Tube plate crawling robot

Abstract

The invention discloses a tube plate crawling robot arranged on a tube plate of a steam generator, which comprises a first crawling arm, a second crawling arm, a first connecting piece, a second connecting piece and a probe guide device, and pneumatic locking devices are respectively arranged on the first crawling arm and the second crawling arm; the tube plate crawling robot can crawl on a tube plate through the crawling arms and the pneumatic locking devices matched with the crawling arms, the probe guiding devices and the crawling arms are connected through the rotatable connecting pieces, the two crawling arms are connected through the rotatable connecting pieces, and therefore the tube plate crawling robot has multiple degrees of freedom and can crawl on the tube plate after installation is completed, and the tube plate crawling robot is convenient to use. The heat transfer tubes on the whole tube plate can be detected through one-time installation, secondary installation by maintainers is not needed, and the exposure dose of the maintainers is reduced; meanwhile, after the robot moves in place, the covered heat transfer tube area is large, the positioning efficiency is high, and the detection efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of nuclear power plant steam generator detection, and in particular to a tube sheet crawling robot. Background Art

[0002] The steam generator is a nuclear safety primary component that connects the primary and secondary circuit systems in a nuclear power plant. Its tube sheet and inverted U-shaped heat transfer tube are components of the primary coolant pressure boundary and are also the second protective barrier to prevent the leakage of radioactive substances. To ensure the heat exchange efficiency, the thickness of the heat transfer tube is very thin, usually around 1mm. Considering its harsh operating environment of high temperature, high pressure, and nuclear radiation, as well as the serious consequences of the leakage of radioactive substances after damage, relevant laws and regulations require regular inspection and maintenance of the steam generator heat transfer tube.

[0003] When performing the maintenance work of the steam generator heat transfer tube, it needs to be carried out in the steam generator water chamber. The steam generator water chamber is part of the primary circuit of the nuclear power plant. The environmental dose rate is very high. It is necessary to use remotely controlled automated inspection equipment to perform related inspection and maintenance work, and the tube sheet positioning robot is a commonly used equipment. At present, the tube sheet positioning robot used for steam generator heat transfer tube inspection is mostly a fixed installation maintenance arm robot. The robot is installed on the manhole flange of the steam generator, or directly installed on the steam generator water chamber tube sheet. This robot has a large maintenance range, but it is often heavy and bulky, and it is inconvenient to install, debug and maintain. When the robot is fixed on the tube sheet, the installation area of ​​the robot cannot be repaired, and a secondary installation must be performed to achieve full coverage of the tube sheet. The installation of the robot requires the relevant maintenance personnel to enter the steam generator water chamber for installation, and the secondary installation will increase the number of times the maintenance personnel enter the steam generator water chamber and the residence time in the steam generator water chamber, thereby increasing the radiation dose of the maintenance personnel; the secondary installation will also increase the maintenance time and reduce efficiency. Summary of the invention

[0004] In order to solve one of the technical problems existing in the prior art, the present application provides a tube sheet crawling robot that can crawl on the tube sheet and has multiple degrees of freedom, covers a large area of ​​heat transfer tubes, and has high detection efficiency.

[0005] According to some embodiments of the present application, a tube sheet crawling robot is provided, which is arranged on the tube sheet of a steam generator and is used to detect heat transfer tubes on the tube sheet. The tube sheet crawling robot comprises: a first crawling arm, which comprises a first body and a first movable seat movably arranged on the first body, and the first movable seat can perform linear motion relative to the first body; a second crawling arm, which comprises a second body and a second movable seat movably arranged on the second body, and the second movable seat can perform linear motion relative to the second body; a first connecting member, one end of the first connecting member is connected to the first body, and the other end of the first connecting member is connected to the second body, and at least one of the first body or the second body can rotate relative to the first connecting member; a second connecting member, one end of the second connecting member is connected to the second body, and the second connecting member can rotate relative to the second body; a probe A guiding device, wherein the probe guiding device is connected to the other end of the second connecting piece; pneumatic locking devices are respectively arranged on the first body, the first movable seat, the second body and the second movable seat, and the pneumatic locking devices cooperate with the tube sheet to fix the tube sheet crawling robot, and the pneumatic locking devices have a locking state and a release state, and each of the pneumatic locking devices is configured to be independently switched between the locking state and the release state; when the pneumatic locking device is in the locking state, one or more of the first body, the first movable seat, the second body and the second movable seat corresponding to the pneumatic locking device in the locking state are fixed to the tube sheet; when the pneumatic locking device is in the release state, one or more of the first body, the first movable seat, the second body and the second movable seat corresponding to the pneumatic locking device in the release state can move relative to the tube sheet.

