anchor fingers 1-1 and the tube holes of the steam generator tube sheet is increased by the three positioning pins 1-1 to obtain a larger load capacity. Compression spring 1-3 is set on the upper part of piston 1-4 and sleeved on the outside of expansion shaft 1-2. The top of compression spring 1-3 is installed in the compression spring mounting groove in housing 1-5. The release of elastic potential energy of compression spring 1-3 realizes the loosening action of anchor claw 1, reduces the power input of anchor claw 1, optimizes the structure of anchor claw 1 and improves the reliability of lifting device. Air inlet 1-6 is located on the bottom side of the housing 1-5. Anchor claw 1 is connected to the air source and atmospheric pressure through air inlet 1-6.

[0039] When the anchor claw 1 performs the locking action, air enters through the air inlet 1-6, pushing the piston 1-4 upward to compress the compression spring 1-3. The expansion shaft 1-2 moves upward with the piston 1-4, and its top outer conical surface pushes the positioning pin 1-1 outward to expand, thereby clamping the inner hole of the steam generator tube sheet and realizing the locking action. When the anchor claw 1 performs the releasing action, the air inlet 1-6 is connected to atmospheric pressure. At this time, the upper end face of the piston 1-4 moves downward under the pressure of the compression spring 1-3. The expansion shaft 1-2 moves downward with the piston 1-4, and its top outer conical surface moves downward. The positioning pin 1-1 retracts inward, thereby releasing the inner hole of the steam generator tube sheet and completing the releasing action.

[0040] In some embodiments, the anchor claw 1 uses a high-flow-rate low-pressure pump as an air source, which can meet the bearing capacity of the anchor claw 1 in the locked state.

[0041] In some embodiments, a magnet 1-7 is provided between the inner conical surface of the positioning pin 1-1 and the outer conical surface of the expansion shaft 1-2. The magnetism of the magnet 1-7 is used to connect the positioning pin 1-1 and the expansion shaft 1-2, making it easier for the expansion shaft 1-2 to drive the positioning pin 1-1 to perform locking and unlocking actions and preventing slippage.

[0042] In some embodiments, such as Figure 1 and Figure 5 As shown, the rope-climbing vehicle 2 includes: The carrier support frame 3 is provided with robot mounting holes 8, and the lower end face of the steam generator tube sheet detection and positioning robot is snapped into the robot mounting holes 8. The climbing rope device 10 is fixedly connected to the carrier support frame 3, and the climbing rope device 10 rises and falls along the traction rope 4 of the anchor claw 1. It carries the steam generator tube sheet detection and positioning robot into the steam generator manhole through the carrier support frame 3 and reaches the tube sheet surface or leaves the steam generator chamber.

[0043] In some embodiments, since the relative positioning accuracy requirements of the nuclear power steam generator tube sheet inspection and positioning robot relative to the installation tool are high, the rope climbing vehicle 2 includes two rope climbing devices 10. The two rope climbing devices 10 are symmetrically installed on both sides of the vehicle support frame 3 to ensure the stability of the vehicle support frame 3 and ensure the positioning accuracy of the steam generator tube sheet inspection and positioning robot.

[0044] In some embodiments, each rope climbing device 10 is provided with a centering structure 9 on its top. The positions of the two centering structures 9 of the rope climbing vehicle 2 correspond one-to-one with the two anchor claws 1. The centering structure 9 and the anchor claw 1 are matched and aligned for positioning, thereby realizing the positioning of the rope climbing vehicle 2 and the anchor claw 1 (steam generator tube sheet) and ensuring the positioning accuracy of the steam generator tube sheet detection and positioning robot.

[0045] Specifically, such as Figure 6 As shown, the centering structure 9 is a guide positioning hole set on the top of the rope climbing device 10. The guide positioning hole matches the bottom outer conical surface structure of the anchor claw 1 for centering and positioning. The traction rope 4 passes through the guide positioning hole and the rope climbing device 10 in sequence. The rope climbing carrier 2 climbs along the traction rope 4 at the bottom of the anchor claw 1. When the bottom outer conical surface of the two anchor claws 1 is inserted into the corresponding guide positioning hole, it indicates that the steam generator tube sheet detection and positioning robot has reached the set position, thereby assisting the steam generator tube sheet detection and positioning robot to accurately position itself to the steam generator tube sheet and complete the positioning and installation.

