Crawling robot for overhauling heat transfer pipe

Abstract

The invention discloses a crawling robot for maintaining a heat transfer pipe, and belongs to the technical field of robots for maintaining steam generator heat transfer pipes. The problems that an existing heat transfer pipe overhauling robot is large in size and poor in flexibility, and unbalance loading exists are solved. The device comprises a central pipe clamping mechanism, a symmetrical pipe clamping mechanism and a translation steering mechanism, wherein the central pipe clamping mechanism can clamp and loosen a pipe plate; the number of the symmetrical pipe clamping mechanisms is two, and the two symmetrical pipe clamping mechanisms are symmetrically arranged on the two sides of the central pipe clamping mechanism and clamp the pipe plate when the central pipe clamping mechanism loosens the pipe plate, so that it is guaranteed that the crawling robot is always connected with the pipe plate. The translation steering mechanism is connected with the central pipe clamp mechanism and the symmetrical pipe clamp mechanism and used for driving the central pipe clamp mechanism and the symmetrical pipe clamp mechanism to move alternately and driving the central pipe clamp mechanism and the symmetrical pipe clamp mechanism to rotate successively, and the overhauling tool is installed at the bottom of the translation steering mechanism and used for a heat transfer pipe. The device is used for overhauling the heat transfer tube.

Description

Technical Field

[0001] The invention belongs to the technical field of robots for repairing heat transfer tubes of steam generators, and in particular relates to a crawling robot for repairing heat transfer tubes. Background Art

[0002] A steam generator is a mechanical device that uses the thermal energy of fuel or other energy sources to heat water into hot water or steam. Nuclear power units use special equipment called steam generators (SG for short), with water as the medium and a large number of heat transfer tubes as heat transfer units to achieve heat exchange between the primary and secondary circuits, while sealing the radioactive materials in the primary circuit to ensure that the secondary circuit equipment will not be contaminated by radiation during the normal operation of the unit. The heat transfer tubes are in extreme environments of high temperature, high pressure, and radiation for a long time, and their own tube walls are only 1mm thick, which makes them very easy to break, causing the nuclear power unit to shut down. In order to ensure the normal operation of the nuclear power unit and prevent the leakage of radioactive coolant, it is necessary to block the ends of the damaged heat transfer tubes. The SG heat transfer tube maintenance robot currently used for heat transfer tube maintenance has the problems of large size, poor flexibility, and severe overload at the tool end, which leads to a decrease in load capacity. Summary of the invention

[0003] In view of this, the present invention provides a crawling robot for heat transfer tube maintenance. When the central tube clamp mechanism and the symmetrical tube clamp mechanism alternately clamp the tube plate, the translation steering mechanism drives the symmetrical tube clamp mechanism and the central tube clamp mechanism to move forward alternately, so that the crawling robot moves quickly.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A crawling robot for heat transfer tube maintenance, comprising:

[0006] Central tube clamp mechanism, capable of clamping the tube sheet;

[0007] The symmetrical tube clamping mechanism is provided with two symmetrical tube clamping mechanisms, which are symmetrically arranged on both sides of the central tube clamping mechanism and clamp the tube sheet when the central tube clamping mechanism releases the tube sheet;

[0008] The translation steering mechanism connects the central tube clamp mechanism and the symmetrical tube clamp mechanism, and is used to drive the central tube clamp mechanism and the symmetrical tube clamp mechanism to move alternately and to drive the central tube clamp mechanism and the symmetrical tube clamp mechanism to rotate successively. The maintenance tool is installed on the translation steering mechanism and is used to maintain the heat transfer tube.

[0009] When the central tube clamp mechanism and the symmetrical tube clamp mechanism clamp the tube sheet successively, the translation steering mechanism drives the symmetrical tube clamp mechanism and the central tube clamp mechanism to move forward successively, and repeats the cycle, so that the crawling robot moves forward under the alternating movement of the central tube clamp mechanism and the symmetrical tube clamp mechanism; when the central tube clamp mechanism and the symmetrical tube clamp mechanism clamp the tube sheet successively, the translation steering mechanism drives the symmetrical tube clamp mechanism and the central tube clamp mechanism to rotate to the same side successively, so as to realize the steering of the crawling robot; when the crawling robot moves into place, the maintenance tool operates to realize the maintenance of the heat transfer tube.

[0010] Preferably, the translation steering mechanism comprises:

[0011] Upper platform, the central pipe clamp mechanism is installed on the upper platform;

[0012] A lower platform, wherein a symmetrical pipe clamp mechanism is installed on the lower platform;

[0013] The center limit joint has one end connected to the lower platform and can move in the front-back direction, and the other end connected to the upper platform and can rotate;

[0014] There are two sets of rocker drive components, which are symmetrically arranged on both sides of the central limit joint and connected to the upper platform and the lower platform to drive the upper platform and the lower platform to move forward alternately and rotate successively;

[0015] When the central tube clamp mechanism clamps the tube sheet and the symmetrical tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the lower platform forward in the same direction to move the symmetrical tube clamp mechanism forward; when the symmetrical tube clamp mechanism clamps the tube sheet and the central tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the upper platform forward in the same direction to move the central tube clamp mechanism forward; when the central tube clamp mechanism clamps the tube sheet and the symmetrical tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the lower platform to rotate in the opposite direction to rotate the symmetrical tube clamp mechanism; when the symmetrical tube clamp mechanism clamps the tube sheet and the central tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the upper platform to rotate in the opposite direction to rotate the central tube clamp mechanism.

[0016] Preferably, the rocker drive assembly includes a linear drive and a drive connecting rod, the linear drive is installed on the lower platform, one end of the drive connecting rod is hinged to the linear drive, and the other end is eccentrically connected to the upper platform and can rotate.

[0017] Preferably, the translation steering mechanism further includes two passive support rotating assemblies, which are centrally symmetrically arranged on both sides of the central limit joint and connected to the upper platform and the lower platform, and are used to share the load borne by the rocker drive assembly; each passive support rotating assembly includes:

[0018] A set of transverse slide rails are installed on the lower platform and extend in the front and rear directions;

[0019] A set of longitudinal rails, mounted on the transverse rails and movable forward and backward, the longitudinal rails extending in the left and right directions;

[0020] Support the rotating joint, the bottom is installed on the longitudinal slide rail and can move left and right, and the top is rotated and connected to the upper platform;

[0021] When the rocker drive assembly synchronously drives the upper platform or the lower platform to move in the same direction, the supporting rotating joint moves along the transverse slide rail while the upper platform or the lower platform moves to support the upper platform or the lower platform; when the rocker drive assembly synchronously drives the upper platform or the lower platform to rotate in the opposite direction, the supporting rotating joint moves along the longitudinal slide rail and the transverse slide rail while the upper platform or the lower platform rotates to support the upper platform or the lower platform.