[0006] In some embodiments, a first motion axis is provided on the first body, the first movable seat is provided on the first motion axis, and the first movable seat performs linear motion relative to the first body under the action of the first motion axis; a second motion axis is provided on the second body, the second movable seat is provided on the second motion axis, and the second movable seat performs linear motion relative to the second body under the action of the second motion axis.

[0007] In some embodiments, two first movable seats are provided, the two first movable seats are symmetrically arranged on both sides of the first body, and the two first movable seats move synchronously; two second movable seats are provided, the two second movable seats are symmetrically arranged on both sides of the second body, and the two second movable seats move synchronously.

[0008] In some embodiments, a first driving motor is disposed in the first body, and the first driving motor drives the first movable seat to move relative to the first body; a second driving motor is disposed in the second body, and the second driving motor drives the second movable seat to move relative to the second body.

[0009] In some embodiments, a pneumatic locking device is provided on the first connecting member.

[0010] In some embodiments, the pneumatic locking device includes a columnar insertion portion and a driving device for driving the insertion portion to enter the heat transfer tube; a pneumatic telescopic structure is provided on the side wall of the insertion portion, and when the telescopic structure is extended, it presses against the inner wall of the heat transfer tube to fix the insertion portion in the heat transfer tube, and the pneumatic locking device is in a locked state; when the telescopic structure is retracted, the insertion portion can be withdrawn from the heat transfer tube, and the pneumatic locking device is in a loosened state.

[0011] In some embodiments, the first connecting member includes a first rotation joint and a second rotation joint; the first body is connected to the first connecting member through the first rotation joint, and the first body or the first connecting member can rotate around the first rotation joint; the second body is connected to the first connecting member through the second rotation joint, and the second body or the first connecting member can rotate around the second rotation joint.

[0012] In some embodiments, the second connecting member includes a third rotation joint, the second body is connected to the second connecting member via the third rotation joint, and the second connecting member can rotate around the third rotation joint.

[0013] In some embodiments, a first rotary motor for driving the first rotary joint to rotate and a second rotary motor for driving the second rotary joint to rotate are disposed in the first connecting member; a third rotary motor for driving the third rotary joint to rotate is disposed in the second connecting member.

[0014] In some embodiments, two guide holes are provided on the probe guide device.

[0015] The beneficial effects of the present application are as follows: the tube sheet crawling robot of the present application is applied to the field of nuclear power plant maintenance, the tube sheet crawling robot has a probe guide device and two crawling arms, the tube sheet crawling robot can crawl on the tube sheet through the crawling arms and the pneumatic locking devices matched therewith, and the probe guide device and the crawling arms, as well as the two crawling arms, are connected by rotatable connecting parts, so that the tube sheet crawling robot has multiple degrees of freedom, and after installation, it can crawl on the tube sheet, and the heat transfer tubes on the entire tube sheet can be inspected with one installation, without the need for secondary installation by maintenance personnel, thereby reducing the radiation dose of maintenance personnel; at the same time, after the robot moves into place, the covered heat transfer tube area is large, the positioning efficiency is high, and the detection efficiency is improved.

[0016] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present application, the present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present application and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 It is a structural schematic diagram of the tube sheet crawling robot provided by the present application;

[0019] Figure 2 This is the main view of the tube sheet crawling robot;

[0020] Figure 3 It is a schematic diagram of the structure of the pneumatic locking device;

[0021] Figure 4 is a schematic diagram of the initial state of the tube sheet crawling robot;

[0022] Figure 5 This is a schematic diagram of the state of the tube sheet crawling robot after its first movement;

[0023] Figure 6 This is a schematic diagram of the state of the tube sheet crawling robot after the second movement;

[0024] Figure 7 This is a schematic diagram of the state of the tube sheet crawling robot after the third movement.

[0025] Description of labels:

[0026] A first crawling arm 100, a first moving seat 110, and a first moving shaft 120;

[0027] A first connecting member 200, a first rotating joint 210, and a second rotating joint 220;

[0028] A second crawling arm 300, a second moving base 310, and a second moving shaft 320;

[0029] A second connecting member 400, a third rotating joint 410;

[0030] Probe guide device 500, guide hole 510;

[0031] Pneumatic locking device 600, insertion portion 610, telescopic structure 620;

[0032] A first pneumatic locking device 601 , a second pneumatic locking device 602 , a third pneumatic locking device 603 , a fourth pneumatic locking device 604 , and a fifth pneumatic locking device 605 . DETAILED DESCRIPTION

[0033] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0034] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0035] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0036] The following is combined with Figures 1 to 7 The provided embodiments further illustrate the tube sheet crawling robot proposed in this application.