[0046] In some embodiments, such as Figure 6 As shown, the rope climbing device 10 includes a housing, and the housing contains: The climbing rope wheel 10-5 is rotatably connected to the outer casing. Joint module 10-6, the output shaft of joint module 10-6 is connected to climbing rope wheel 10-5, joint module 10-6 drives climbing rope wheel 10-5 to work; The rope pressing mechanism 10-4 is rotatably connected to the inner wall of the outer shell. The rope pressing mechanism 10-4 is equipped with a rope pressing wheel 10-2, which is located outside the climbing rope wheel 10-5. After the traction rope 4 enters through the rope inlet at the top of the outer shell, it passes between the climbing rope wheel 10-5 and the rope pressing wheel 10-2, and after wrapping around the climbing rope wheel 10-5, it exits through the rope outlet at the bottom of the outer shell. When the climbing rope device 10 is suspended on the traction rope 4 under gravity, the rope pressing wheel 10-2 installed on the rope pressing mechanism 10-4 presses the traction rope 4 tightly against the climbing rope wheel 10-5 to ensure the contact friction between the climbing rope wheel 10-5 and the traction rope 4. Tension spring 10-3 is positioned above the climbing rope wheel 10-5 and the rope pressing mechanism 10-4. When tension spring 10-3 is contracted, it drives the rope pressing mechanism 10-4 to press the rope pressing wheel 10-2 to tighten the traction rope 4. When tension spring 10-3 is stretched, it drives the rope pressing mechanism 10-4 to loosen the rope pressing wheel 10-2. During operation, due to its own weight, tension spring 10-3 remains in a contracted state, causing the rope pressing wheel 10-2 to keep pressing the traction rope 4. The greater the weight, the greater the pressing force, and the greater the climbing force obtained by the climbing device 10, resulting in better climbing performance and better effect. Guide cover 10-1 is placed on the side of climbing rope wheel 10-5 away from pressure rope wheel 10-2. Guide cover 10-1 ensures that the traction rope 4 is within the working space of climbing rope wheel 10-5.

[0047] In some embodiments, the tension spring 10-3 is adjusted to contract or relax by the handle 10-7. Moving the handle 10-7 to the left relaxes the tension spring 10-3; moving the handle 10-7 to the right contracts the tension spring 10-3.

[0048] When the rope climbing device 10 starts working, the tension spring 10-3 is first stretched by the actuating handle 10-7, and the rope pressing mechanism 10-4 is relaxed, leaving space between the rope pressing wheel 10-2 and the climbing wheel 10-5 installed on the rope pressing mechanism 10-4 to facilitate the insertion of the traction rope 4. When the climbing operation begins, the tension spring 10-3 is contracted by the actuating handle 10-7, so that the rope climbing device 10 is suspended on the traction rope 4 under gravity. Due to the influence of gravity, the rope pressing mechanism 10-4 drives the rope pressing wheel 10-2 to press against the rope. The climbing rope wheel 10-5 moves in the direction of the traction rope 4, which ensures the contact friction between the climbing rope wheel 10-5 and the traction rope 4, thereby achieving the upward traction force of the climbing rope device 10. The climbing rope device 10 achieves the clamping capacity of the traction rope 4 through its own weight. The greater the load, the greater the compression between the climbing rope device 10 and the traction rope 4, thereby obtaining reliable traction force and preventing slippage. Then, driven by the joint module 10-6, the climbing rope wheel 10-5 rotates, thereby driving the entire climbing rope device 10 to climb along the traction rope 4.

[0049] Due to the presence of two rope-climbing devices 10, the joint module 10-6 drives the rope-climbing wheel 10-5 to rotate via bevel gear transmission, achieving relative movement of the traction rope 4 and causing the rope-climbing device 10 to rise. In this embodiment, the information collected by the encoder built into the joint module 10-6 is fed back to the control system for processing, ensuring the stability and synchronous operation of the rope-climbing devices 10 on both sides of the rope-climbing carrier 2.

[0050] In some embodiments, the rope inlet of the rope climbing device 10 is located directly above the outer shell, and the rope outlet of the rope climbing device 10 is located directly below the outer shell, ensuring that the steam generator tube plate detection and positioning robot loaded on the rope climbing device 10 can maintain its position and attitude during the lifting process. Therefore, in order to ensure the stability of the two rope climbing devices 10 of the rope climbing vehicle 2 and prevent overturning, a counterweight bracket 11 is provided on the vehicle support frame 3. The counterweight bracket 11 and the mounting points of the two rope climbing devices 10 on the vehicle support frame 3 correspond to the three vertices of a triangle.