[0022] Preferably, the translational steering mechanism also includes two groups of lifting assemblies, which are symmetrically arranged on both sides of the central tube clamp mechanism. Each group of lifting assemblies connects the lower platform and the symmetrical tube clamp mechanism, and is used to drive the symmetrical tube clamp mechanism and the central tube clamp mechanism to move up and down, so as to avoid interference between the central tube clamp mechanism and the symmetrical tube clamp mechanism and the tube sheet when moving forward.

[0023] Preferably, the central tube clamp mechanism comprises at least two first tube hole locking toes for clamping the tube sheet, each first tube hole locking toe comprising:

[0024] A first clamping jaw, which can expand outwards and is used to connect the pipe hole;

[0025] There are two first top cones, one first top cone is arranged on each side of the first clamping jaw;

[0026] A first driving cylinder is connected to the first clamping jaw and the two first top cones;

[0027] When the first driving cylinder drives the first clamping jaw and the two first top cones to move upward, the first clamping jaw is inserted into the tube hole of the tube sheet until the two first top cones touch the surface of the tube sheet, and the first clamping jaw expands and connects the tube hole to achieve the clamping of the central tube clamping mechanism and the tube sheet.

[0028] Preferably, the symmetrical tube clamp mechanism comprises at least two second tube hole locking toes for clamping the tube sheet, each second tube hole locking toe comprising:

[0029] A second clamping jaw, which can expand outwards and is used to connect the pipe hole;

[0030] There are two second top cones, one second top cone is provided on each side of the second clamping jaw;

[0031] A second driving cylinder is connected to the second clamping jaw and the two second top cones;

[0032] When the second driving cylinder drives the second clamping jaw and the two second top cones to move upward, the second clamping jaw is inserted into the tube hole of the tube sheet until the two second top cones touch the surface of the tube sheet, and the second clamping jaw expands and connects the tube hole to realize the clamping of the symmetrical tube clamping mechanism and the tube sheet.

[0033] Preferably, it includes:

[0034] The tool translation mechanism is connected to the translation steering mechanism and is used to control the forward and backward movement of the maintenance tool;

[0035] A tool flipping mechanism, connecting the tool translation mechanism and the maintenance tool, and used to control the flipping of the maintenance tool;

[0036] When the crawling robot moves into position, the tool translation mechanism drives the tool flipping mechanism and the maintenance tool to move forward or backward to the edge of the translation steering mechanism, and the tool flipping mechanism flips the maintenance tool to one side of the crawling robot to align the maintenance tool with the pipe hole for maintenance.

[0037] Preferably, the tool translation mechanism comprises:

[0038] The ball screw pair is installed at the bottom of the translation steering mechanism and is provided with a screw nut;

[0039] A sliding platform, the sliding platform is connected to the lead screw nut and the tool turning mechanism;

[0040] When the crawling robot moves into position, the ball screw pair drives the screw nut to move, and the tool flipping mechanism moves with the screw nut via the sliding platform to the edge of the translation and steering mechanism, and drives the maintenance tool to flip so that the maintenance tool is aligned with the target tube to achieve the maintenance purpose; after the heat transfer tube is repaired, the tool flipping mechanism flips the maintenance tool and lays it flat, the ball screw pair drives the screw nut to move in the reverse direction, and the tool flipping mechanism moves with the screw nut via the sliding platform to the center of the translation and steering mechanism to avoid overloading of the crawling robot when it moves forward.

[0041] Preferably, the tool turning mechanism comprises:

[0042] A fixed base is installed at the bottom of the tool translation mechanism;

[0043] The rotating platform is arranged on one side of the fixed base, and the maintenance tools are installed on the rotating platform;

[0044] Rotate the servo to connect the fixed base and the rotating platform;

[0045] When the tool translation mechanism drives the tool flipping mechanism to move to the edge of the translation steering mechanism, the rotary servo drives the rotating platform to flip, and the maintenance tool flips with the rotating platform to one side of the crawling robot so that the maintenance tool is aligned with the target heat transfer tube.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1. The crawling robot moves forward by alternating the central pipe clamp mechanism and the symmetrical pipe clamp mechanism, which can reduce the size of the crawling robot and increase the flexibility of movement, especially in a small space, and can achieve rapid movement. At the same time, the central pipe clamp mechanism and the symmetrical pipe clamp mechanism are arranged symmetrically as a whole, which can avoid the problem of eccentric loading of the crawling robot and cause instability of the crawling robot during movement.

[0048] 2. Use two sets of passive support rotating components to support the upper and lower platforms, so as to avoid the rocker drive component bearing the entire weight of the upper and lower platforms when driving the upper and lower platforms to move forward or rotate, resulting in a large load on the rocker drive component, which affects the service life and time of the rocker drive component. In addition, the two sets of passive support rotating components are arranged symmetrically, which not only avoids the problem of eccentric loading of the crawling robot, but also realizes four-point symmetrical support for the upper and lower platforms, improving the safety and reliability of the crawling robot during pipe plugging operations.

[0049] 3. The forward movement and steering of the crawling robot are realized by using the same-direction driving and reverse driving of two sets of rocker drive components. While simplifying the driving components, the two sets of rocker drive components are arranged symmetrically to avoid the problem of overloading of the crawling robot.

[0050] 4. The maintenance tool is designed to be placed at the bottom of the crawler robot and laid flat. The tool translation mechanism can adjust the horizontal position of the maintenance tool, thereby ensuring that the overall mass of the maintenance tool and the crawler robot is evenly distributed, avoiding the problem of partial load during the movement of the crawler robot, and improving the stability of the crawler robot during movement. The tool flipping mechanism can adjust the maintenance tool to a vertical posture when the crawler robot moves into place and needs to be operated, so as to achieve maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings are incorporated as part of this application and are used to provide a further understanding of the present invention.

[0052] Figure 1 The figure is a schematic diagram of the three-dimensional structure of a crawling robot for repairing heat transfer tubes according to the present invention.

[0053] Figure 2 It is a structural schematic diagram of the translation steering mechanism.

[0054] Figure 3 A top view of the translational steering mechanism.

[0055] Figure 4 It is a side view of the translation steering mechanism.

[0056] Figure 5 It is a structural schematic diagram of the central pipe clamp mechanism.

[0057] Figure 6 It is a structural schematic diagram of a symmetrical pipe clamp mechanism.

[0058] Figure 7 It is the assembly drawing of the installation base, tool translation mechanism and tool flipping mechanism.

