Flexible foreign matter grabbing device of steam generator and operation method of flexible foreign matter grabbing device

Abstract

The invention relates to the technical field of steam generator equipment, and particularly discloses a flexible foreign matter grabbing device of a steam generator and an operation method of the flexible foreign matter grabbing device. A grabbing piece comprises a plurality of reinforcing ribs and a plurality of palm webs, air holes are formed in the grabbing piece, and the reinforcing ribs are arranged in the circumferential direction of the air holes at intervals; the palm webs are connected between every two adjacent reinforcing ribs to form a flexible adsorption face, one end of each air guide pipe is communicated with the corresponding air hole, the negative pressure generator is connected to the other end of each air guide pipe, and the negative pressure generator is configured to be capable of applying negative pressure so that the palm webs can deform to be attached to the surface of the foreign matter. According to the arrangement, initial unfolding and self-adaptive attachment of the grabbing piece are achieved through pre-supporting and flexible deformation capacity of the reinforcing ribs, the grabbing stability and foreign matter adaptability are both considered, the flexibility and convenience of grabbing the foreign matter in the irregular shape are effectively improved, the overall design of integrating a bionic flexible structure and a negative pressure system is adopted, and the mechanical property of the robot is improved. And non-contact rapid adsorption and self-adaptive parcel grabbing are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of steam generator equipment, and in particular to a flexible foreign matter grabbing device for a steam generator and an operating method thereof. Background Art

[0002] Steam generators are key components of nuclear power plants. Their primary function is to transfer heat generated by the nuclear reactor to the secondary circuit system, generating steam to drive the steam turbine for power generation. During actual operation, foreign matter—such as metal fragments, welding slag, or other tiny particles—is prone to falling between the heat transfer tubes on the secondary side of the steam generator. When high-speed water flows through, these foreign matter can cause violent vibrations due to the fluid dynamics, leading to wear on the heat transfer tube surface and even threatening the primary circuit pressure boundary of the nuclear power unit, compromising the safe operation of the entire reactor.

[0003] Because the spacing between heat transfer tubes is typically very narrow, only a few millimeters, conventional tools are difficult to use. Therefore, specialized foreign object removal tools are required to address this issue. Existing foreign object removal tools are generally complex in structure, and there are risks of introducing new foreign objects and tools becoming stuck between heat transfer tubes. Furthermore, the tools lack adaptability and flexibility when handling irregularly shaped foreign objects, which increases operational uncertainty and difficulty.

[0004] Therefore, there is an urgent need for a flexible foreign body grabbing device for a steam generator and an operating method thereof to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide a flexible foreign body grabbing device for a steam generator and an operating method thereof, which can effectively improve the flexibility, adaptability and convenience of foreign body grabbing.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In one aspect, the present invention provides a flexible foreign body grabbing device for a steam generator, comprising:

[0008] A gripping member, comprising a plurality of reinforcing ribs and a plurality of webs, wherein the gripping member is provided with an air hole, wherein the plurality of reinforcing ribs are arranged at intervals in a circumferential direction around the air hole, and the webs are connected between two adjacent reinforcing ribs to form a flexible adsorption surface;

[0009] an airway tube, one end of which is connected to the air hole;

[0010] A negative pressure generator is connected to the other end of the airway tube and is configured to apply negative pressure to deform the paddle and cause it to adhere to the surface of a foreign object.

[0011] As a preferred technical solution of the flexible foreign body grabbing device for the steam generator, the free edge of the web has an arc-shaped profile.

[0012] As a preferred technical solution of the above-mentioned flexible foreign body grabbing device for the steam generator, the grabbing member is in a duck-web-shaped structure.

[0013] As an optimal technical solution of the above-mentioned flexible foreign body grasping device for steam generator, the flexible foreign body grasping device for steam generator further includes a switch valve, which is arranged on the air duct and is used to control the opening or closing of the negative pressure generator.

[0014] As a preferred technical solution of the above-mentioned flexible foreign body grasping device for the steam generator, the root thickness of the reinforcing rib is greater than the end thickness of the reinforcing rib, and the root of the reinforcing rib is closer to the air hole than the end of the reinforcing rib.