[0037] like Figure 1 , Figure 2 As shown, in some embodiments, the present application provides a tube sheet crawling robot, which is configured on the tube sheet of a steam generator for detecting heat transfer tubes on the tube sheet. In some embodiments, the tube sheet crawling robot includes a first crawling arm 100, a first connecting member 200, a second crawling arm 300, a second connecting member 400 and a probe guide device 500 connected in sequence. Specifically, the first crawling arm 100 includes a first body and a first movable seat 110 movably arranged on the first body, and the first movable seat 110 can move linearly relative to the first body. The second crawling arm 300 includes a second body and a second movable seat 310 movably arranged on the second body, and the second movable seat 310 can move linearly relative to the second body. One end of the first connecting member 200 is connected to the first body, and the other end of the first connecting member 200 is connected to the second body, wherein at least one of the first body or the second body can rotate relative to the first connecting member 200. One end of the second connecting member 400 is connected to the second body, and the second connecting member 400 can rotate relative to the second body. The probe guide device 500 is connected to the other end of the second connecting member 400. The first body, the first movable seat 110, the second body and the second movable seat 310 are respectively provided with pneumatic locking devices 600, which cooperate with the tube sheet to fix the tube sheet crawling robot. The pneumatic locking device 600 has a locking state and a release state, and each pneumatic locking device 600 is configured to be independently switched between the locking state and the release state. When the pneumatic locking device 600 is in the locking state, one or more of the first body, the first movable seat 110, the second body and the second movable seat 310 corresponding to the pneumatic locking device 600 in the locking state are fixed on the tube sheet; when the pneumatic locking device 600 is in the release state, one or more of the first body, the first movable seat 110, the second body and the second movable seat 310 corresponding to the pneumatic locking device 600 in the release state can move relative to the tube sheet.

[0038] In some embodiments, Figure 1As shown, the first body is provided with a first motion axis 120, the first movable seat 110 is provided on the first motion axis 120, and the first movable seat 110 performs linear motion relative to the first body along the first motion axis 120. The second body is provided with a second motion axis 320, the second movable seat 310 is provided on the second motion axis 320, and the second movable seat 310 performs linear motion relative to the second body along the second motion axis 320. The first motion axis 120 and the second motion axis 320 can be any one of a screw and a guide rail. It should be noted that the provision of the first motion axis 120 and the second motion axis 320 guides the first movable seat 110 and the second movable seat 310 respectively, so that they can move more steadily and smoothly.

[0039] In some embodiments, a first driving motor is disposed in the first body, and the first driving motor drives the first moving seat to move relative to the first body; a second driving motor is disposed in the second body, and the second driving motor drives the second moving seat to move relative to the second body. The two driving motors are respectively used to drive the corresponding moving seats on the crawling arm to realize the crawling action of the crawling arm.

[0040] In some embodiments, Figure 1 As shown, there are two first moving seats 110, which are symmetrically arranged on both sides of the first body, and the two first moving seats 110 move synchronously. There are two second moving seats 310, which are symmetrically arranged on both sides of the second body, and the two second moving seats 310 move synchronously. It should be noted that there are two first moving seats 110 and two second moving seats 310, which can ensure the balance of the crawling arm during the crawling process, making the crawling action of the crawling arm more stable and smooth.

[0041] In some embodiments, a pneumatic locking device 600 is provided on the first connecting member 200, and the first connecting member 200 can also be fixed to the tube sheet by the pneumatic locking device 600 to increase the stability of the crawling arm when rotating.

[0042] In some embodiments, Figure 3 As shown, the pneumatic locking device 600 includes a columnar insertion portion 610 and a driving device for driving the insertion portion 610 to enter the heat transfer tube; a pneumatic telescopic structure 620 is provided on the side wall of the insertion portion 610, and when the telescopic structure 620 is extended, it presses against the inner wall of the heat transfer tube to fix the insertion portion 610 in the heat transfer tube, and the pneumatic locking device 600 is in a locked state; when the telescopic structure 620 is retracted, the insertion portion 610 can be withdrawn from the heat transfer tube, and the pneumatic locking device 600 is in a loosened state.