[0059] Figure 8 This is a schematic diagram of a crawling robot for heat transfer tube maintenance according to the present invention, in which a maintenance tool is in a flat state before the maintenance of the heat transfer tube.

[0060] Fig. 9 This is a schematic diagram of a crawling robot for repairing a heat transfer tube according to the present invention, in which a repair tool is in a flipped state before repairing the heat transfer tube.

[0061] Fig.10 The present invention is a schematic diagram of a crawling robot for heat transfer tube maintenance in which a maintenance tool moves to the edge of a lower platform via a tool translation mechanism before the maintenance of the heat transfer tube.

[0062] Fig.11 The present invention is a schematic diagram of a crawling robot for repairing a heat transfer tube, in which a repair tool is flipped to the side of the crawling robot via a tool flipping mechanism before repairing the heat transfer tube.

[0063] Description of reference numerals:

[0064] Central pipe clamp mechanism 1, central mounting housing 11, first pipe hole locking toe 12, first clamping jaw 121, first top cone 122, first driving cylinder 123;

[0065] Symmetrical pipe clamp mechanism 2, symmetrical mounting housing 21, second pipe hole locking toe 22, second clamping claw 221, second top cone 222, second driving cylinder 223;

[0066] Translation steering mechanism 3, upper platform 31, lower platform 32, center limit joint 33, guide rail 34, guide rod 341, linear bearing 342, rocker drive assembly 35, linear drive 351, drive motor 3511, driving wheel 3512, driven wheel 3513, synchronous belt 3514, transmission block 3515, fixed connecting rod 352, driving connecting rod 353, lifting assembly 36, lifting cylinder 361, passive support rotation assembly 37, transverse slide rail 371, longitudinal slide rail 372, support slider 373, support rotation joint 374;

[0067] Install the base 4;

[0068] Tool translation mechanism 5, screw motor 51, ball screw pair 52, screw 522, sliding platform 53;

[0069] Tool turning mechanism 6 , fixed base 61 , rotating platform 62 , rotating steering gear 63 , first connecting rod 64 , and second connecting rod 65 . DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0071] See also Figure 1 , Figure 2 and Figure 3 In this embodiment, a crawling robot for heat transfer tube maintenance includes a central tube clamping mechanism 1, a symmetrical tube clamping mechanism 2 and a translation steering mechanism 3. The central tube clamping mechanism 1 can clamp and release the tube sheet; Figure 1 As shown, there are two symmetrical pipe clamp mechanisms 2, which are symmetrically arranged on both sides of the central pipe clamp mechanism 1 (they can be the left and right sides, or the front and back sides, Figure 1 The embodiment given is arranged on both sides of the front and rear of the central tube clamp mechanism 1, and clamps the tube sheet when the central tube clamp mechanism 1 releases the tube sheet, so as to ensure that the crawling robot is always connected to the tube sheet. Figure 2 and Figure 3As shown, the translation steering mechanism 3 connects the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2, and is used to drive the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 to move alternately, and to drive the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 to rotate successively. The maintenance tool is installed at the bottom center position of the translation steering mechanism 3 to avoid the load capacity of the crawling robot being reduced due to the uneven load of the maintenance tool installation. The maintenance tool is used to repair the heat transfer tube. When inspecting the heat transfer tube, the crawling robot of this embodiment needs to move to the heat transfer tube to be inspected, so the crawling robot needs to be able to move forward and also needs to turn. The specific implementation process is as follows: when the central tube clamping mechanism 1 clamps the tube sheet, the translation steering mechanism 3 drives the two symmetrical tube clamping mechanisms 2 to move forward a certain distance, and then the two symmetrical tube clamping mechanisms 2 clamp the tube sheet and keep it stationary. After the central tube clamping mechanism 1 releases the tube sheet, the translation steering mechanism 3 drives the central tube clamping mechanism 1 to move forward a certain distance, and then the central tube clamping mechanism 1 clamps the tube sheet again and keeps it stationary. After the two symmetrical tube clamping mechanisms 2 release the tube sheet, the translation steering mechanism 3 drives the two symmetrical tube clamping mechanisms 2 to move forward again. This cycle is repeated to realize the alternating forward movement of the central tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2, thereby realizing the rapid forward movement of the crawling robot. The alternating forward movement of the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 is similar to the form of moving forward by alternately grasping the horizontal bar of the ladder with both hands. The central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 are equivalent to two hands, and the grasped horizontal bar is similar to the tube plate. As the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 continuously alternately clamp the tube plate and move forward, the crawling robot can move quickly. Since the central tube clamp mechanism 1 and the two symmetrical tube clamp mechanisms 2 are symmetrically distributed, the central tube clamp mechanism 1 is on the symmetry axis of the two symmetrical tube clamp mechanisms 2, and the crawling robot also moves forward along the extension direction of this symmetry axis. When the central tube clamp mechanism 1 clamps the tube sheet, the translation steering mechanism 3 drives the two symmetrical tube clamp mechanisms 2 to rotate a certain angle, and then the two symmetrical tube clamp mechanisms 2 clamp the tube sheet without moving. After the central tube clamp mechanism 1 releases the tube sheet, the translation steering mechanism 3 drives the central tube clamp mechanism 1 to rotate the same angle in the direction of the rotation of the two symmetrical tube clamp mechanisms 2, ensuring that the central tube clamp mechanism 1 is again on the symmetry axis of the two symmetrical tube clamp mechanisms 2. At this time, the entire crawling robot is rotated, and the crawling robot is turned. When the robot needs to perform maintenance tasks, the central tube clamp mechanism 1 and the two symmetrical tube clamp mechanisms 2 clamp the tube sheet at the same time, and use the maintenance tools to repair the target heat transfer tube, such as the pipe blocking task of the damaged heat transfer tube. By alternating the movement of the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2, the size of the robot can be reduced and the flexibility can be increased, especially in a small space, and rapid movement can be achieved. At the same time, the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 are arranged symmetrically as a whole, which can avoid the problem of eccentric loading of the crawling robot and cause instability of the crawling robot during movement.The crawling robot of this embodiment can not only accomplish the task of blocking the heat transfer tube of the evaporator, but also can replace different maintenance tools according to other maintenance tasks to accomplish other maintenance tasks.