[0015] As an optimal technical solution of the above-mentioned flexible foreign body grasping device for steam generator, the flexible foreign body grasping device for steam generator further includes a camera, which is arranged on the air duct and is used to collect the field of view image of the foreign body in real time.

[0016] As a preferred technical solution of the above-mentioned flexible foreign body grasping device for a steam generator, the air hole is provided at the center position of the grasping member.

[0017] As a preferred technical solution of the above-mentioned flexible foreign body grabbing device for the steam generator, a spiral guide groove is provided on the inner wall of the air guide pipe.

[0018] On the other hand, the present invention further provides an operating method of a flexible foreign body grabbing device for a steam generator, which is applicable to the flexible foreign body grabbing device for a steam generator described in any of the above schemes, comprising the following steps:

[0019] S100: transporting the gripping member to the location of the foreign object;

[0020] S200: activating the negative pressure generator to deform the paddle under negative pressure so as to adsorb the foreign object;

[0021] S300: dragging the airway tube while the negative pressure generator applies continuous negative pressure to drag out the foreign object.

[0022] As a preferred technical solution of the method for operating the flexible foreign matter grabbing device for a steam generator, between step S100 and step S200, the method for operating the flexible foreign matter grabbing device for a steam generator further includes:

[0023] S110: High-humidity mist is introduced into the air duct to make the gripping member and the foreign object covered with water mist.

[0024] The beneficial effects of the present invention are:

[0025] The present invention provides a flexible foreign body grasping device for a steam generator and an operating method thereof, wherein the flexible foreign body grasping device for a steam generator comprises: a grasping member, an air duct, and a negative pressure generator, wherein the grasping member comprises a plurality of reinforcing ribs and a plurality of webs, and the grasping member is provided with air holes, wherein the plurality of reinforcing ribs are arranged in a circumferential direction around the air holes, and the webs are connected between two adjacent reinforcing ribs to form a flexible adsorption surface, wherein one end of the air duct is connected to the air holes, and the negative pressure generator is connected to the other end of the air duct, and the negative pressure generator is configured to apply negative pressure to cause the webs to deform and adhere to the surface of the foreign body. In this arrangement, the grasping member achieves initial expansion and adaptive adhesion through the pre-support of the reinforcing ribs and the flexible deformation ability, taking into account both grasping stability and foreign body adaptability, effectively improving the adaptability, flexibility, and convenience of grasping irregular-shaped foreign bodies, and the overall design adopts an integrated design of a bionic flexible structure and a negative pressure system to achieve non-contact rapid adsorption and adaptive package grasping, thereby reducing the uncertainty and difficulty of operation to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of the flexible foreign body grabbing device for a steam generator provided by the present invention;

[0027] Figure 2 This is a schematic structural diagram of the gripping member provided by the present invention.

[0028] in:

[0029] 1. Gripping piece; 11. Reinforcement rib; 12. Web;

[0030] 2. Air hole; 3. Air guide tube; 4. Negative pressure generator; 5. Switch valve. DETAILED DESCRIPTION

[0031] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, but are not to be construed as limiting the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0033] Unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed or removable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0034] Unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0035] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0036] like Figures 1 to 2As shown, the embodiment provides a flexible foreign matter grabbing device for a steam generator, which is used for clamping and taking out foreign matters between heat transfer tubes on the secondary side of the steam generator. The steam generator flexible foreign matter grabbing device comprises a gripping piece 1, a gas guide pipe 3 and a negative pressure generator 4. The gripping piece 1 comprises a plurality of reinforcing ribs 11 and a plurality of palm webs 12, and a gas hole 2 is arranged at the center position of the gripping piece 1. The plurality of reinforcing ribs 11 are arranged at intervals in the circumferential direction of the gas hole 2. The palm web 12 is connected between two adjacent reinforcing ribs 11 to form a flexible adsorption surface. One end of the gas guide pipe 3 is communicated with the gas hole 2, and the negative pressure generator 4 is connected to the other end of the gas guide pipe 3. The negative pressure generator 4 is configured to be able to apply negative pressure, so that the palm web 12 is deformed to adhere to the surface of the foreign matter. In this way, the gripping piece 1 realizes initial unfolding and self-adaptive fitting through the pre-supporting of the reinforcing ribs 11 and the flexible deformation capability, and takes into account the stability of grabbing and the adaptability to foreign matters, effectively improving the adaptability, flexibility and convenience of grabbing irregularly shaped foreign matters. The whole adopts the integrated design of bionic flexible structure and negative pressure system, realizes non-contact rapid adsorption and self-adaptive wrapping grabbing, reduces the uncertainty and difficulty of operation to a certain extent, and the overall structure is simple, reducing the risk of introducing new foreign matters in the use process.

