A crawling robot for heat transfer pipe maintenance

Abstract

A kind of crawling robot for heat transfer pipe overhaul belongs to the field of robot technology of maintaining steam generator heat transfer pipe.To solve the problem that existing heat transfer pipe overhaul robot has big volume, poor flexibility, there is eccentric load, the present application includes center pipe clamping mechanism, symmetrical pipe clamping mechanism and translation steering mechanism, center pipe clamping mechanism can clamp and loosen tube sheet;Two symmetrical pipe clamping mechanisms are symmetrically arranged on the two sides of the center pipe clamping mechanism, and clamp the tube sheet when the center pipe clamping mechanism loosens the tube sheet, to ensure that the crawling robot is always connected to the tube sheet.The translation steering mechanism connects the center pipe clamping mechanism and the symmetrical pipe clamping mechanism, which is used to drive the alternating movement of the center pipe clamping mechanism and the symmetrical pipe clamping mechanism, and to drive the rotation of the center pipe clamping mechanism and the symmetrical pipe clamping mechanism in sequence, the maintenance tool is installed at the bottom of the translation steering mechanism, and is used for heat transfer pipe.The present application is used for the overhaul of heat transfer pipe.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology for repairing heat transfer tubes of steam generators, and particularly relates to a crawling robot for heat transfer tube repair. Background Technology

[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 utilize the specialized equipment of a steam generator (SG), using water as the medium and numerous heat transfer tubes as heat transfer units, to achieve heat exchange between the primary and secondary loops. Simultaneously, it confines radioactive materials within the primary loop, ensuring that the secondary loop equipment is not contaminated by radiation during normal unit operation. These heat transfer tubes operate under extreme environments of high temperature, high pressure, and radiation for extended periods. With walls only 1mm thick, they are highly susceptible to damage, potentially leading to nuclear power unit shutdown. To ensure the normal operation of the nuclear power unit and prevent the leakage of radioactive coolant, both ends of the damaged heat transfer tubes need to be plugged. Currently, the SG heat transfer tube maintenance robot used for heat transfer tube repair suffers from problems such as large size, poor maneuverability, and severe off-center loading at the tool end, resulting in reduced 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 clamping mechanism and the symmetrical tube clamping mechanism alternately clamp the tube sheet, the translation and steering mechanism drives the symmetrical tube clamping mechanism and the central tube clamping mechanism to move forward alternately, so as to enable the crawling robot to move quickly.

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

[0005] A crawling robot for heat transfer pipe maintenance includes:

[0006] The central tube clamp mechanism can hold the tube sheet;

[0007] Two symmetrical pipe clamping mechanisms are provided, which are symmetrically arranged on both sides of the central pipe clamping mechanism and clamp the pipe sheet when the central pipe clamping mechanism releases the pipe sheet.

[0008] The translation and steering mechanism connects the central tube clamp mechanism and the symmetrical tube clamp mechanism. It is used to drive the alternating movement of the central tube clamp mechanism and the symmetrical tube clamp mechanism and to drive the sequential rotation of the central tube clamp mechanism and the symmetrical tube clamp mechanism. The maintenance tool is installed on the translation and steering mechanism and is used to maintain the heat transfer tube.

[0009] When the central clamping mechanism and the symmetrical clamping mechanism clamp the tube sheet in sequence, the translational steering mechanism drives the symmetrical clamping mechanism and the central clamping mechanism to move forward in sequence, repeating this cycle so that the crawling robot moves forward under the alternating movement of the central clamping mechanism and the symmetrical clamping mechanism; when the central clamping mechanism and the symmetrical clamping mechanism clamp the tube sheet in sequence, the translational steering mechanism drives the symmetrical clamping mechanism and the central clamping mechanism to rotate to the same side in sequence to realize the turning of the crawling robot; when the crawling robot moves into position, the maintenance tool operates to realize the maintenance of the heat transfer tube.

[0010] Preferably, the translation steering mechanism includes:

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

[0012] The lower platform is equipped with a symmetrical pipe clamp mechanism.

[0013] The central limiting joint is connected to the lower platform at one end and can move in the front-to-back direction, and connected to the upper platform at the other end and can rotate.

[0014] The joystick drive assembly consists of two sets, which are symmetrically arranged on both sides of the central limiting joint and connected to the upper and lower platforms. They are used to drive the upper and lower platforms to move forward and rotate alternately.

[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 components synchronously drive the lower platform forward in the same direction, so that the symmetrical tube clamp mechanism moves 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 components synchronously drive the upper platform forward in the same direction, so that the central tube clamp mechanism moves 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 components synchronously drive the lower platform to rotate in opposite directions, so that the symmetrical tube clamp mechanism rotates; 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 components synchronously drive the upper platform to rotate in opposite directions, so that the central tube clamp mechanism rotates.

[0016] Preferably, the rocker drive assembly includes a linear driver and a drive link. The linear driver is mounted on the lower platform, and one end of the drive link is hinged to the linear driver, while the other end is eccentrically connected to the upper platform and is rotatable.

[0017] Preferably, the translational steering mechanism further includes two passively supported rotating assemblies, which are symmetrically arranged on both sides of the central limiting joint and connected to the upper and lower platforms to share the load borne by the rocker drive assembly; each passively supported rotating assembly includes:

[0018] A set of transverse slide rails is installed on the lower platform and extends in the front-to-back direction;

[0019] A set of longitudinal slide rails is installed on the transverse slide rails and can move back and forth. The longitudinal slide rails extend in the left and right directions.