[0072] like Figure 2 , Figure 3 and Figure 4As shown, the translation and steering mechanism 3 of this embodiment includes an upper platform 31, a lower platform 32, a center limit joint 33, a guide rail 34, a rocker drive assembly 35 and a lifting assembly 36; the upper platform 31 and the lower platform 32 are arranged horizontally in an upper and lower direction, and the size of the upper platform 31 is smaller than that of the lower platform 32. The central pipe clamp mechanism 1 is installed on the upper platform 31, and two symmetrical pipe clamp mechanisms 2 are installed on both sides of the lower platform 32 near the edge through a set of lifting assemblies 36, and the symmetrical pipe clamp mechanisms 2 pass over the upper platform 31 and are nearly flush with the central pipe clamp mechanism 1. The guide rail 34 is provided with a guide rod 341 and a linear bearing 342. The guide rod 341 is installed on the upper surface of the lower platform 32 and extends along the forward movement direction of the crawling robot. The linear bearing 342 is sleeved on the guide rod 341 and can move along the axial direction of the guide rod 341. One end of the center limit joint 33 is connected to the linear bearing 342, and the other end is connected to the center of the upper platform 31 and can rotate. There are two groups of rocker drive assemblies 35, which are centrally symmetrically arranged on both sides of the central limit joint 33 and connected to the upper platform 31 and the lower platform 32, and are used to drive the upper platform 31 and the lower platform 32 to alternately move forward and rotate successively. The upper platform 31 and the lower platform 32 are designed in a split type and connected by the rocker drive assembly 35. When the central tube clamp mechanism 1 clamps the tube sheet and the symmetrical tube clamp mechanism 2 releases the tube sheet, the upper platform 31 is relatively fixed to the tube sheet, and the lower platform 32 can move forward and backward under the synchronous and unidirectional driving of the two groups of rocker drive assemblies 35, and the lower platform 32 is displaced relative to the upper platform 31 (tube sheet); when the symmetrical tube clamp mechanism 2 clamps the tube sheet and the central tube clamp mechanism 1 releases the tube sheet, the lower platform 32 is relatively fixed to the tube sheet, and the upper platform 31 can move forward and backward under the synchronous and unidirectional driving of the two groups of rocker drive assemblies 35, and the upper platform 31 is displaced relative to the lower platform 32 (tube sheet). That is to say, the upper platform 31 and the lower platform 32 can move forward relative to the tube sheet under the synchronous and unidirectional driving of the two sets of rocker drive assemblies 35, and the central tube clamping mechanism 1 moves forward with the upper platform 31 / the symmetrical tube clamping mechanism 2 moves forward with the lower platform 32 relative to the tube sheet, thereby changing the clamping position of the central tube clamping mechanism 1 / the symmetrical tube clamping mechanism 2 and the tube sheet, thereby realizing the forward movement of the crawling robot. When the central tube clamp mechanism 1 clamps the tube sheet and the symmetrical tube clamp mechanism 2 releases the tube sheet, the upper platform 31 is relatively fixed to the tube sheet, and the lower platform 32 can rotate under the synchronous reverse drive of the two sets of rocker drive components 35, and the lower platform 32 rotates relative to the tube sheet; when the symmetrical tube clamp mechanism 2 clamps the tube sheet and the central tube clamp mechanism 1 releases the tube sheet, the lower platform 32 is relatively fixed to the tube sheet, and the upper platform 31 can rotate under the synchronous reverse drive of the two sets of rocker drive components 35, and the upper platform 31 rotates relative to the tube sheet. When the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 rotate successively with the upper platform 31 and the lower platform 32, the connection angles of the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 with the tube sheet change, so as to realize the steering of the crawling robot. Figure 2 and Figure 3As shown, the lifting assembly 36 of this embodiment includes two lifting cylinders 361, which are used to drive the symmetrical tube clamp mechanism 2 and the central tube clamp mechanism 1 to move up and down, so as to avoid the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 from interfering with the tube sheet when they move forward. Specifically, each lifting cylinder 361 is provided with a lifting piston rod, the cylinder body of the lifting cylinder 361 is connected to the lower platform 32, and the lifting piston rod is connected to the symmetrical tube clamp mechanism 2. When the symmetrical tube clamp mechanism 2 needs to clamp the tube sheet, gas is filled into the lifting cylinder 361, and the lifting piston rod of the lifting cylinder 361 extends and drives the symmetrical tube clamp mechanism 2 to move up. After the symmetrical tube clamp mechanism 2 clamps the tube sheet, the central tube clamp mechanism 1 releases the tube sheet, and the lifting cylinder 361 is inflated again. The cylinder body of the lifting cylinder 361 drives the central tube clamp mechanism 1 to move down via the lower platform, so as to avoid the central tube clamp mechanism 1 from interfering with the tube sheet when it moves forward. When the central tube clamp mechanism 1 needs to clamp the tube sheet, the lifting cylinder 361 is exhausted, the cylinder body of the lifting cylinder 361 moves upward, and drives the translation steering mechanism 3 and the central tube clamp mechanism 1 to move upward via the lower platform. After the central tube clamp mechanism 1 clamps the tube sheet, the symmetrical tube clamp mechanism 2 releases the tube sheet, and the lifting cylinder 361 is exhausted again, the lifting piston rod of the lifting cylinder 361 retracts, and drives the symmetrical tube clamp mechanism 2 to move downward, so as to avoid interference between the symmetrical tube clamp mechanism 2 and the tube sheet when moving forward.