[0043] In some embodiments, the first connecting member 200 includes a first rotating joint 210 and a second rotating joint 220; the first body is connected to the first connecting member 200 through the first rotating joint 210, and the first body or the first connecting member 200 can rotate around the first rotating joint 210; the second body is connected to the first connecting member 200 through the second rotating joint 220, and the second body or the first connecting member 200 can rotate around the second rotating joint 220. The first connecting member 200 is connected to the first body and the second body through different rotating joints, respectively, so that the first crawling arm 100 and the second crawling arm 300 can rotate relative to the first connecting member 200, respectively, and the action of the crawling robot can be more conveniently controlled.

[0044] In some embodiments, the second connecting member 400 includes a third rotating joint 410, and the second body is connected to the second connecting member 400 through the third rotating joint 410, and the second connecting member 400 can rotate around the third rotating joint 410. The second connecting member 400 is connected to the second body through the third rotating joint 410, so that the second connecting member 400 can rotate relative to the second body, and the probe guide device 500 installed at the other end of the second connecting member 400 has a larger range of motion.

[0045] In some embodiments, a first rotary motor for driving the first rotary joint 210 to rotate and a second rotary motor for driving the second rotary joint 220 to rotate are provided in the first connecting member 200; a third rotary motor for driving the third rotary joint 410 to rotate is provided in the second connecting member 400. Each rotary joint is provided with a separate rotary motor for driving, so as to ensure the independence of the movements of each joint. Furthermore, the rotary motors are all servo motors, which can accurately control the rotation angle of each rotary joint, and are more conducive to controlling the movements of the tube sheet crawling robot.

[0046] In some embodiments, two guide holes 510 are provided on the probe guide device 500. The two guide holes 510 can be used to guide two detection probes respectively, and detect two heat transfer tubes at the same time, thereby improving the detection efficiency.

[0047] like Figures 4 to 7 As shown, one set of action processes of the tube sheet crawling robot of the present application is as follows: Figure 4As shown, the tube sheet crawling robot is in an initial state, the first crawling arm 100, the first connecting member 200, the second crawling arm 300, the second connecting member 400 and the probe guide device 500 are arranged in a straight line, at this time, the first pneumatic locking device 601 located at the first body, the second pneumatic locking device 602 located at the first movable seat 110, the third pneumatic locking device 603 located at the first connecting member 200, the fourth pneumatic locking device 604 located at the second body, and the fifth pneumatic locking device 605 located at the second movable seat 310 are all in a locked state; Figure 5 As shown, the fourth pneumatic locking device 604 and the fifth pneumatic locking device 605 are switched to the released state, and then the second rotary joint 220 is actuated to rotate the second crawling arm 300 counterclockwise by 90° relative to the first connecting member 200. After the second crawling arm 300 rotates, the fourth pneumatic locking device 604 and the fifth pneumatic locking device 605 are switched back to the locked state; Figure 6 As shown, the third rotating joint 410 moves, causing the second connecting member 400 to rotate 90° clockwise relative to the second crawling arm 300; Figure 7 As shown, the first pneumatic locking device 601, the second pneumatic locking device 602, the third pneumatic locking device 603 and the fourth pneumatic locking device 604 are switched to the released state, and then the crawling drive mechanism in the second body drives the second body to translate to the right relative to the second moving seat 310. When the second crawling arm 300 completes the moving action, the first pneumatic locking device 601, the second pneumatic locking device 602, the third pneumatic locking device 603 and the fourth pneumatic locking device 604 are switched to the locked state. The actions of the above-mentioned tube sheet crawling robot are all remotely controlled by the inspection personnel on the upper computer outside the steam generator water chamber, and the inspection personnel do not need to enter the steam generator water chamber to reduce the exposure dose. The tube sheet crawling robot of the present application has a probe guide device 500 and two crawling arms. The tube sheet crawling robot can crawl on the tube sheet through the crawling arms and the pneumatic locking device 600 matched therewith. In addition, the probe guide device 500 and the crawling arm, and the two crawling arms are connected by rotatable connecting parts, so that the tube sheet crawling robot has multiple degrees of freedom. After installation, it can crawl on the tube sheet. The heat transfer tubes on the entire tube sheet can be inspected after one installation, and there is no need for maintenance personnel to install it again, thereby reducing the radiation dose of maintenance personnel. At the same time, after the robot moves into place, the heat transfer tube area covered is large and the positioning efficiency is high, thereby improving the efficiency of detection.