[0020] The support is a rotating joint, with the bottom mounted on a longitudinal slide rail and able to move left and right, and the top rotating and connected to the upper platform;

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

[0022] Preferably, the translation and steering mechanism further includes two sets of lifting components, which are symmetrically arranged on both sides of the central tube clamping mechanism. Each set of lifting components connects the lower platform and the symmetrical tube clamping mechanism, and is used to drive the symmetrical tube clamping mechanism and the central tube clamping mechanism to move up and down, so as to avoid interference between the central tube clamping mechanism and the symmetrical tube clamping mechanism and the tube sheet when moving forward.

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

[0024] The first gripper can expand outwards to connect to the pipe hole;

[0025] There are two first apex cones, one on each side of the first gripper;

[0026] The first drive cylinder is connected to the first gripper and two first top cones;

[0027] When the first drive cylinder drives the first gripper and the two first top cones to move upward, the first gripper inserts into the tube hole of the tube sheet until the two first top cones reach the surface of the tube sheet. The first gripper then expands and connects to the tube hole to achieve clamping between the central tube clamping mechanism and the tube sheet.

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

[0029] The second gripper can expand outwards to connect to the pipe hole;

[0030] There are two second apex cones, one on each side of the second gripper;

[0031] The second drive cylinder is connected to the second gripper and two second top cones;

[0032] When the second drive cylinder drives the second gripper and the two second top cones to move upward, the second gripper inserts into the tube hole of the tube sheet until the two second top cones reach the surface of the tube sheet. The second gripper then expands and connects to the tube hole to achieve clamping between the symmetrical tube clamping mechanism and the tube sheet.

[0033] Preferably, it includes:

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

[0035] The tool flipping mechanism connects the tool translation mechanism and the maintenance tool, and is 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 inspection tool to move forward or backward to the edge of the translation and steering mechanism. The tool flipping mechanism flips the inspection tool to one side of the crawling robot so that the inspection tool is aligned with the pipe hole for inspection.

[0037] Preferably, the tool translation mechanism includes:

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

[0039] A sliding platform, which connects the lead screw nut and the tool tilting mechanism;

[0040] When the crawling robot moves into position, the ball screw pair drives the screw nut to move. The tool flipping mechanism moves along with the screw nut to the edge of the translation and steering mechanism via the sliding platform, 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 maintained, the tool flipping mechanism flips the maintenance tool and lays it flat. The ball screw pair drives the screw nut to move in the opposite direction. The tool flipping mechanism moves along with the screw nut to the center position of the translation and steering mechanism via the sliding platform to avoid the crawling robot from being overloaded when moving forward.

[0041] Preferably, the tool flipping mechanism includes:

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

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

[0044] Rotary servo motor, connecting 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 pipe.

[0046] The beneficial effects of this invention compared to the prior art are:

[0047] 1. The crawling robot moves forward by alternating between a central clamping mechanism and a symmetrical clamping mechanism. This reduces the robot's size and increases its mobility, enabling rapid movement, especially in confined spaces. Furthermore, the symmetrical arrangement of the central clamping mechanism and the symmetrical clamping mechanism prevents the crawling robot from experiencing uneven loading, which could cause instability during movement.

[0048] 2. Two sets of passive support rotating components are used to support the upper and lower platforms. This avoids the joystick drive assembly from bearing the entire weight of the upper and lower platforms while driving them forward or rotate, which would result in a heavy load on the joystick drive assembly and affect its service life. Furthermore, the two sets of passive support rotating components are arranged symmetrically, which not only avoids the uneven loading problem of the crawling robot but also provides four-point symmetrical support for the upper and lower platforms, improving the safety and reliability of the crawling robot during pipe-blocking operations.

[0049] 3. The forward movement and turning of the crawling robot are achieved by using two sets of rocker drive components with co-directional and reverse drive. This simplifies the drive components, and the two sets of rocker drive components are symmetrically arranged to avoid the problem of off-center loading of the crawling robot.

[0050] 4. The maintenance tools are designed to be placed flat on the bottom of the crawling robot. The tool translation mechanism can adjust the horizontal position of the maintenance tools, thereby ensuring a uniform weight distribution between the maintenance tools and the crawling robot, avoiding uneven loading during the movement of the crawling robot, and improving the stability of the crawling robot during movement. The tool flipping mechanism can adjust the maintenance tools to a vertical position when the crawling robot has moved into place and is ready for operation, thus enabling the maintenance work. Attached Figure Description

[0051] The accompanying drawings, which form part of this application, are provided to further illustrate the invention.

[0052] Figure 1 This is a three-dimensional structural diagram of a crawling robot for heat transfer pipe maintenance according to the present invention.

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

[0054] Figure 3 This is a top view of the translation steering mechanism.

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

[0056] Figure 5 This is a schematic diagram of the central clamp mechanism.

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

[0058] Figure 7 Assembly drawing for mounting 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, with the maintenance tools in a flat position before maintenance of the heat transfer tube.

[0060] Figure 9 This is a schematic diagram of a crawling robot for heat transfer tube maintenance according to the present invention, with the maintenance tools in a flipped state before maintenance of the heat transfer tube.