[0073] Specifically, Figure 2 and Figure 3As shown, each rocker drive assembly 35 includes a linear driver 351, a fixed link 352 and a driving link 353. The linear driver 351 is installed on the lower platform 32. One end of the fixed link 352 is connected to the linear driver 351, and the other end is hinged to one end of the driving link 353. The other end of the driving link 353 is eccentrically connected to the upper platform 31 and can rotate. When the central tube clamping mechanism 1 clamps the tube sheet, the upper platform 31 remains stationary, and the two linear drivers 351 synchronously drive the corresponding fixed links 352 and driving links 353 to move in the front-rear direction. The two driving links 353 pull the upper platform 31 in the same direction. Since the upper platform 31 remains stationary, the pulling force is reversely transmitted to the lower platform 32, and the lower platform 32 drives the symmetrical tube clamping mechanism 2 to move forward. When the symmetrical tube clamp mechanism 2 moves into position, the symmetrical tube clamp mechanism 2 clamps the tube sheet, and the lower platform 32 remains stationary. Then the central tube clamp mechanism 1 releases the tube sheet, and the two linear drivers 351 synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-rear direction. The two driving connecting rods 353 drive the upper platform 31 to move forward, and the upper platform 31 drives the central tube clamp mechanism 1 to move forward until the central tube clamp mechanism 1 moves into position. The central tube clamp mechanism 1 clamps the tube sheet again, and the above steps are repeated, so that the upper platform 31 and the lower platform 32 generate relative displacement in the forward direction under the drive of the two sets of rocker drive assemblies 35, so as to realize the alternating forward movement of the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2, thereby realizing the movement of the crawling robot. When the central tube clamping mechanism 1 clamps the tube sheet, the two linear drivers 351 synchronously and reversely drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-rear direction. The two driving connecting rods 353 generate eccentric forces in opposite directions on the upper platform 31 with the central limit joint 33 as the center. However, the upper platform 31 is fixedly connected to the tube sheet via the central tube clamping mechanism 1, so the two eccentric forces are reversely transmitted to the lower platform 32. The lower platform 32 rotates around the central limit joint 33, and the symmetrical tube clamping mechanism 2 rotates with the lower platform 32 to realize the steering of the symmetrical tube clamping mechanism 2. When the symmetrical tube clamping mechanism 2 clamps the tube sheet, the two linear drivers 351 synchronously and reversely drive the corresponding fixed connecting rods 352 and driving connecting rods 353. 3 moves in the front-rear direction (the driving direction of the linear driver 351 this time is opposite to that of the previous driving direction), and the two driving connecting rods 353 generate eccentric forces in opposite directions on the upper platform 31 with the central limiting joint 33 as the center, and the upper platform 31 rotates around the central limiting joint 33 until the central tube clamping mechanism 1 on the upper platform 31 is in line with the symmetry axis of the two symmetrical tube clamping mechanisms 2, and the upper platform 31 stops rotating to realize the steering of the central tube clamping mechanism 1. At this time, the central tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2 have both completed steering, and the crawling robot realizes steering, and then the translation steering mechanism 3 can continue to drive the central tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2 to move forward alternately, so that the crawling robot continues to move forward.Among them, the linear drive 351 is preferably a linear motion module of a synchronous belt 3514, which specifically includes a driving motor 3511, a driving wheel, a driven wheel 3513, a synchronous belt 3514 and a transmission block 3515. The synchronous belt 3514 is installed on the lower platform 32 and tensioned via the driving wheel and the driven wheel 3513. The motor shaft of the driving motor 3511 is connected to the driving wheel, the transmission block 3515 is connected to the synchronous belt 3514, and the fixed connecting rod 352 is connected to the transmission block 3515 and moves with the transmission block 3515. When the driving motor 3511 drives the driving wheel to rotate, the synchronous belt 3514 rotates forward or reversely, and the transmission block 3515 moves in the front-to-back direction with the forward or reverse rotation of the synchronous belt 3514, thereby realizing the front-to-back movement of the fixed connecting rod 352. In this embodiment, the forward movement and steering of the crawling robot are realized by the same-direction drive and reverse drive of the two sets of rocker drive assemblies 35. While simplifying the driving components, the two sets of rocker drive assemblies 35 are symmetrically arranged to avoid the problem of eccentric load of the crawling robot.

[0074] like Figure 2 and Figure 3As shown, the translation and steering mechanism 3 of this embodiment also includes two passive support rotation components 37, and the two passive support rotation components 37 are centrally symmetrically arranged on both sides of the central limit joint 33, and connect the upper platform 31 and the lower platform 32, so as to share the load borne by the rocker drive component 35; each passive support rotation component 37 includes two transverse slide rails 371, two longitudinal slide rails 372, six support sliders 373 and two support rotation joints 374, the two transverse slide rails 371 are installed side by side on the lower platform 32, and each transverse slide rail 371 extends in the front-to-back direction; the two longitudinal slide rails 372 are arranged side by side and extend in the left-to-right direction, and a support slider 373 is installed at each end of each longitudinal slide rail 372, and the longitudinal slide rail 372 is connected to the transverse slide rail 371 via the support slider 373 and can move in the front-to-back direction. The two support rotating joints 374 are respectively installed on the two longitudinal slide rails 372 via a support slider 373, and can move left and right along the longitudinal slide rails 372; the top of the support rotating joint 374 is rotatably connected to the upper platform 31. The sliding connection between the transverse slide rail 371 and the longitudinal slide rail 372, the sliding connection between the support rotating joint 374 and the longitudinal slide rail 372, and the rotation connection between the support rotating joint 374 and the upper platform 31 enable the support rotating joint 374 to have three degrees of freedom, namely, the degree of freedom of forward and backward movement, the degree of freedom of left and right movement, and the degree of freedom of rotation. When the upper platform 31 is connected to the tube sheet via the central tube clamp mechanism 1, the upper platform 31 remains stationary, and the two sets of rocker drive assemblies 35 pull the lower platform 32 synchronously and in the same direction. While the support rotating joint 374 moves with the lower platform 32, it drives the longitudinal slide rail 372 to move along the transverse slide rail 371 to support the lower platform 32. When the lower platform 32 is connected to the tube sheet via the symmetrical tube clamp mechanism 2, the lower platform 32 remains stationary, and the two sets of rocker drive assemblies 35 pull the upper platform 31 synchronously and in the same direction, and the support rotation joint 374 moves with the upper platform 31, while driving the longitudinal slide rail 372 to move along the transverse slide rail 371 to support the upper platform 31. When the upper platform 31 is connected to the tube sheet via the central tube clamp mechanism 1, the upper platform 31 remains stationary, and the two sets of rocker drive assemblies 35 pull the lower platform 32 synchronously in opposite directions, and the lower platform 32 rotates around the central limit joint 33, and the support rotation joint 374 slides along the longitudinal slide rail 372 while rotating with the lower platform 32, and drives the longitudinal slide rail 372 to slide along the transverse slide rail 371, and the support rotation joint 374 as a whole forms a circumferential motion rotating around the central limit joint 33 to support the lower platform 32. When the lower platform 32 is connected to the tube sheet via the symmetrical tube clamp mechanism 2, the lower platform 32 remains stationary, and the two sets of rocker drive assemblies 35 synchronously pull the upper platform 31 in opposite directions, and the upper platform 31 rotates around the center limit joint 33. The support rotation joint 374 slides along the longitudinal slide rail 372 while rotating with the upper platform 31, and drives the longitudinal slide rail 372 to slide along the transverse slide rail 371. The support rotation joint 374 as a whole forms a circumferential motion rotating around the center limit joint 33 to support the upper platform 31.This embodiment uses two sets of passive support rotating components 37 to support the upper platform 31 and the lower platform 32, so as to avoid the rocker drive component 35 from bearing the entire weight of the upper platform 31 and the lower platform 32 when driving the upper platform 31 and the lower platform 32 to move forward or rotate, resulting in a large load on the rocker drive component 35, which affects the service life and time of the rocker drive component 35. In addition, the two sets of passive support rotating components 37 are arranged symmetrically, which not only avoids the problem of eccentric loading of the crawling robot, but also realizes four-point symmetrical support for the upper platform 31 and the lower platform 32, thereby improving the safety and reliability of the crawling robot during the pipe plugging operation.