[0037] In the embodiment, the number of reinforcing ribs 11 is six, and the cross section is designed as I type. Of course, in other embodiments, the number of reinforcing ribs 11 is twelve, and the cross section is designed as T type, which is not limited here.

[0038] It should be noted that the reinforcing ribs 11 keep the palm web 12 open before the negative pressure is applied to avoid collapse, thereby ensuring rapid fitting to the target object. Therefore, the reinforcing ribs 11 should not be too hard or too soft, and should have moderate rigidity to achieve hardness balance, that is, the hardness of the reinforcing ribs 11 is configured to support the palm web 12 to keep the unfolded state when no negative pressure is applied, and allow the palm web 12 to elastically deform to fit the surface of the target foreign matter when the negative pressure is applied.

[0039] Specifically, the embodiment exemplarily gives the following technical scheme: the reinforcing ribs 11 are selected from elastomers or thin-walled metals / composites with Shore hardness of 60A-90A, which can resist negative pressure deformation and elastically bend to fit the curved surface when contacting the foreign matter. The palm web 12 can be made of flexible film materials such as silicone or TPU to ensure air tightness during negative pressure adsorption and adapt to different curvatures. At the same time, the thin-walled design reduces rigid interference and enhances the fitting ability to irregular curved surfaces.

[0040] Optionally, in order to further reduce the fluid resistance or air disturbance during grabbing, the free edge of the palm web 12 is arc-shaped.

[0041] Optionally, the gripping piece 1 is in the shape of duck web structure.

[0042] Optionally, the steam generator flexible foreign object capture device further includes an on-off valve 5, which is disposed in the air duct 3 and is used to control the opening and closing of the negative pressure generator 4. With this arrangement, when the on-off valve 5 is open, the air duct 3 forms a communication path, transmitting the negative pressure generated by the negative pressure generator 4 to the air pore 2. When the on-off valve 5 is closed, the air duct 3 is cut off, and the pressure between the air pore 2 and the negative pressure generator 4 is restored to equilibrium, and the negative pressure disappears. The rapid opening and closing control of the on-off valve 5 enables the instant activation and release of negative pressure adsorption, improving capture efficiency.

[0043] Furthermore, the switch valve 5 can be a solenoid valve, whose control end is connected to an external controller, which controls the opening and closing state of the valve through electrical signals, and uses electrical signals to achieve millisecond-level response, ensuring precise synchronization of the grasping action.

[0044] In this embodiment, the flexible foreign body grasping device of the steam generator also includes a pressure sensor, which is arranged in the air duct 3 and is used to monitor the negative pressure value in real time. The switch valve 5 can dynamically adjust the opening and closing state according to the feedback signal of the pressure sensor to maintain the set negative pressure range, realize closed-loop control, ensure the stability of the adsorption force, and avoid over-absorption or insufficient adsorption.

[0045] Optionally, in order to enhance the bending resistance of the root of the reinforcement rib 11 while maintaining the flexibility of the end of the reinforcement rib 11 and avoiding stress concentration when grasping sharp-edged objects, the root thickness of the reinforcement rib 11 is greater than the end thickness of the reinforcement rib 11, and the root of the reinforcement rib 11 is closer to the air hole 2 than the end of the reinforcement rib 11.

[0046] Optionally, in order to facilitate field observation during actual on-site use and to ensure the bionic grasping function while enhancing environmental perception capabilities, the flexible foreign body grasping device of the steam generator also includes a camera, which is arranged on the air duct 3 and is used to collect field images of foreign bodies in real time.