[0061] Figure 10 This is a schematic diagram of the state of a crawling robot for heat transfer tube maintenance according to the present invention, in which the maintenance tool is moved to the edge of the lower platform via a tool translation mechanism before the heat transfer tube is maintained.

[0062] Figure 11 This is a schematic diagram of the state in which the repair tool of the crawling robot for heat transfer tube repair is flipped to the side of the crawling robot via a tool flipping mechanism before the heat transfer tube is repaired.

[0063] Explanation of reference numerals in the attached figures:

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

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

[0066] Translation and steering mechanism 3, upper platform 31, lower platform 32, center limiting joint 33, guide rail 34, guide rod 341, linear bearing 342, rocker drive assembly 35, linear actuator 351, drive motor 3511, driving wheel 3512, driven wheel 3513, synchronous belt 3514, transmission block 3515, fixed connecting rod 352, drive 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] Mounting base 4;

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

[0069] Tool flipping mechanism 6, fixed base 61, rotating platform 62, rotating servo motor 63, first link 64, second link 65. Detailed Implementation

[0070] To make the objectives, 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 with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0071] See Figure 1 , Figure 2 and Figure 3 This embodiment of a crawling robot for heat transfer tube maintenance includes a central tube clamping mechanism 1, a symmetrical tube clamping mechanism 2, and a translational steering mechanism 3. The central tube clamping mechanism 1 can clamp and release the tube sheet; as shown... Figure 1 As shown, there are two symmetrical pipe clamping mechanisms 2, which are symmetrically arranged on both sides of the central pipe clamping mechanism 1 (they can be the left and right sides, or the front and back sides). Figure 1 The given embodiment is configured on both the front and rear sides of the central tube clamping mechanism 1, and clamps the tube sheet when the central tube clamping mechanism 1 releases it, to ensure that the crawling robot is always connected to the tube sheet. Figure 2 and Figure 3As shown, the translation and steering mechanism 3 connects the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2, and is used to drive the alternating movement of the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2, as well as to drive the sequential rotation of the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2. The maintenance tool is installed at the bottom center position of the translation and steering mechanism 3 to avoid the crawling robot's load capacity reduction caused by the off-center load of the maintenance tool installation. The maintenance tool is used to maintain the heat transfer tube. In this embodiment, the crawling robot needs to move to the heat transfer tube to be repaired during the maintenance of the heat transfer tube. Therefore, the crawling robot needs to not only move forward but also turn. The specific implementation process is as follows: When the central tube clamping mechanism 1 clamps the tube sheet, the translation and turning mechanism 3 drives the two symmetrical tube clamping mechanisms 2 to move forward a certain distance. Then, the two symmetrical tube clamping mechanisms 2 clamp the tube sheet and remain stationary. After the central tube clamping mechanism 1 releases the tube sheet, the translation and turning mechanism 3 drives the central tube clamping mechanism 1 to move forward a certain distance. Then, the central tube clamping mechanism 1 clamps the tube sheet again and remains stationary. After the two symmetrical tube clamping mechanisms 2 release the tube sheet, the translation and turning mechanism 3 drives the two symmetrical tube clamping mechanisms 2 to move forward again. This cycle repeats, realizing the alternating forward movement of the central tube clamping mechanism 1 and the symmetrical tube clamping mechanisms 2, thereby realizing the rapid forward movement of the crawling robot. The alternating forward movement of the central clamping mechanism 1 and the symmetrical clamping mechanism 2 is similar to the movement of two hands alternately gripping the crossbar of a ladder. The central clamping mechanism 1 and the symmetrical clamping mechanism 2 are like two hands, and the gripped crossbar is like a tube sheet. As the central clamping mechanism 1 and the symmetrical clamping mechanism 2 continuously and alternately clamp the tube sheet and move forward, the crawling robot can move rapidly. Because the central clamping mechanism 1 and the two symmetrical clamping mechanisms 2 are symmetrically distributed, the central clamping mechanism 1 is located on the axis of symmetry of the two symmetrical clamping mechanisms 2, and the crawling robot also moves forward along the extension direction of this axis of symmetry. When the central clamping mechanism 1 clamps the tube sheet, the translational steering mechanism 3 drives the two symmetrical clamping mechanisms 2 to rotate by a certain angle. Then, the two symmetrical clamping mechanisms 2 hold the tube sheet stationary. After the central clamping mechanism 1 releases the tube sheet, the translational steering mechanism 3 drives the central clamping mechanism 1 to rotate by the same angle in the direction of rotation of the two symmetrical clamping mechanisms 2, ensuring that the central clamping mechanism 1 is once again on the axis of symmetry of the two symmetrical clamping mechanisms 2. At this point, the entire crawling robot rotates, achieving the robot's turning. When the robot needs to perform maintenance tasks, the central clamping mechanism 1 and the two symmetrical clamping mechanisms 2 simultaneously clamp the tube sheet, using maintenance tools to inspect the target heat transfer tube, such as plugging a damaged