[0051] This embodiment can adjust the horizontal and vertical height of the nuclear power plant steam generator tube sheet detection and positioning robot based on real-time encoder information during the lifting and lowering movement of the robot carried by the on-site rope-climbing carrier 2. This ensures accurate positioning and reliable installation of the robot relative to the surface of the nuclear power plant steam generator tube sheet. During the final docking stage between the rope-climbing carrier 2 and the positioning and installation tool, this embodiment can also adjust the rope-climbing carrier 2 according to the docking situation to ensure the installation and positioning accuracy of the steam generator tube sheet detection and positioning robot. Furthermore, after the steam generator tube sheet detection and positioning robot completes its positioning and installation, the installation and dismantling tools of this embodiment can be quickly removed from the nuclear power plant steam generator chamber. During dismantling, the rope-climbing device 10 of the rope-climbing carrier 2 reverses its operation to detach the carrier support frame 3 from the steam generator tube sheet detection and positioning robot. Then, the carrier support frame 3 exits the manhole via the traction rope 4, and finally, the anchor claw 1 is released and reattached via the handheld long pole 6, completing the evacuation operation.

[0052] In some embodiments, in order to provide real-time feedback on the working status of the anchor claw 1 and prevent the anchor claw 1 from slipping during the locking process, sensors (such as proximity switches) are respectively provided at the positions after the pistons 1-4 of the anchor claw 1 move up and down to their positions. When the pistons 1-4 move up and down to their positions, the corresponding sensors send piston position signals to the control system. Based on the received piston position signals, the control system can determine whether the anchor claw 1 maintains the locking and unlocking action.

[0053] Example 2 This embodiment provides a control system for the installation and disassembly tools of a steam generator tube sheet inspection and positioning robot, such as... Figure 7 As shown, it includes: The main control console stores the set working parameters, receives the air pressure and piston positioning signals of the anchor claw 1, and receives the encoder information of the joint module 10-6 of the rope climbing vehicle 2. Based on the piston positioning signal and encoder information, the main control console generates and sends control commands to the anchor claw 1 and the joint module 10-6 of the rope climbing vehicle 2. The control commands of the anchor claw 1 include air pressure fluid working parameter commands and anchor claw working state conversion commands. The pneumatic platform receives pneumatic fluid working parameter commands sent by the main control console, adjusts and feeds back the air pressure of anchor claw 1; The positioning and installation tool control console receives the anchor claw's working state switching command and controls the air inlet 1-6 of anchor claw 1 to connect with the air source and atmospheric pressure accordingly, controlling anchor claw 1 to perform locking or unlocking actions; when the positioning and installation tool control console controls the air inlet 1-6 of anchor claw 1 to connect with the air source, anchor claw 1 performs a locking action; when the positioning and installation tool control console controls the air inlet 1-6 of anchor claw 1 to connect with atmospheric pressure, anchor claw 1 performs a unlocking action. The rope climbing vehicle control console receives control commands from the joint module 10-6 and drives the corresponding joint module 10-6 to move (start, stop, rotate forward or reverse) according to the commands.

[0054] In some embodiments, the main console includes: The programmable logic controller (TX2) is connected to the piston position sensor of the anchor claw 1, the encoder of the joint module 10-6, the pneumatic platform, and the motion controller. It receives the air supply parameters and piston position signal of the anchor claw 1 from the pneumatic platform, and receives the encoder information of the joint module 10-6 of the rope climbing vehicle 2. Based on the piston position signal and encoder information, it generates and sends control commands to the pneumatic platform and the control console of the rope climbing vehicle to the anchor claw 1 and the joint module 10-6. The control commands of the anchor claw 1 include pneumatic fluid working parameter commands and anchor claw working state conversion commands. The encoder information of the joint module 10-6 is sent to TX2 of the main control console. TX2 processes the information and converts it into the lifting position information of the two rope climbing devices 10. After comparison and synchronization processing, it is then converted into control commands of the joint module 10-6 and sent to the rope climbing vehicle control console to control the lifting and leveling actions of the rope climbing device 10, so as to realize the lifting and leveling of the rope climbing vehicle 2 in the vertical direction. Power module; the power module is used to power the programmable logic controller and the rope-climbing vehicle.

[0055] In some embodiments, the aerodynamic platform includes: The pressure regulating valve adjusts the air pressure of the anchor claw 1 according to the received air pressure fluid working parameter command; The pressure regulating valve stabilizes the working air pressure of the anchor claw 1 according to the received air pressure and fluid working parameter instructions, and controls the air pressure within the rated working range. The pressure sensor monitors the working air pressure input to anchor claw 1 in real time; The pressure regulating valve, pressure stabilizing valve, and pressure sensor are all installed in the air inlet 1-6 of the anchor claw 1 and on the pipeline connected to the air source.