[0075] like Figure 5 As shown, the central tube clamp mechanism 1 of this embodiment includes a central mounting shell 11 and four first tube hole locking toes 12 for fixing the tube sheet. The four first tube hole locking toes 12 are evenly mounted on the central mounting shell 11. Each first tube hole locking toe 12 includes a first clamping jaw 121, a first top cone 122 and a first driving cylinder 123. The first clamping jaw 121 can expand outward and is used to connect the tube hole; two first top cones 122 are provided, and one first top cone 122 is provided on each side of the first clamping jaw 121; the first driving cylinder 123 connects the first clamping jaw 121 and the two first top cones 122. When the central tube clamp mechanism 1 needs to clamp the tube sheet, the first driving cylinder 123 in the four first tube hole locking toes 12 simultaneously drives the corresponding first clamping jaws 121 and the two first top cones 122 to move upward, and the first clamping jaws 121 are inserted into the tube holes of the tube sheet until the two first top cones 122 touch the surface of the tube sheet, and the first clamping jaws 121 expand and connect the tube holes of the tube sheet to achieve the clamping and fixing of the central tube clamp mechanism 1 and the tube sheet. Among them, the number of the first tube hole locking toes 12 can be changed according to the form of different tube sheets.

[0076] like Figure 2 and Figure 6As shown, the symmetrical tube clamp mechanism 2 of this embodiment includes a symmetrical mounting shell 21 and two second tube hole locking toes 22 for fixing the tube sheet. The two second tube hole locking toes 22 are mounted on the symmetrical mounting shell 21, and the lifting cylinder 361 is connected to the symmetrical mounting shell 21; each second tube hole locking toe 22 includes a second clamping claw 221, a second top cone 222 and a second driving cylinder 223, and the second clamping claw 221 can expand outward and is used to connect the tube hole of the tube sheet; there are two second top cones 222, and a second clamping claw 221 is provided on each side. The second driving cylinder 223 connects the second clamping jaw 221 and the two second top cones 222; when the symmetrical tube clamp mechanism 2 needs to clamp the tube sheet, the two lifting cylinders 361 drive the symmetrical tube clamp mechanism 2 to move upward, and then the two second driving cylinders 223 synchronously drive the corresponding second clamping jaws 221 and the two second top cones 222 to move upward, and the second clamping jaws 221 are inserted into the tube hole of the tube sheet until the two second top cones 222 are pushed to the surface of the tube sheet, and the second clamping jaws 221 expand and connect the tube hole to achieve the clamping and fixing of the symmetrical tube clamp mechanism 2 and the tube sheet. Among them, the number of the second tube hole locking toes 22 can be changed according to the form of different tube sheets.

[0077] During the heat transfer tube maintenance process, the crawling robot needs to carry a heavy maintenance tool (pipe plugging tool) to move. If the maintenance tool is directly installed on one side of the crawling robot, the crawling robot will be seriously overloaded, resulting in reduced equipment reliability and safety. To this end, this embodiment also includes a mounting base 4, a tool translation mechanism 5 and a tool flip mechanism 6, such as Figures 7 to 11 As shown, the mounting base 4 is mounted on the lower platform 32 of the translation and steering mechanism 3, the tool translation mechanism 5 is mounted on the mounting base 4, and is used to control the forward and backward movement of the maintenance tool; the tool flipping mechanism 6 connects the tool translation mechanism 5 and the maintenance tool, and is used to control the flipping of the maintenance tool, wherein when the crawling robot moves, the maintenance tool is in a horizontal state; when the crawling robot moves into position, the tool translation mechanism 5 drives the tool flipping mechanism 6 and the maintenance tool to move forward or backward to the edge of the lower platform 32 (to avoid the maintenance tool from flipping out of position), and the tool flipping mechanism 6 flips the maintenance tool to one side of the crawling robot and is in a vertical state, so that the maintenance tool is aligned with the pipe hole for maintenance. In this embodiment, the maintenance tool is designed at the bottom of the crawling robot and laid flat, and the tool translation mechanism 5 adjusts the horizontal position of the maintenance tool, thereby ensuring that the overall mass distribution of the maintenance tool and the crawling robot is uniform, avoiding the problem of overload during the movement of the crawling robot, and improving the stability of the crawling robot during movement. The tool flipping mechanism 6 can adjust the maintenance tool to a vertical posture to complete the maintenance work when the crawling robot moves into position and needs to operate.

[0078] Specifically, Figure 7As shown, the tool translation mechanism 5 of this embodiment includes a screw motor 51, a ball screw pair 52 and a sliding platform 53. The ball screw pair 52 is installed at the bottom of the mounting base 4. The ball screw pair 52 is provided with a screw nut and a screw 522. The screw 522 is connected to the motor shaft of the screw motor 51 and rotates with the motor shaft. The screw nut is screwed to the screw 522 and is slidably connected to the mounting base 4. The sliding platform 53 is connected to the screw nut and moves forward and backward with the screw nut. The tool flipping mechanism 6 is installed on the sliding platform 53 and moves forward and backward with the sliding platform 53. Figure 8 and Fig.10 As shown, when the crawling robot moves to the position, the lead screw motor 51 drives the lead screw nut to move via the lead screw 522, and the tool flipping mechanism 6 moves to the edge of the lower platform 32 along with the lead screw nut via the sliding platform 53, as shown in FIG. Fig. 9 and Fig.11 As shown, the tool flipping mechanism 6 drives the maintenance tool to flip to achieve the maintenance purpose. After the heat transfer tube is repaired, the tool flipping mechanism 6 flips the maintenance tool and lays it flat, the lead screw motor 51 drives the lead screw nut to move in the reverse direction, and the tool flipping mechanism 6 moves to the center position of the translation steering mechanism 3 with the lead screw nut via the sliding platform 53 to avoid eccentric loading of the crawling robot when it moves forward.

[0079] like Figure 7 As shown, the tool flipping mechanism 6 of this embodiment includes a fixed base 61, a rotating platform 62, a rotating steering gear 63, a first connecting rod 64 and a second connecting rod 65. The fixed base 61 is installed at the bottom of the sliding platform 53, the rotating platform 62 is arranged at one side of the fixed base 61, and the maintenance tool is installed on the rotating platform 62; there are two rotating steering gears 63, and the two rotating steering gears 63 connect the fixed base 61 and the rotating platform 62; one end of the first connecting rod 64 is hinged to the fixed base 61, and the other end is hinged to one end of the second connecting rod 65, and the other end of the second connecting rod 65 is hinged to the rotating platform 62; when the tool translation mechanism 5 drives the tool flipping mechanism 6 to move to the edge of the lower platform 32, the two rotating steering gears 63 synchronously drive the rotating platform 62 to flip, and at the same time, the first connecting rod 64 and the second connecting rod 65 gradually unfold and support the rotating platform 62, and the maintenance tool flips to one side of the crawling robot with the rotating platform 62 and is in a vertical state, so that the maintenance tool is aligned with the target heat transfer tube.