heat transfer tube. By alternating the movement of the central clamping mechanism 1 and the symmetrical clamping mechanisms 2, the robot's size can be reduced and its flexibility increased, especially in confined spaces, enabling rapid movement. Simultaneously, the symmetrical arrangement of the central clamping mechanism 1 and the symmetrical clamping mechanisms 2 avoids the crawling robot from experiencing off-center loading, preventing instability during movement.The crawling robot in this embodiment can not only perform the task of blocking the heat transfer tubes of the evaporator, but also change different maintenance tools to perform 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 central limiting 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 relative to each other, and the size of the upper platform 31 is smaller than that of the lower platform 32. The central clamping mechanism 1 is installed on the upper platform 31, and two symmetrical clamping mechanisms 2 are respectively installed on both sides of the lower platform 32 near the edge via a set of lifting assemblies 36. The symmetrical clamping mechanisms 2 extend beyond the upper platform 31 and are nearly flush with the central clamping 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 fitted onto the guide rod 341 and can move along the axial direction of the guide rod 341. One end of the central limiting 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. Two sets of rocker drive assemblies 35 are provided, symmetrically arranged on both sides of the central limiting joint 33 and connected to the upper platform 31 and the lower platform 32. They are used to drive the upper platform 31 and the lower platform 32 to move forward and rotate alternately. The upper platform 31 and the lower platform 32 are designed separately and connected by the rocker drive assemblies 35. When the central tube clamping mechanism 1 clamps the tube sheet and the symmetrical tube clamping mechanism 2 releases the tube sheet, the upper platform 31 is relatively fixed to the tube sheet, and the lower platform 32 can move back and forth under the synchronous and unidirectional drive of the two sets of rocker drive assemblies 35, and the lower platform 32 is displaced relative to the upper platform 31 (tube sheet). When the symmetrical tube clamping mechanism 2 clamps the tube sheet and the central tube clamping mechanism 1 releases the tube sheet, the lower platform 32 is relatively fixed to the tube sheet, and the upper platform 31 can move back and forth under the synchronous and unidirectional drive of the two sets of rocker drive assemblies 35, and the upper platform 31 is displaced relative to the lower platform 32 (tube sheet). In other words, the upper platform 31 and the lower platform 32 can move forward relative to the tube sheet under the synchronous and unidirectional drive of the two sets of rocker drive components 35. The central tube clamping mechanism 1 moves forward relative to the tube sheet along with the upper platform 31 and the symmetrical tube clamping mechanism 2 along with the lower platform 32, which changes the clamping position between the central tube clamping mechanism 1 / symmetrical tube clamping mechanism 2 and the tube sheet, thereby realizing the forward movement of the crawling robot. When the central clamping mechanism 1 clamps the tube sheet and the symmetrical clamping mechanism 2 releases the tube sheet, the upper platform 31 is relatively fixed to the tube sheet, while the lower platform 32 can rotate under the synchronous reverse drive of the two sets of rocker drive components 35, rotating relative to the tube sheet. When the symmetrical clamping mechanism 2 clamps the tube sheet and the central clamping mechanism 1 releases the tube sheet, the lower platform 32 is relatively fixed to the tube sheet, while the upper platform 31 can rotate under the synchronous reverse drive of the two sets of rocker drive components 35, rotating relative to the tube sheet. As the central clamping mechanism 1 and the symmetrical clamping mechanism 2 rotate sequentially with the upper platform 31 and the lower platform 32, the connection angle between the central clamping mechanism 1 and the symmetrical clamping mechanism 2 and the tube sheet changes, thus enabling the crawling robot to turn. Figure 2 and Figure 3As shown, the lifting assembly 36 in this embodiment includes two lifting cylinders 361, used to drive the symmetrical tube clamping mechanism 2 and the central tube clamping mechanism 1 to move up and down, avoiding interference between the central tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2 and 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 clamping mechanism 2. When the symmetrical tube clamping mechanism 2 needs to clamp the tube sheet, gas is injected into the lifting cylinder 361. The lifting piston rod of the lifting cylinder 361 extends and drives the symmetrical tube clamping mechanism 2 to move upward. After the symmetrical tube clamping mechanism 2 clamps the tube sheet, the central tube clamping 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 clamping mechanism 1 to move downward via the lower platform, avoiding interference between the central tube clamping mechanism 1 and the tube sheet when it moves forward. When the central tube clamping mechanism 1 needs to clamp the tube sheet, the lifting cylinder 361 exhausts air, the cylinder body of the lifting cylinder 361 moves upward, and drives the translation steering mechanism 3 and the central tube clamping mechanism 1 to move upward via the lower platform. After the central tube clamping mechanism 1 clamps the tube sheet, the symmetrical tube clamping mechanism 2 releases the tube sheet, the lifting cylinder 361 exhausts air again, the lifting piston rod of the lifting cylinder 361 retracts, and drives the symmetrical tube clamping mechanism 2 to move downward, so as to avoid interference between the symmetrical tube clamping mechanism 2 and the tube sheet when it moves forward.