[0056] In some embodiments, the location installation tool console includes: The air valve is a three-position two-way solenoid valve, and the air valve is installed on the air inlet 1-6 of the anchor claw 1 and the pipeline connected to the air source and atmospheric pressure. An electromagnetic relay is installed in the control circuit of the air valve to control the operation of the air valve. The first communication module (serial communication module) is set on the control circuit of the electromagnetic relay and is used for communication between the main control console and the electromagnetic relay. The first communication module receives the anchor claw working state switching command and sends a control signal to the electromagnetic relay to control the coil of the electromagnetic relay to switch between being energized and de-energized, so that the contacts of the electromagnetic relay switch between closing and opening, thereby controlling the coil of the air valve to switch between being energized and de-energized; the coil of the air valve switches between being energized and de-energized, controlling the air inlet 1-6 of the anchor claw 1 to switch between being connected to the air source and atmospheric pressure, thereby realizing the locking and unlocking of the anchor claw 1.

[0057] In some embodiments, the rope climbing vehicle console includes: The second communication module (CAN communication module) receives the motion commands from the rope climbing device 10 and sends drive signals. The motion controller (driver) controls the movement (start, stop, forward or reverse rotation) of the joint modules 10-6 of the two rope climbing devices 10 of the rope climbing vehicle 2 according to the received drive signal. A voltage regulation and protection module is installed on the connection line between the joint module 10-6 and the working power supply to provide voltage regulation and protection for the joint module 10-6.

[0058] In some embodiments, the control system for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot further includes: Signal conditioners are used for signal processing, including encoder signals and communication network signals. They are mainly used to amplify, filter, isolate, compensate, and protect signals in a targeted manner. Their purpose is to amplify the corresponding signals and convert them into a form that is easy to identify and compatible with data acquisition or machine control.

[0059] In some embodiments, for easier control and display, such as Figure 7 As shown, the control system for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot also includes: The human-machine interface (HMI) is bidirectionally connected to the main control panel, facilitating parameter setting and displaying and providing feedback on parameter status. It offers advantages such as clarity, intuitiveness, and ease of operation. In case of a malfunction, an alarm interface immediately pops up on the HMI, simplifying system maintenance.

[0060] In some embodiments, an emergency stop button is provided on both the human-computer interaction interface and the main control console for convenient emergency control.

[0061] In some embodiments, the control system for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot further includes: The installation / removal start confirmation module and the installation / removal end confirmation module are connected to the main control console respectively. When installing / removing the steam generator tube sheet inspection and positioning robot, after the handheld mounting frame 5 drives the anchor claw 1 to the position of the steam generator tube sheet, the installation / removal start determination module is manually / automatically triggered. The installation / removal start determination module sends a first trigger signal to the main control console. The main control console controls the anchor claw 1 to perform a locking action and controls the rope climbing carrier 2 to drive the steam generator tube sheet inspection and positioning robot to the steam generator tube sheet for positioning and installation, or controls the rope climbing carrier 2 to rise to the steam generator tube sheet and connect with the steam generator tube sheet inspection and positioning robot. After the steam generator tube sheet inspection and positioning robot is installed or connected to the rope climbing carrier 2, the main control console controls the rope climbing carrier 2 to descend. After the rope-climbing vehicle 2 has descended, the handheld long pole 6 drives the handheld mounting frame 5 to connect with the anchor claw 1. The installation / disassembly completion confirmation module is manually / automatically triggered. The installation / disassembly completion confirmation module sends a second trigger signal to the main control console, and the main control console controls the anchor claw 1 to perform the release action.

[0062] In some embodiments, the control system for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot further includes: The debugging and confirmation module is connected to the main console. When leveling the rope climbing vehicle 2, the debugging and determination module is triggered manually or automatically. The debugging and determination module sends a third trigger signal to the main control console. The two rope climbing devices 10 of the rope climbing vehicle 2 are synchronized through the main control console to complete the leveling of the rope climbing vehicle 2.

[0063] In this embodiment, the control system for the installation and dismantling tools of the nuclear power plant steam generator tube sheet inspection and positioning robot achieves the locking and positioning of the temporary positioning and installation tool on the (nuclear power) steam generator tube sheet surface through the cooperation of the main control console, the rope-climbing carrier control console, the pneumatic platform, and the positioning and installation tool control console. Then, the rope-climbing carrier 2, carrying the steam generator tube sheet inspection and positioning robot, is supported and pulled by the temporary positioning and installation tool to deliver the robot to the tube sheet surface, assisting in the positioning and installation of the robot and allowing the installation and dismantling tools to be removed. Furthermore, in this embodiment, the operating state of the anchor claw 1 is locked during the movement of the rope-climbing carrier 2, ensuring high safety.