[0080] The working process of the present invention is further described below to further demonstrate the working principle and advantages of the present invention:

[0081] The crawling robot moves forward: when the central tube clamp mechanism 1 clamps the tube sheet, the upper platform 31 remains stationary, and the two synchronous belts 3514 linear motion modules synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-rear direction. The two driving connecting rods 353 pull the upper platform 31 in the same direction. Since the upper platform 31 remains stationary, the pulling force is reversely transmitted to the lower platform 32, and the lower platform 32 drives the symmetrical tube clamp mechanism 2 to move forward. When the symmetrical tube clamp mechanism 2 moves into place, the two lifting cylinders 361 drive the symmetrical tube clamp mechanism 2 to move upward, and then the two second driving cylinders 223 synchronously drive the corresponding second clamping jaws 221 and the two second top cones 222 to move upward, and the second clamping jaws 221 are inserted into the tube hole of the tube sheet until the two second top cones 222 touch the surface of the tube sheet, and the second clamping jaws 221 expand and connect the tube hole, and the symmetrical tube clamp mechanism 2 is fixedly connected to the tube sheet. At this time, the lower platform 32 remains stationary, and then the central tube clamping mechanism 1 releases the tube sheet, and the two linear drivers 351 synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-rear direction in the same direction, and the two driving connecting rods 353 drive the upper platform 31 to move forward, and the upper platform 31 drives the central tube clamping mechanism 1 to move forward until the central tube clamping mechanism 1 moves into place, and the first driving cylinder 123 of the central tube clamping mechanism 1 simultaneously drives the corresponding first clamping jaws 121 and the two first top cones 122 to move upward, and the first clamping jaws 121 are inserted into the tube holes of the tube sheet until the two first top cones 122 touch the surface of the tube sheet, and the first clamping jaws 121 expand and connect the tube holes of the tube sheet, and the central tube clamping mechanism 1 is fixedly connected to the tube sheet again, and the above steps are repeated, so that the upper platform 31 and the lower platform 32 generate relative displacement in the forward direction under the drive of the two sets of rocker drive assemblies 35, so as to realize the alternating forward movement of the central tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2, thereby realizing the movement of the crawling robot.

[0082] The crawling robot turns: when the central tube clamping mechanism 1 clamps the tube sheet, the upper platform 31 remains stationary, and the two linear drivers 351 synchronously and reversely drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-rear direction. The two driving connecting rods 353 generate eccentric forces in opposite directions on the upper platform 31 with the central limit joint 33 as the center. However, the upper platform 31 is fixedly connected to the tube sheet via the central tube clamping mechanism 1, so the two eccentric forces are transmitted to the lower platform 32 in the opposite direction. The lower platform 32 rotates around the central limit joint 33, and the symmetrical tube clamping mechanism 2 rotates with the lower platform 32 to realize the steering of the symmetrical tube clamping mechanism 2; the two lifting cylinders 361 drive the symmetrical tube clamping mechanism 2 to move upward, and then the two second driving cylinders 223 synchronously drive the corresponding second clamping claws 221 and the two second top cones 222 to move upward, and the second clamping claws 221 are inserted into the tube holes of the tube sheet until the two second top cones 222 touch the surface of the tube sheet, and the second clamping claws 221 expand and connect the tube holes, and the symmetrical tube clamping mechanism 2 is fixedly connected to the tube sheet. At this time, the lower platform 32 is fixed to the tube plate, and the two linear drivers 351 synchronously reversely drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-rear direction (the driving direction of the linear driver 351 this time is opposite to the driving direction of the previous time), and the two driving connecting rods 353 generate eccentric forces in opposite directions on the upper platform 31 with the center limit joint 33 as the center. The upper platform 31 rotates around the center limit joint 33 until the center tube clamping mechanism 1 on the upper platform 31 is colinear with the axis of symmetry of the two symmetrical tube clamping mechanisms 2, and the upper platform 31 stops rotating to realize the steering of the center tube clamping mechanism 1. At this time, the center tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2 have completed steering, and the crawling robot realizes steering.

[0083] Heat transfer tube maintenance: When the crawling robot moves into position, the screw motor 51 drives the screw nut to move via the screw, and the tool flipping mechanism 6 and the maintenance tool move to the edge of the lower platform 32 along with the screw nut via the sliding platform 53. The two rotary servos 63 synchronously drive the rotating platform 62 to flip, and the maintenance tool flips to one side of the crawling robot along with the rotating platform 62 and is in a vertical state, so that the maintenance tool is aligned with the pipe hole of the target heat transfer tube to complete the maintenance work.

[0084] The embodiments described above are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A crawling robot for heat transfer tube maintenance, characterized in that: include: Central tube clamp mechanism, capable of clamping the tube sheet; The symmetrical tube clamping mechanism is provided with two symmetrical tube clamping mechanisms, which are symmetrically arranged on both sides of the central tube clamping mechanism and clamp the tube sheet when the central tube clamping mechanism releases the tube sheet; The translation steering mechanism connects the central tube clamp mechanism and the symmetrical tube clamp mechanism, and is used to drive the central tube clamp mechanism and the symmetrical tube clamp mechanism to move alternately and to drive the central tube clamp mechanism and the symmetrical tube clamp mechanism to rotate successively. The maintenance tool is installed on the translation steering mechanism and is used to maintain the heat transfer tube. When the central tube clamp mechanism and the symmetrical tube clamp mechanism clamp the tube sheet successively, the translation steering mechanism drives the symmetrical tube clamp mechanism and the central tube clamp mechanism to move forward successively, and repeats the cycle, so that the crawling robot moves forward under the alternating movement of the central tube clamp mechanism and the symmetrical tube clamp mechanism; when the central tube clamp mechanism and the symmetrical tube clamp mechanism clamp the tube sheet successively, the translation steering mechanism drives the symmetrical tube clamp mechanism and the central tube clamp mechanism to rotate to the same side successively, so as to realize the steering of the crawling robot; when the crawling robot moves into place, the maintenance tool operates to realize the maintenance of the heat transfer tube.