[0073] Specifically, such as Figure 2 and Figure 3As shown, each rocker drive assembly 35 includes a linear actuator 351, a fixed link 352, and a drive link 353. The linear actuator 351 is mounted on the lower platform 32. One end of the fixed link 352 is connected to the linear actuator 351, and the other end is hinged to one end of the drive link 353. The other end of the drive 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. The two linear actuators 351 synchronously drive the corresponding fixed link 352 and drive link 353 to move in the front-back direction. The two drive links 353 pull the upper platform 31 in the same direction. Since the upper platform 31 remains stationary, this pulling force is transmitted in the opposite direction to the lower platform 32, which drives the symmetrical tube clamping mechanism 2 to move forward. When the symmetrical tube clamping mechanism 2 moves into position, it clamps the tube sheet, while the lower platform 32 remains stationary. Then, the central tube clamping mechanism 1 releases the tube sheet, and the two linear actuators 351 synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-back direction. 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 position. Then, the central tube clamping mechanism 1 clamps the tube sheet again. 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 components 35, so as to realize the alternating forward movement of the central tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2, thus realizing the movement of the crawling robot. When the central tube clamping mechanism 1 clamps the tube sheet, the two linear actuators 351 synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 in opposite directions to move in the front-back direction. 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. However, the upper platform 31 is fixed to the tube sheet via the central tube clamping mechanism 1, so these two eccentric forces are transmitted in opposite directions to the lower platform 32. The lower platform 32 rotates around the central limiting joint 33, and the symmetrical tube clamping mechanism 2 rotates with the lower platform 32, realizing the steering of the symmetrical tube clamping mechanism 2. When the symmetrical tube clamping mechanism 2 clamps the tube sheet, the two linear actuators 351 synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 in opposite directions to move in the front-back direction. 3. Move along the front-back direction (the driving direction of the linear actuator 351 is opposite to the driving direction of the previous one). The two driving links 353 generate eccentric forces in opposite directions on the upper platform 31 with the central limiting joint 33 as the center. The upper platform 31 rotates around the central limiting joint 33 until the central tube clamp mechanism 1 on the upper platform 31 is collinear with the axis of symmetry of the two symmetrical tube clamp mechanisms 2. The upper platform 31 stops rotating, realizing the turning of the central tube clamp mechanism 1. At this time, both the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 have completed their turning. The crawling robot has realized the turning. Then the translational turning mechanism 3 can continue to drive the alternating forward movement of the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 so that the crawling robot can continue to move forward.The linear actuator 351 is preferably a linear motion module of a synchronous belt 3514, specifically including a drive motor 3511, a drive wheel, a driven wheel 3513, a synchronous belt 3514, and a transmission block 3515. The synchronous belt 3514 is mounted on the lower platform 32 and tensioned via the drive wheel and the driven wheel 3513. The motor shaft of the drive motor 3511 is connected to the drive wheel, and the transmission block 3515 is connected to the synchronous belt 3514. The fixed link 352 is connected to the transmission block 3515 and moves with the transmission block 3515. When the drive motor 3511 drives the drive wheel to rotate, the synchronous belt 3514 rotates forward or backward. The transmission block 3515 moves in the forward or backward direction along with the forward or backward rotation of the synchronous belt 3514, thereby realizing the forward and backward movement of the fixed link 352. This embodiment uses the same-direction drive and reverse drive of two sets of rocker drive components 35 to realize the forward movement and turning of the crawling robot. While simplifying the drive components, the two sets of rocker drive components 35 are symmetrically arranged to avoid the problem of off-center loading of the crawling robot.

[0074] like Figure 2 and Figure 3As shown, the translational steering mechanism 3 of this embodiment also includes two passively supported rotating components 37. The two passively supported rotating components 37 are centrally symmetrically arranged on both sides of the central limiting joint 33 and connected to the upper platform 31 and the lower platform 32 to share the load borne by the rocker drive component 35. Each passively supported rotating component 37 includes two transverse slide rails 371, two longitudinal slide rails 372, six support sliders 373 and two support rotating 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-back direction. The two longitudinal slide rails 372 are arranged side by side and extend in the left-right direction. Each end of each longitudinal slide rail 372 is equipped with a support slider 373. The longitudinal slide rails 372 are connected to the transverse slide rails 371 via the support sliders 373 and can move in the front-back direction. Two supporting rotary joints 374 are respectively mounted on two longitudinal slide rails 372 via a supporting slider 373, and can move left and right along the longitudinal slide rails 372; the top of the supporting rotary 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 supporting rotary joint 374 and the longitudinal slide rail 372, and the rotatable connection between the supporting rotary joint 374 and the upper platform 31 give the supporting rotary joint 374 three degrees of freedom: forward and backward movement, left and right movement, and 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. As the supporting rotary 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. The two sets of rocker drive components 35 synchronously pull the upper platform 31 in the same direction. As the support rotation joint 374 moves with the upper platform 31, it drives 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. The two sets of rocker drive components 35 synchronously pull the lower platform 32 in opposite directions. The lower platform 32 rotates around the central limiting joint 33. As the lower platform 32 rotates, the support rotation joint 374 slides along the longitudinal slide rail 372, 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 around the central limiting 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. The two sets of rocker drive components 35 synchronously pull the upper platform 31 in opposite directions. The upper platform 31 rotates around the central limiting joint 33. The supporting rotating joint 374 slides along the longitudinal slide rail 372 while the upper platform 31 rotates, and drives the longitudinal slide rail 372 to slide along the transverse slide rail 371. The supporting rotating joint 374 as a whole forms a circumferential motion around the central limiting joint 33 to support the upper platform 31.This embodiment utilizes two sets of passive support rotating components 37 to support the upper platform 31 and the lower platform 32. This avoids the joystick drive component 35 bearing the entire weight of the upper and lower platforms 31 and 32 when driving them forward or rotate, which would result in a heavy load on the joystick drive component 35 and affect its service life. Furthermore, the two sets of passive support rotating components 37 are arranged symmetrically, which not only avoids the uneven loading problem of the crawling robot but also provides four-point symmetrical support for the upper and lower platforms 31 and 32, improving the safety and reliability of the crawling robot during pipe-blocking operations.