[0064] More specifically, the control system of this embodiment can adjust the horizontal and vertical height of the steam generator tube sheet detection and positioning robot based on real-time signal conditioner feedback information during the lifting and lowering motion of the rope-climbing carrier 2 during the on-site steam generator tube sheet detection and positioning robot, ultimately ensuring the accurate positioning and reliable installation of the steam generator tube sheet detection and positioning robot. In the final docking stage between the rope-climbing carrier 2 and the positioning and installation tool, this embodiment can also adjust the rope-climbing carrier 2 according to the docking situation to ensure the installation and positioning accuracy of the steam generator tube sheet detection and positioning robot. Furthermore, this embodiment features high motion control accuracy and stability, strong motion capability, and uses industrial Ethernet networking to meet harsh working environments and complex requirements; the pneumatic platform is stable, the anchor claw 1 is pneumatically driven, reliable and fast; the rope-climbing device 10 relies on its own gravity to ensure the rope pre-tension, resulting in low slippage and reliable execution; the torque and encoder of the joint module 10-6 can provide real-time feedback on the working status of the rope-climbing device 10, resulting in high execution efficiency and ensuring operational safety requirements; the structure is reasonable, easy to produce, highly expandable, and easy to maintain; the human-machine interface is simple, monitoring is convenient, and it is easy to use.

[0065] Example 3 This embodiment provides a control method for the installation and disassembly tools of a steam generator tube sheet inspection and positioning robot, including the following steps: Step S1: Power on and perform a self-test. Read and display the air pressure of the anchor claw 1 and the parameters of the joint module 10-6. Adjust the input air pressure value (generally, the site air pressure is greater than the working air pressure of the equipment. Read the air pressure and adjust the air pressure to a safe working range through the pressure regulating valve). Check whether the control system of the installation and disassembly tool of the entire steam generator tube sheet detection and positioning robot described in Example 2 is normal. Step S2: Using the handheld long rod 6, send the positioning installation tool and anchor claw 1 to the surface of the steam generator tube sheet through the manhole, trigger the main control console, control the anchor claw 1 to perform the locking action through the main control console, and determine whether the anchor claw 1 is clamped based on whether the main control console receives the proximity switch signal that the piston 1-4 of the anchor claw 1 moves upward into place. After confirming the clamping, remove the positioning installation tool using the handheld long rod 6. Step S3: After threading the two traction ropes 4 into the two climbing rope devices 10, trigger the main control console again and synchronize the two climbing rope devices 10 through the main control console to complete the leveling of the climbing rope vehicle 2. Specifically, control the two climbing rope devices 10 to climb to the top of the traction rope 4 and level themselves, and then automatically return synchronously. Step S4: Load the steam generator tube sheet inspection and positioning robot into the carrier support frame 3 of the rope climbing carrier 2, and trigger the main control console again. Control the two rope climbing devices 10 to climb the rope synchronously through the main control console, drive the carrier support frame 3 to rise, and send the steam generator tube sheet inspection and positioning robot into the predetermined position inside the steam generator. During the ascent, the encoder signals (driving torque, stroke) of the joint modules 10-6 of the two climbing rope devices 10 are read in real time to comprehensively judge the balance of the vehicle support frame 3. The speed and driving torque of the joint modules 10-6 are used to determine whether slippage occurs, and compensation is performed when slippage occurs. Specifically, the driving torque of the joint modules 10-6 is read. When the driving torque changes, it indicates that slippage has occurred. The relationship between slippage and driving torque is summarized through testing, a slippage model is established, and the slippage distance is calculated based on the change of driving torque using the slippage model. Then, adjustments are made based on position control to ensure synchronous lifting on both sides. Step S5: Connect the steam generator tube sheet detection and positioning robot to the tube sheet; Step S6: Trigger the main control console again, drive the two joint modules 10-6 to rotate synchronously in opposite directions through the main control console, drive the two rope climbing devices 10 to slide synchronously down the traction rope 4, and remove the steam generator. Step S7: Use the handheld long rod 6 to move the positioning and installation tool to the designated position on the steam generator tube sheet. After the positioning and installation tool is connected to the anchor claw 1, trigger the main control console again. Use the main control console to control the anchor claw 1 to perform the release action. Then use the handheld long rod 6 to move the positioning and installation tool and the anchor claw 1 away from the steam generator. Step S8: After the steam generator tube sheet inspection is completed, disassemble the steam generator tube sheet inspection and positioning robot. The specific process is as follows: First, proceed with step S2; Then, the main control console is triggered to control the two rope climbing devices 10 to climb the rope synchronously, driving the vehicle support frame 3 to rise to the designated position and connect with the steam generator tube sheet detection and positioning robot. Finally, execute steps S6-S7 to complete the disassembly of the steam generator tube sheet inspection and positioning robot and anchor claw 1.