[0048] It can be understood that the above embodiments only express the preferred implementation methods of the present application, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application; it should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present application; therefore, all equivalent changes and modifications made to the scope of the claims of the present application should fall within the scope of the claims of the present application.

Claims

1. A tube sheet crawling robot, arranged on the tube sheet of a steam generator and used to inspect the heat transfer tubes on the tube sheet, characterized in that: The tube sheet crawling robot comprises: A first crawling arm, the first crawling arm comprising a first body and a first movable seat movably disposed on the first body, the first movable seat being capable of linear motion relative to the first body; A second crawling arm, the second crawling arm comprising a second body and a second movable seat movably disposed on the second body, the second movable seat being capable of linear motion relative to the second body; a first connecting member, one end of which is connected to the first body, the other end of which is connected to the second body, and at least one of the first body or the second body is rotatable relative to the first connecting member; a second connecting member, one end of which is connected to the second body, and the second connecting member can rotate relative to the second body; a probe guide device, the probe guide device being connected to the other end of the second connecting member; The first body, the first moving seat, the second body and the second moving seat are respectively provided with pneumatic locking devices, the pneumatic locking devices cooperate with the tube sheet to fix the tube sheet crawling robot, the pneumatic locking devices have a locking state and a release state, and each of the pneumatic locking devices is configured to be independently switchable between the locking state and the release state; When the pneumatic locking device is in a locked state, one or more of the first body, the first movable seat, the second body, and the second movable seat corresponding to the pneumatic locking device in the locked state are fixed to the tube sheet; when the pneumatic locking device is in a loosened state, one or more of the first body, the first movable seat, the second body, and the second movable seat corresponding to the pneumatic locking device in the loosened state can move relative to the tube sheet.

2. The tube sheet crawling robot according to claim 1, characterized in that: The first body is provided with a first movement shaft, the first moving seat is provided on the first movement shaft, and the first moving seat performs a linear movement relative to the first body under the action of the first movement shaft; The second body is provided with a second movement shaft, the second movable seat is provided on the second movement shaft, and the second movable seat performs linear motion relative to the second body under the action of the second movement shaft.

3. The tube sheet crawling robot according to claim 2, characterized in that: There are two first movable seats, which are symmetrically arranged on both sides of the first body, and the two first movable seats move synchronously; Two second movable seats are provided, and the two second movable seats are symmetrically arranged on both sides of the second body, and the two second movable seats move synchronously.

4. The tube sheet crawling robot according to claim 2, characterized in that: A first driving motor is disposed in the first body, and the first driving motor drives the first moving seat to move relative to the first body; A second driving motor is disposed in the second body, and the second driving motor drives the second moving base to move relative to the second body.

5. The tube sheet crawling robot according to claim 1, characterized in that: The first connecting member is provided with a pneumatic locking device.

6. The tube sheet crawling robot according to any one of claims 1 to 5, characterized in that: The pneumatic locking device comprises a columnar inserting portion and a driving device for driving the inserting portion to enter the heat transfer tube; A pneumatic telescopic structure is provided on the side wall of the insertion part. When the telescopic structure is extended, it presses against the inner wall of the heat transfer tube to fix the insertion part in the heat transfer tube, and the pneumatic locking device is in a locked state; when the telescopic structure is retracted, the insertion part can be withdrawn from the heat transfer tube, and the pneumatic locking device is in a loosened state.

7. The tube sheet crawling robot according to claim 1, characterized in that: The first connecting member includes a first rotating joint and a second rotating joint; The first body is connected to the first connecting member via the first rotating joint, and the first body or the first connecting member can rotate around the first rotating joint; The second body is connected to the first connecting member via the second rotating joint, and the second body or the first connecting member can rotate around the second rotating joint.

8. The tube sheet crawling robot according to claim 7, characterized in that: The second connecting member includes a third rotation joint, the second body is connected to the second connecting member via the third rotation joint, and the second connecting member can rotate around the third rotation joint.

9. The tube sheet crawling robot according to claim 8, characterized in that: The first connecting member is provided with a first rotary motor for driving the first rotary joint to rotate, and a second rotary motor for driving the second rotary joint to rotate; A third rotary motor for driving the third rotary joint to rotate is arranged in the second connecting member.

10. The tube sheet crawling robot according to claim 1, characterized in that: The probe guiding device is provided with two guiding holes.

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