[0075] like Figure 5 As shown, the central tube clamping mechanism 1 of this embodiment includes a central mounting housing 11 and four first tube hole locking toes 12 for fixing the tube sheet. The four first tube hole locking toes 12 are evenly installed on the central mounting housing 11. Each first tube hole locking toe 12 includes a first gripper 121, a first top cone 122 and a first driving cylinder 123. The first gripper 121 can expand outward and is used to connect to the tube hole. There are two first top cones 122, one on each side of the first gripper 121. The first driving cylinder 123 connects the first gripper 121 and the two first top cones 122. When the central tube clamping mechanism 1 needs to clamp the tube sheet, the first drive cylinder 123 of the four first tube hole locking toes 12 simultaneously drives the corresponding first gripper 121 and two first top cones 122 to move upward. The first gripper 121 inserts into the tube hole of the tube sheet until the two first top cones 122 reach the surface of the tube sheet. The first gripper 121 expands and connects to the tube hole of the tube sheet, thereby achieving the clamping and fixing of the central tube clamping mechanism 1 with the tube sheet. The number of first tube hole locking toes 12 can be changed according to different tube sheet forms.

[0076] like Figure 2 and Figure 6As shown, the symmetrical pipe clamping mechanism 2 of this embodiment includes a symmetrical mounting housing 21 and two second pipe hole locking toes 22 for fixing the pipe sheet. The two second pipe hole locking toes 22 are mounted on the symmetrical mounting housing 21, and the lifting cylinder 361 is connected to the symmetrical mounting housing 21. Each second pipe hole locking toe 22 includes a second gripper 221, a second top cone 222, and a second drive cylinder 223. The second gripper 221 can expand outward and is used to connect to the pipe hole of the pipe sheet. There are two second top cones 222, and one second top cone is provided on each side of the second gripper 221. The top cone 222; the second drive cylinder 223 connects the second gripper 221 and the two second top cones 222; when the symmetrical tube clamping mechanism 2 needs to clamp the tube sheet, the two lifting cylinders 361 drive the symmetrical tube clamping mechanism 2 to move upward, and then the two second drive cylinders 223 synchronously drive the corresponding second gripper 221 and the two second top cones 222 to move upward. The second gripper 221 inserts into the tube hole of the tube sheet until the two second top cones 222 reach the surface of the tube sheet. The second gripper 221 expands and connects to the tube hole to achieve clamping and fixing of the symmetrical tube clamping mechanism 2 and the tube sheet. The number of second tube hole locking toes 22 can be changed according to different tube sheet forms.

[0077] During heat transfer pipe maintenance, a crawling robot is needed to carry heavy maintenance tools (pipe-plugging tools). If the maintenance tools are directly mounted on one side of the crawling robot, it will cause severe uneven loading, leading to reduced equipment reliability and safety. Therefore, this embodiment also includes a mounting base 4, a tool translation mechanism 5, and a tool flipping mechanism 6. Figures 7 to 11 As shown, the mounting base 4 is installed on the lower platform 32 of the translation and steering mechanism 3, and the tool translation mechanism 5 is installed on the mounting base 4 and 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. 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 not being flipped into position). The tool flipping mechanism 6 flips the maintenance tool to one side of the crawling robot and into a vertical state so that the maintenance tool is aligned with the pipe hole for maintenance. In this embodiment, the maintenance tool is designed to be placed flat at the bottom of the crawling robot, 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 uneven load on the crawling robot during movement, and improving the stability of the crawling robot during movement. The tool flipping mechanism 6 can adjust the maintenance tool to a vertical position when the crawling robot moves into place and needs to perform the operation, so as to realize the maintenance work.

[0078] Specifically, such as Figure 7As shown, the tool translation mechanism 5 in this embodiment includes a lead screw motor 51, a ball screw assembly 52, and a sliding platform 53. The ball screw assembly 52 is mounted on the bottom of the mounting base 4. The ball screw assembly 52 has a lead screw nut and a lead screw 522. The lead screw 522 is connected to the motor shaft of the lead screw motor 51 and rotates with the motor shaft. The lead screw nut is screwed to the lead screw 522 and slidably connected to the mounting base 4. The sliding platform 53 is connected to the lead screw nut and moves back and forth with the lead screw nut. The tool tilting mechanism 6 is mounted on the sliding platform 53 and moves back and forth with the sliding platform 53. Figure 8 and Figure 10 As shown, when the crawling robot moves into 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 via the sliding platform 53 along with the lead screw nut. Figure 9 and Figure 11 As shown, the tool flipping mechanism 6 drives the maintenance tool to flip to achieve the maintenance purpose. After the heat transfer tube maintenance is completed, 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 opposite direction. The tool flipping mechanism 6 moves with the lead screw nut to the center position of the translation and steering mechanism 3 via the sliding platform 53 to avoid the crawling robot from being overloaded when moving forward.

[0079] like Figure 7 As shown, the tool flipping mechanism 6 in this embodiment includes a fixed base 61, a rotating platform 62, a rotary servo motor 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, and the rotating platform 62 is arranged on one side of the fixed base 61. The maintenance tool is installed on the rotating platform 62. There are two rotary servo motors 63, which 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. 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 rotary servo motors 63 synchronously drive the rotating platform 62 to flip. At the same time, the first connecting rod 64 and the second connecting rod 65 gradually unfold and support the rotating platform 62. The maintenance tool flips with the rotating platform 62 to one side of the crawling robot and is in a vertical state so that the maintenance tool is aligned with the target heat transfer pipe.