[0066] During operation, the control system of the steam generator tube sheet inspection and positioning robot's installation and disassembly tools monitors and adjusts the working air pressure of the anchor claw 1 in real time to ensure that the status of the anchor claw 1 of the positioning and installation tool is known and controllable. At the same time, it monitors and adjusts the position and working status of the rope climbing device 10 of the rope climbing vehicle 2 in real time until the rope climbing vehicle 2 reaches the target position and automatically stops the rising action.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An installation and disassembly tool for a steam generator tube sheet inspection and positioning robot, characterized in that, include: The positioning and installation tool enables positioning and rope traction at the tube sheet inside the steam generator. The rope-climbing vehicle (2) carries the steam generator tube sheet inspection and positioning robot up to the surface of the steam generator tube sheet along the traction rope (4) of the positioning and installation tool, or carries the steam generator tube sheet inspection and positioning robot down from the surface of the steam generator tube sheet along the traction rope (4) of the positioning and installation tool and safely evacuates the steam generator chamber, assisting in the positioning, installation and disassembly of the steam generator tube sheet inspection and positioning robot; The positioning and installation tool includes an anchor claw (1), which matches and locks the anchor claw (1) to the pipe hole on the steam generator tube sheet, and pulls the climbing rope carrier (2) up and down by a traction rope (4); The rope-climbing vehicle (2) includes: a vehicle support frame (3), on which a robot mounting hole (8) is provided, and the lower end face of the steam generator tube sheet detection and positioning robot is snapped into the robot mounting hole (8); a rope-climbing device (10), which is fixedly connected to the vehicle support frame (3), and the rope-climbing device (10) moves up and down along the traction rope (4) of the anchor claw (1); the rope-climbing vehicle (2) includes two rope-climbing devices (10), which are symmetrically installed on both sides of the vehicle support frame (3); each rope-climbing device (10) is provided with a centering structure (9) at the top, which is matched with the anchor claw (1) for centering and positioning; the traction rope (4) passes through the guide positioning hole and the rope-climbing device (10) in sequence. The rope climbing device (10) includes: a rope climbing wheel (10-5), which is rotatably connected to the outer shell; a joint module (10-6), whose output shaft is connected to the rope climbing wheel (10-5), and which drives the rope climbing wheel (10-5) to work; the joint module (10-6) has its own encoder; and a rope pressing mechanism (10-4), which is rotatably connected to the inner wall of the outer shell. A rope pressing wheel (10-2) is installed on the rope pressing mechanism (10-4), which is located outside the rope climbing wheel (10-5). The traction rope (4) enters the outer shell through the top of the rope climbing device (10), passes between the rope climbing wheel (10-5) and the rope pressing wheel (10-2), and wraps around the rope climbing wheel (10-5) once before exiting the outer shell. The rope climbing device (10) weighs... When the rope is suspended on the traction rope (4) under force, the rope pressing wheel (10-2) installed on the rope pressing mechanism (10-4) presses the traction rope (4) tightly onto the climbing rope wheel (10-5); tension spring (10-3) is set above the climbing rope wheel (10-5) and the rope pressing mechanism (10-4). When the tension spring (10-3) is adjusted to contract, it drives the rope pressing mechanism (10-4) to make the rope pressing wheel (10-2) press the traction rope (4) tightly; when the tension spring (10-3) is adjusted to stretch, it drives the rope pressing mechanism (10-4) to make the rope pressing wheel (10-2) release the traction rope (4); guide cover (10-1) is set on the side of the climbing rope wheel (10-5) away from the rope pressing wheel (10-2). The guide cover (10-1) ensures that the traction rope (4) is within the working space of the climbing rope wheel (10-5).

2. The installation and disassembly tool for the steam generator tube sheet inspection and positioning robot according to claim 1, characterized in that, The positioning and installation tool also includes: Handheld mounting bracket (5), with a collar installed on it, and the handheld mounting bracket (5) is detachably connected to the anchor claw (1) through the collar; The positioning and installation tool has two anchor claws (1), which are symmetrically arranged on the handheld mounting frame (5). The handheld mounting bracket (5) is provided with a handheld long pole (6) at the bottom; The handheld mounting bracket (5) is equipped with two guide pins (7), which are positioned between two anchor claws (1); The installation height of the two guide pins (7) is greater than the installation height of the anchor claw (1), and the two guide pins (7) are matched with the tube holes of the steam generator tube sheet for pin hole positioning; The two guide pins (7) have a height difference that satisfies the guide surface of the lower guide pin (7) entering the tube hole of the steam generator tube sheet.