[0047] Optionally, a spiral guide groove is provided on the inner wall of the air guide tube 3. In this way, the spiral guide groove can improve the efficiency of establishing negative pressure, reduce energy loss, and effectively improve the efficiency of grabbing foreign objects.

[0048] This embodiment further provides an operating method of a flexible foreign body grabbing device for a steam generator, which is applicable to the flexible foreign body grabbing device for a steam generator in the above-mentioned solution, and includes the following steps:

[0049] S100: transporting the gripping member 1 to the location of the foreign object;

[0050] S200: activating the negative pressure generator 4 to deform the paddle 12 under negative pressure to adhere to the foreign object;

[0051] S300: dragging the airway tube 3 while the negative pressure generator 4 applies continuous negative pressure to pull out the foreign matter.

[0052] Optionally, in order to enhance the gripping force, between step S100 and step S200, the operation method of the steam generator flexible foreign matter gripping device further comprises: S110: introducing high humidity mist into the guide pipe 3, so that the gripping piece 1 is covered with water mist and the foreign matter.

[0053] Obviously, the above embodiments of the present application are merely exemplary for clear illustration of the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those of ordinary skill in the art. Here, it is not necessary and also impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A flexible foreign body grabbing device for a steam generator, characterized in that: include: A gripping member (1), the gripping member (1) comprising a plurality of reinforcing ribs (11) and a plurality of webs (12), the gripping member (1) being provided with an air hole (2), the plurality of reinforcing ribs (11) being arranged at intervals in a circumferential direction around the air hole (2), the webs (12) being connected between two adjacent reinforcing ribs (11) to form a flexible adsorption surface; an air guide tube (3), one end of the air guide tube (3) being connected to the air hole (2); A negative pressure generator (4) is connected to the other end of the airway tube (3), and the negative pressure generator (4) is configured to apply negative pressure to deform the paddle (12) and adhere to the surface of a foreign object.

2. The flexible foreign body grabbing device for a steam generator according to claim 1, characterized in that: The free edge of the palm web (12) has an arc-shaped profile.

3. The flexible foreign body grabbing device for a steam generator according to claim 1, characterized in that: The gripping member (1) has a duck-web-shaped structure.

4. The flexible foreign body grabbing device for a steam generator according to claim 1, characterized in that: The flexible foreign body grabbing device for a steam generator further comprises a switch valve (5), wherein the switch valve (5) is arranged on the air guide pipe (3), and the switch valve (5) is used to control the opening or closing of the negative pressure generator (4).

5. The flexible foreign body grabbing device for a steam generator according to claim 1, characterized in that: The thickness of the root of the reinforcing rib (11) is greater than the thickness of the end of the reinforcing rib (11), and the root of the reinforcing rib (11) is closer to the air hole (2) than the end of the reinforcing rib (11).

6. The flexible foreign body grabbing device for a steam generator according to claim 1, characterized in that: The flexible foreign body grasping device for a steam generator further comprises a camera, which is arranged on the air duct (3) and is used to collect a visual field image of the foreign body in real time.

7. The flexible foreign body grabbing device for a steam generator according to claim 1, characterized in that: The air hole (2) is arranged at the center of the gripping member (1).

8. The flexible foreign body grabbing device for a steam generator according to claim 1, characterized in that: The inner wall of the air guide pipe (3) is provided with a spiral guide groove.

9. A method for operating a flexible foreign body grabbing device for a steam generator, characterized in that: The flexible foreign body grabbing device for a steam generator according to any one of claims 1 to 8 comprises the following steps: S100: transporting the gripping member (1) to the location of the foreign object; S200: activating the negative pressure generator (4) to deform the paddle (12) under negative pressure so as to adsorb the foreign matter; S300: dragging the airway tube (3) while the negative pressure generator (4) applies continuous negative pressure to pull out the foreign matter.

10. The method for operating the flexible foreign body grabbing device for a steam generator according to claim 9, characterized in that: Between step S100 and step S200, the method for operating the flexible foreign matter grabbing device for a steam generator further includes: S110: High-humidity mist is introduced into the air duct (3) so that the gripping member (1) and the foreign object are covered with water mist.

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