[0080] The following further explains the working process of the present invention to further demonstrate its working principle and advantages:

[0081] The crawling robot moves forward: When the central tube clamping mechanism 1 clamps the tube sheet, the upper platform 31 remains stationary. The two synchronous belts 3514 linear motion modules drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-back direction in the same direction. The two driving connecting rods 353 pull the upper platform 31 in the same direction. Since the upper platform 31 remains stationary, this pulling force is transmitted in the opposite direction to the lower platform 32. The lower platform 32 drives the symmetrical tube clamping mechanism 2 to move forward. When the symmetrical tube clamping mechanism 2 moves into position, the two lifting cylinders 361 drive the symmetrical tube clamping mechanism 2 to move upward. Then, the two second driving cylinders 223 synchronously drive the corresponding second grippers 221 and two second top cones 222 to move upward. The second grippers 221 are inserted into the tube holes of the tube sheet until the two second top cones 222 reach the surface of the tube sheet. The second grippers 221 expand and connect to the tube holes, and the symmetrical tube clamping mechanism 2 is fixedly connected to the tube sheet. At this time, the lower platform 32 remains stationary. Then, the central tube clamping mechanism 1 releases the tube sheet. The two linear actuators 351 synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 to move in the front-back direction. The two driving connecting rods 353 drive the upper platform 31 to move forward. The upper platform 31 drives the central tube clamping mechanism 1 to move forward until the central tube clamping mechanism 1 moves into place. At this time, the first driving cylinder 123 of the central tube clamping mechanism 1 simultaneously drives the corresponding first gripper 121 and two first top cones 122 to move upward. The first gripper 121 is inserted into the tube hole of the tube sheet until the two first top cones 122 reach the surface of the tube sheet. The first gripper 121 expands and connects to the tube hole of the tube sheet. The central tube clamping mechanism 1 is fixedly connected to the tube sheet again. 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 components 35, so as to realize the alternating forward movement of the central tube clamping mechanism 1 and the symmetrical tube clamping mechanism 2, and realize the movement of the crawling robot.

[0082] Turning of the crawling robot: When the central tube clamping mechanism 1 clamps the tube sheet, the upper platform 31 remains stationary. The two linear actuators 351 synchronously drive the corresponding fixed connecting rods 352 and driving connecting rods 353 in opposite directions to move in the front-back direction. 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. However, the upper platform 31 is fixed to the tube sheet through the central tube clamping mechanism 1, so these two eccentric forces are transmitted to the lower platform 32 in the opposite direction. The lower platform 32 rotates around the central limiting joint 33, and the symmetrical tube clamping mechanism 2 rotates with the lower platform 32 to realize the turning of the symmetrical tube clamping mechanism 2. The two lifting cylinders 361 drive the symmetrical tube clamping mechanism 2 to move upward. Then, the two second driving cylinders 223 synchronously drive the corresponding second grippers 221 and two second top cones 222 to move upward. The second grippers 221 are inserted into the tube holes of the tube sheet until the two second top cones 222 reach the surface of the tube sheet. The second grippers 221 expand and connect to 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 sheet, and the two linear actuators 351 synchronously drive the corresponding fixed link 352 and drive link 353 to move in the front-back direction (the driving direction of the linear actuators 351 this time is opposite to the driving direction of the previous time). The two drive links 353 generate eccentric forces in opposite directions on the upper platform 31 with the central limiting joint 33 as the center. The upper platform 31 rotates around the central limiting joint 33 until the central tube clamp mechanism 1 on the upper platform 31 is collinear with the axis of symmetry of the two symmetrical tube clamp mechanisms 2. The upper platform 31 stops rotating, realizing the turning of the central tube clamp mechanism 1. At this time, both the central tube clamp mechanism 1 and the symmetrical tube clamp mechanism 2 have completed the turning, and the crawling robot has realized the turning.