3. The installation and disassembly tool for the steam generator tube sheet inspection and positioning robot according to claim 2, characterized in that, The anchor claw (1) includes: The housing (1-5) has a traction rope (4) installed at the bottom. Inside the housing (1-5) is an expansion shaft (1-2) with an outer conical surface at the top and a piston (1-4). The piston (1-4) is located at the bottom of the expansion shaft (1-2) and is fixedly connected to the expansion shaft (1-2). Anchor fingers are sleeved on the expansion shaft (1-2), and the upper part of the anchor fingers is exposed outside the housing (1-5). Three positioning pins (1-1) are evenly distributed on the exposed part of the anchor fingers and are elastically connected to them. The three positioning pins (1-1) have an inner conical surface that matches the outer conical surface of the expansion shaft (1-2). The expansion and contraction of the positioning pins (1-1) are controlled by the up and down movement of the expansion shaft (1-2), so as to realize the locking and unlocking action of the anchor (1) on the tube hole of the steam generator tube sheet. Compression spring (1-3) is set on the upper part of piston (1-4) and sleeved on the outside of expansion shaft (1-2). The top of compression spring (1-3) is installed in compression spring mounting groove in housing (1-5). Air inlet (1-6) is located on the bottom side of the shell (1-5). The anchor claw (1) is connected to the air source and atmospheric pressure through the air inlet (1-6). A magnet (1-7) is provided between the inner conical surface of the positioning pin (1-1) and the outer conical surface of the expansion shaft (1-2). Sensors are installed at the positions of the pistons (1-4) of the anchor claw (1) after they move up and down into place. After the pistons (1-4) move up and down into place, the corresponding sensors send out piston positioning signals.

4. The control system for the installation and disassembly tool of the steam generator tube sheet inspection and positioning robot according to claim 3, characterized in that, include: The main control console stores the set working parameters, receives the air pressure and piston position signal of the anchor claw (1), and receives the encoder information of the joint module (10-6) of the rope climbing vehicle (2). Based on the piston position signal and encoder information, it generates and sends control commands to the anchor claw (1) and the joint module (10-6). The control commands of the anchor claw (1) include air pressure fluid working parameter commands and anchor claw working state conversion commands. The pneumatic platform receives the pneumatic fluid working parameter instructions sent by the main control console, adjusts and feeds back the air pressure of the anchor claw (1); The positioning and installation tool control console receives the anchor claw working state conversion command and controls the air inlet (1-6) of the anchor claw (1) to connect and switch with the air source and atmospheric pressure accordingly, and controls the anchor claw (1) to perform locking or unlocking actions. The rope climbing vehicle control console receives control commands from the joint modules (10-6) and drives the corresponding joint modules (10-6) to move according to the commands.

5. The control system for the installation and disassembly tool of the steam generator tube sheet inspection and positioning robot according to claim 4, characterized in that, The aerodynamic platform includes: The pressure regulating valve adjusts the working air pressure of the anchor claw (1) according to the received air pressure fluid working parameter command; The pressure stabilizing valve stabilizes the working air pressure of the anchor claw (1) according to the received air pressure fluid working parameter command, and controls the air pressure within the rated working range. Pressure sensor, the pressure sensor monitors the working air pressure input to the anchor claw (1) in real time; The pressure regulating valve, pressure stabilizing valve and pressure sensor are all installed in the air inlet (1-6) of the anchor claw (1) and on the pipeline connected to the air source; The location installation tool console includes: The air valve is a three-position two-way solenoid valve, and the air valve is set in the air inlet (1-6) of the anchor claw (1) and the pipeline connected to the air source and atmospheric pressure. An electromagnetic relay is installed in the control circuit of the air valve to control the operation of the air valve. The first communication module is installed on the control circuit of the electromagnetic relay and is used to communicate between the main control console and the electromagnetic relay. The first communication module receives the anchor claw working state switching instruction and sends a control signal to the electromagnetic relay to control the coil of the electromagnetic relay to switch between being energized and de-energized, so that the contacts of the electromagnetic relay switch between closing and opening, thereby controlling the coil of the air valve to switch between being energized and de-energized; the coil of the air valve switches between being energized and de-energized, controlling the air inlet (1-6) of the anchor claw (1) to switch between being connected to the air source and atmospheric pressure, thereby realizing the locking and unlocking of the anchor claw (1); The rope climbing vehicle control console includes: The second communication module receives the motion command of the rope climbing device (10) and sends the drive signal; The motion controller controls the movement of the joint modules (10-6) of the two rope climbing devices (10) of the rope climbing vehicle (2) according to the received drive signal; A voltage stabilization and protection module is installed on the connection line between the joint module (10-6) and the working power supply to provide voltage stabilization and protection for the joint module (10-6).