2. A crawling robot for heat transfer tube maintenance according to claim 1, characterized in that: The translation steering mechanism includes: Upper platform, the central pipe clamp mechanism is installed on the upper platform; A lower platform, wherein a symmetrical pipe clamp mechanism is installed on the lower platform; The center limit joint has one end connected to the lower platform and can move in the front-back direction, and the other end connected to the upper platform and can rotate; There are two sets of rocker drive components, which are symmetrically arranged on both sides of the central limit joint and connected to the upper platform and the lower platform to drive the upper platform and the lower platform to move forward alternately and rotate successively; When the central tube clamp mechanism clamps the tube sheet and the symmetrical tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the lower platform forward in the same direction to move the symmetrical tube clamp mechanism forward; when the symmetrical tube clamp mechanism clamps the tube sheet and the central tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the upper platform forward in the same direction to move the central tube clamp mechanism forward; when the central tube clamp mechanism clamps the tube sheet and the symmetrical tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the lower platform to rotate in the opposite direction to rotate the symmetrical tube clamp mechanism; when the symmetrical tube clamp mechanism clamps the tube sheet and the central tube clamp mechanism releases the tube sheet, the two sets of rocker drive assemblies synchronously drive the upper platform to rotate in the opposite direction to rotate the central tube clamp mechanism.

3. A crawling robot for heat transfer tube maintenance according to claim 2, characterized in that: The rocker drive assembly comprises a linear drive and a drive connecting rod. The linear drive is installed on the lower platform. One end of the drive connecting rod is hinged to the linear drive, and the other end is eccentrically connected to the upper platform and can rotate.

4. A crawling robot for heat transfer tube maintenance according to claim 2, characterized in that: The translation steering mechanism also includes two passive support rotating assemblies, which are centrally symmetrically arranged on both sides of the central limit joint and connected to the upper platform and the lower platform to share the load borne by the rocker drive assembly; Each passive support rotation assembly includes: A set of transverse slide rails are installed on the lower platform and extend in the front and rear directions; A set of longitudinal rails, mounted on the transverse rails and movable forward and backward, the longitudinal rails extending in the left and right directions; Support the rotating joint, the bottom is installed on the longitudinal slide rail and can move left and right, and the top is rotated and connected to the upper platform; When the rocker drive assembly synchronously drives the upper platform or the lower platform to move in the same direction, the supporting rotating joint moves along the transverse slide rail while the upper platform or the lower platform moves to support the upper platform or the lower platform; when the rocker drive assembly synchronously drives the upper platform or the lower platform to rotate in the opposite direction, the supporting rotating joint moves along the longitudinal slide rail and the transverse slide rail while the upper platform or the lower platform rotates to support the upper platform or the lower platform.

5. The crawling robot for heat transfer tube maintenance according to claim 1, characterized in that: The translational steering mechanism also includes two sets of lifting components, which are symmetrically arranged on both sides of the central tube clamp mechanism. Each set of lifting components connects the lower platform and the symmetrical tube clamp mechanism, and is used to drive the symmetrical tube clamp mechanism and the central tube clamp mechanism to move up and down, so as to avoid interference between the central tube clamp mechanism and the symmetrical tube clamp mechanism and the tube sheet when moving forward.

6. A crawling robot for heat transfer tube maintenance according to claim 1, characterized in that: The central tube clamp mechanism comprises at least two first tube hole locking toes for clamping the tube sheet, each first tube hole locking toe comprising: A first clamping jaw, which can expand outwards and is used to connect the pipe hole; There are two first top cones, one first top cone is arranged on each side of the first clamping jaw; A first driving cylinder is connected to the first clamping jaw and the two first top cones; When the first driving cylinder drives the first clamping jaw and the two first top cones to move upward, the first clamping jaw is inserted into the tube hole of the tube sheet until the two first top cones touch the surface of the tube sheet, and the first clamping jaw expands and connects the tube hole to achieve the clamping of the central tube clamping mechanism and the tube sheet.

7. The crawling robot for heat transfer tube maintenance according to claim 1, characterized in that: The symmetrical tube clamp mechanism comprises at least two second tube hole locking toes for clamping the tube sheet, each second tube hole locking toe comprising: A second clamping jaw, which can expand outwards and is used to connect the pipe hole; There are two second top cones, one second top cone is provided on each side of the second clamping jaw; A second driving cylinder is connected to the second clamping jaw and the two second top cones; When the second driving cylinder drives the second clamping jaw and the two second top cones to move upward, the second clamping jaw is inserted into the tube hole of the tube sheet until the two second top cones touch the surface of the tube sheet, and the second clamping jaw expands and connects the tube hole to realize the clamping of the symmetrical tube clamping mechanism and the tube sheet.

8. The crawling robot for heat transfer tube maintenance according to claim 1, characterized in that: Also includes: The tool translation mechanism is connected to the translation steering mechanism and is used to control the forward and backward movement of the maintenance tool; A tool flipping mechanism, connecting the tool translation mechanism and the maintenance tool, and used to control the flipping of the maintenance tool; When the crawling robot moves into position, the tool translation mechanism drives the tool flipping mechanism and the maintenance tool to move forward or backward to the edge of the translation steering mechanism, and the tool flipping mechanism flips the maintenance tool to one side of the crawling robot to align the maintenance tool with the pipe hole for maintenance.

9. A crawling robot for heat transfer tube maintenance according to claim 8, characterized in that: The tool translation mechanism includes: The ball screw pair is installed at the bottom of the translation steering mechanism and is provided with a screw nut; A sliding platform, the sliding platform is connected to the lead screw nut and the tool turning mechanism; When the crawling robot moves into position, the ball screw pair drives the screw nut to move, and the tool flipping mechanism moves with the screw nut via the sliding platform to the edge of the translation and steering mechanism, and drives the maintenance tool to flip so that the maintenance tool is aligned with the target tube to achieve the maintenance purpose; after the heat transfer tube is repaired, the tool flipping mechanism flips the maintenance tool and lays it flat, the ball screw pair drives the screw nut to move in the reverse direction, and the tool flipping mechanism moves with the screw nut via the sliding platform to the center of the translation and steering mechanism to avoid overloading of the crawling robot when it moves forward.

10. The crawling robot for heat transfer tube maintenance according to claim 8, characterized in that: The tool flipping mechanism includes: A fixed base is installed at the bottom of the tool translation mechanism; The rotating platform is arranged on one side of the fixed base, and the maintenance tools are installed on the rotating platform; Rotate the servo to connect the fixed base and the rotating platform; When the tool translation mechanism drives the tool flipping mechanism to move to the edge of the translation steering mechanism, the rotary servo drives the rotating platform to flip, and the maintenance tool flips with the rotating platform to one side of the crawling robot so that the maintenance tool is aligned with the target heat transfer tube.

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