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

[0084] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the concept of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A crawling robot for heat transfer pipe maintenance, characterized in that, include: The central tube clamp mechanism can hold the tube sheet; Two symmetrical pipe clamping mechanisms are provided, which are symmetrically arranged on both sides of the central pipe clamping mechanism and clamp the pipe sheet when the central pipe clamping mechanism releases the pipe sheet. The translation and steering mechanism connects the central tube clamp mechanism and the symmetrical tube clamp mechanism. It is used to drive the alternating movement of the central tube clamp mechanism and the symmetrical tube clamp mechanism and to drive the sequential rotation of the central tube clamp mechanism and the symmetrical tube clamp mechanism. The maintenance tool is installed on the translation and steering mechanism and is used to maintain the heat transfer tube. When the central clamping mechanism and the symmetrical clamping mechanism clamp the tube sheet in sequence, the translational steering mechanism drives the symmetrical clamping mechanism and the central clamping mechanism to move forward in sequence, repeating the cycle so that the crawling robot moves forward under the alternating movement of the central clamping mechanism and the symmetrical clamping mechanism; when the central clamping mechanism and the symmetrical clamping mechanism clamp the tube sheet in sequence, the translational steering mechanism drives the symmetrical clamping mechanism and the central clamping mechanism to rotate to the same side in sequence, so as to realize the turning of the crawling robot; When the crawling robot moves into position, the maintenance tools are put into operation to perform maintenance on the heat transfer tubes; The translation steering mechanism includes: The central pipe clamp mechanism is installed on the upper platform; The lower platform is equipped with a symmetrical pipe clamp mechanism. The central limiting joint is connected to the lower platform at one end and can move in the front-to-back direction, and connected to the upper platform at the other end and can rotate. The joystick drive assembly consists of two sets, which are symmetrically arranged on both sides of the central limiting joint and connected to the upper and lower platforms. They are used to drive the upper and lower platforms to move forward and rotate alternately. 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 components synchronously drive the lower platform forward in the same direction, so that the symmetrical tube clamp mechanism moves 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 components synchronously drive the upper platform forward in the same direction, so that the central tube clamp mechanism moves 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 components synchronously drive the lower platform to rotate in opposite directions, so that the symmetrical tube clamp mechanism rotates; 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 components synchronously drive the upper platform to rotate in opposite directions, so that the central tube clamp mechanism rotates. The joystick drive assembly includes a linear actuator, a fixed link, and a drive link. The linear actuator is mounted on the lower platform, and the fixed link and drive link are located on the lower surface of the upper platform. One end of the fixed link is connected to the linear actuator, and the other end is hinged to one end of the drive link. The other end of the drive link is eccentrically connected to the lower surface of the upper platform and is rotatable.

2. The crawling robot for heat transfer pipe maintenance according to claim 1, characterized in that, The translational steering mechanism also includes two passively supported rotating components. The two passively supported rotating components are symmetrically arranged on both sides of the central limiting joint and connected to the upper platform and the lower platform to share the load borne by the rocker drive component. Each passively supported rotating component includes: A set of transverse slide rails is installed on the lower platform and extends in the front-to-back direction; A set of longitudinal slide rails is installed on the transverse slide rails and can move back and forth. The longitudinal slide rails extend in the left and right directions. The support is a rotating joint, with the bottom mounted on a longitudinal slide rail and able to move left and right, and the top rotating and connected to the upper platform; When the joystick drive assembly synchronously drives the upper or lower platform to move in the same direction, the support rotary joint moves along the transverse slide rail while moving with the upper or lower platform to support the upper or lower platform; when the joystick drive assembly synchronously drives the upper or lower platform to rotate in the opposite direction, the support rotary joint moves along the longitudinal and transverse slide rails while rotating with the upper or lower platform to support the upper or lower platform.

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

4. A crawling robot for heat transfer pipe maintenance according to claim 1, characterized in that, The central tube clamp mechanism includes at least two first-hole locking toes for clamping the tube sheet, each first-hole locking toe including: The first gripper can expand outwards to connect to the pipe hole; There are two first apex cones, one on each side of the first gripper; The first drive cylinder is connected to the first gripper and two first top cones; When the first drive cylinder drives the first gripper and the two first top cones to move upward, the first gripper inserts into the tube hole of the tube sheet until the two first top cones reach the surface of the tube sheet. The first gripper then expands and connects to the tube hole to achieve clamping between the central tube clamping mechanism and the tube sheet.

5. A crawling robot for heat transfer pipe maintenance according to claim 1, characterized in that, The symmetrical tube clamp mechanism includes at least two second tube hole locking toes for clamping the tube sheet, each second tube hole locking toe including: The second gripper can expand outwards to connect to the pipe hole; There are two second apex cones, one on each side of the second gripper; The second drive cylinder is connected to the second gripper and two second top cones; When the second drive cylinder drives the second gripper and the two second top cones to move upward, the second gripper inserts into the tube hole of the tube sheet until the two second top cones reach the surface of the tube sheet. The second gripper then expands and connects to the tube hole to achieve clamping between the symmetrical tube clamping mechanism and the tube sheet.

6. A crawling robot for heat transfer pipe maintenance according to claim 1, characterized in that, Also includes: The tool translation mechanism, connected to the translation and steering mechanism, is used to control the forward and backward movement of the maintenance tool; The tool flipping mechanism connects the tool translation mechanism and the maintenance tool, and is 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 inspection tool to move forward or backward to the edge of the translation and steering mechanism. The tool flipping mechanism flips the inspection tool to one side of the crawling robot so that the inspection tool is aligned with the pipe hole for inspection.

7. A crawling robot for heat transfer pipe maintenance according to claim 6, characterized in that, The tool translation mechanism includes: The ball screw assembly is installed at the bottom of the translation steering mechanism and is equipped with a screw nut; A sliding platform, which connects the lead screw nut and the tool tilting mechanism; During the movement of the crawling robot, the ball screw pair drives the screw nut to move, adjusting the relative position of the maintenance tool and the robot, thereby reducing the center of gravity imbalance during movement. 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, driving 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 maintained, the tool flipping mechanism flips the maintenance tool and lays it flat, and the ball screw pair drives the screw nut to move in the opposite direction. The tool flipping mechanism moves with the screw nut via the sliding platform to the center position of the translation and steering mechanism to avoid the crawling robot from being unbalanced when moving forward.

8. A crawling robot for heat transfer pipe maintenance according to claim 6, characterized in that, The tool flipping mechanism includes: A fixed base is installed at the bottom of the tool translation mechanism; A rotating platform is located on one side of the fixed base, and maintenance tools are installed on the rotating platform; Rotary servo motor, connecting 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 pipe.

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