6. The control system for the installation and disassembly tool of the steam generator tube sheet inspection and positioning robot according to claim 4, characterized in that, The control system for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot also includes: Signal conditioners are used to amplify, filter, isolate, compensate, and protect encoder signals and communication network signals, and to amplify and convert encoder signals and communication network signals into a form that is easy to identify and compatible with data acquisition or machine control. The human-computer interaction interface is bidirectionally connected to the main console, allowing for parameter settings and the display and feedback of parameter status. The debugging and confirmation module is connected to the main console. The installation / removal start confirmation module and the installation / removal end confirmation module are connected to the main control console respectively. When installing / removing the steam generator tube sheet inspection and positioning robot, after the anchor claw (1) is driven to the position of the steam generator tube sheet by the handheld mounting frame (5), the installation / removal start determination module is triggered. The installation / removal start determination module sends a first trigger signal to the main console. The main console controls the anchor claw (1) to perform a locking action. It also controls the climbing rope carrier (2) to drive the steam generator tube sheet inspection and positioning robot to the steam generator tube sheet for positioning and installation, or controls the climbing rope carrier (2) to rise to the steam generator tube sheet and connect with the steam generator tube sheet inspection and positioning robot. After the steam generator tube sheet inspection and positioning robot is installed or connected with the climbing rope carrier (2), the main console controls the climbing rope carrier (2) to descend. After the climbing rope carrier (2) has descended, the handheld mounting frame (5) is driven to connect with the anchor claw (1) by the handheld long rod (6). The installation / removal end determination module is triggered. The installation / removal end determination module sends a second trigger signal to the main console. The main console controls the anchor claw (1) to perform a releasing action. When the rope climbing vehicle (2) is leveled, the debugging and determination module is triggered. The debugging and determination module sends a third trigger signal to the main control console. The two rope climbing devices (10) of the rope climbing vehicle (2) are synchronized through the main control console to complete the leveling of the rope climbing vehicle (2).

7. The control method for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot according to claim 3, characterized in that, Includes the following steps: Step S1: Power on and perform a self-test, read and display the air pressure of the anchor claw (1) and the parameters of the joint module (10-6), adjust the air pressure value, and test whether the control system of the installation and disassembly tool of the steam generator tube plate detection and positioning robot described in any one of claims 4 to 6 is normal. Step S2: Using a handheld long rod (6), send the positioning installation tool and anchor claw (1) through the manhole to the surface of the steam generator tube sheet, trigger the main control console, control the anchor claw (1) to perform the locking action through the main control console, and determine whether the anchor claw (1) is clamped based on whether the main control console receives the proximity switch signal that the piston (1-4) of the anchor claw (1) moves upward into place. After confirming the clamping, remove the positioning installation tool using the handheld long rod (6). Step S3: After threading the two traction ropes (4) into the two climbing rope devices (10) respectively, trigger the main control console again, and synchronize the two climbing rope devices (10) through the main control console to complete the leveling of the climbing rope vehicle (2); Step S4: Load the steam generator tube sheet inspection and positioning robot into the carrier support frame (3) of the rope climbing carrier (2), and trigger the main console again. Control the two rope climbing devices (10) to climb the rope synchronously through the main console, drive the carrier support frame (3) to rise, and send the steam generator tube sheet inspection and positioning robot into the predetermined position inside the steam generator. Step S5: Connect the steam generator tube sheet detection and positioning robot to the tube sheet; Step S6: Trigger the main control console again, drive the two joint modules (10-6) to rotate synchronously in opposite directions through the main control console, drive the two rope climbing devices (10) to slide down synchronously along the traction rope (4), and remove the steam generator; Step S7: Use the handheld long rod (6) to move the positioning and installation tool to the designated position on the steam generator tube sheet. After the positioning and installation tool is connected to the anchor claw (1), trigger the main control console again. Use the main control console to control the anchor claw (1) to perform the release action. Then use the handheld long rod (6) to move the positioning and installation tool and the anchor claw (1) away from the steam generator. Step S8: After the steam generator tube sheet inspection is completed, disassemble the steam generator tube sheet inspection and positioning robot.

8. The control method for the installation and disassembly tools of the steam generator tube sheet inspection and positioning robot according to claim 7, characterized in that, During the ascent in step S4, the encoder signals of the joint modules (10-6) of the two climbing rope devices (10) are read in real time to comprehensively judge the balance of the vehicle support frame (3). Specifically, by testing and summarizing the relationship between slippage and driving torque, a slippage model is established, and the driving torque of the joint module (10-6) is read. When the driving torque changes, it indicates that slippage has occurred. Based on the change in driving torque, the slippage distance is calculated using the slippage model, and then adjustments are made based on position control to ensure synchronous lifting on both sides. The specific process of the steps is as follows: First, proceed with step S2; Then, the main console is triggered to control the two rope climbing devices (10) to climb the rope synchronously, driving the vehicle support frame (3) to rise to the designated position and connect with the steam generator tube sheet detection and positioning robot; Finally, execute steps S6~S7 to complete the disassembly of the steam generator tube sheet inspection and positioning robot and anchor claw (1).

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