Blocking plate control mechanical arm for steam generator of nuclear power station

Abstract

The utility model relates to a nuclear power station steam generator blocking plate control mechanical arm which comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially connected from head to tail, the first connecting rod is hinged to the second connecting rod, and the second connecting rod is connected with the third connecting rod through a universal connector. A first rotating device is arranged at the head part of the first connecting rod, a magnetic suction head is arranged on the first rotating device, the first rotating device is arranged to enable the magnetic suction head to rotate around a Z axis, and at least one magnet for adsorbing the plug board is arranged on the magnetic suction head. According to the nuclear power station steam generator blocking plate control mechanical arm, the size is quite small compared with the diameter of a person, the blocking plate can be conveniently brought into the person, and the assembling and disassembling difficulty of the blocking plate is reduced.

Description

Technical Field

[0001] The utility model relates to the field of nuclear power plant equipment, and more specifically to a nuclear power plant steam generator plugging plate control mechanical arm. Background Art

[0002] The steam generator is one of the main equipment in a nuclear power plant. It is connected to the reactor pressure vessel and is used to transfer the heat generated by the reactor to the secondary side of the steam generator. The generated steam is dried by the primary and secondary steam-water separators and then drives the steam turbine generator to generate electricity.

[0003] When overhauling the steam generator, in order to prevent foreign matter on the primary side of the steam generator from entering the pressure vessel and damaging the core fuel, it is necessary to use a plugging plate to block the water inlet of the steam generator. After the overhaul is completed, the plugging plate is removed. To avoid radiation, a plugging plate robot can be used to automatically install and remove the plugging plate. The plugging plate robot moves the plugging plate through the mechanical arm so that the plugging plate extends into the inlet and reaches the water inlet.

[0004] However, the size of the robot arm of the existing plugging plate robot is too large, while the diameter of the steam generator inlet is small, which makes it difficult for the robot arm to enter the inlet and the plugging plate is difficult to install. Utility Model Content

[0005] The utility model aims to provide a nuclear power plant steam generator plugging plate control mechanical arm, which has a very small size compared to the diameter of the population, can easily carry the plugging plate into the population, and reduce the difficulty of loading and unloading the plugging plate.

[0006] Based on the above purpose, the utility model provides a nuclear power plant steam generator plugging plate control robot arm, including a first connecting rod, a second connecting rod and a third connecting rod connected in sequence from head to tail, the first connecting rod is hinged to the second connecting rod, the second connecting rod and the third connecting rod are connected by a universal joint, the head of the first connecting rod is provided with a first rotating device, the first rotating device is provided with a magnetic suction head, the first rotating device is configured to enable the magnetic suction head to rotate around the Z axis, and the magnetic suction head is provided with at least one magnet for adsorbing the plugging plate.

[0007] Furthermore, the head end and the tail end of the universal joint are respectively provided with a second rotating device and a third rotating device, the second rotating device is connected to the second connecting rod so that the second connecting rod rotates around the X-axis, and the third rotating device is connected to the third connecting rod so that the third connecting rod rotates around the X-axis.

[0008] Further, the first rotating device includes a first rotating base and a first rotating table, the first rotating base is fixed to the head end of the first connecting rod, the first rotating base is provided with a first rotating motor and a first rotating shaft extending along the Z direction, the first rotating motor is connected to the first rotating shaft, the first rotating table is fixedly connected to the first rotating shaft, and the magnetic head is fixedly connected to the first rotating table.

[0009] Further, the second rotating device includes a second rotating base and a second rotating table, the second rotating base is fixed to the head end of the universal connector, the second rotating base is provided with a second rotating motor and a second rotating shaft extending along the X direction, the second rotating motor is connected to the second rotating shaft, the second rotating table is fixedly connected to the second rotating shaft, and the tail end of the second connecting rod is fixedly connected to the second rotating table; the third rotating device includes a third rotating base and a third rotating table, the third rotating base is fixed to the tail end of the universal connector, the third rotating base is provided with a third rotating motor and a third rotating shaft extending along the X direction, the third rotating motor is connected to the third rotating shaft, the third turntable is fixedly connected to the third rotating shaft, and the head end of the third connecting rod is fixedly connected to the third turntable.

[0010] Furthermore, the first connecting rod and the second connecting rod are connected through a pitch device, the pitch device includes a pitch motor and a pitch axis arranged along the Y direction, the pitch axis is installed on the second connecting rod, the pitch motor is fixed on the second connecting rod and connected to the pitch axis, and the tail end of the first connecting rod is fixedly connected to the pitch axis.

[0011] Furthermore, it also includes an extension rod, which is connected to the tail end of the third connecting rod.

[0012] Furthermore, the magnetic head comprises a magnetic head bracket, the magnetic head bracket is provided with an extension arm, and the magnet is fixed on the magnetic head bracket.

[0013] Furthermore, a pin is provided on the extension arm for cooperating with a pin hole on the mounting trolley.

[0014] Furthermore, a camera is provided on the extension arm.

[0015] Furthermore, the magnetic head bracket is provided with a blocking plate driving motor for driving the blocking plate to unfold or fold.

[0016] The utility model discloses a nuclear power plant steam generator plugging plate control mechanical arm, which is formed by connecting a plurality of connecting rods such as a magnetic suction head, a first connecting rod, a second connecting rod and a third connecting rod in sequence. It is small in size and can easily enter the inlet of the steam generator, which is very convenient. The first rotating device, the second rotating device, the third rotating device and the pitching device can realize multi-degree-of-freedom movement, thereby adjusting the position and posture of the plugging plate, so that it can be smoothly installed to the water inlet, and reducing the difficulty of loading and unloading the plugging plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of a nuclear power plant steam generator plugging plate control mechanical arm according to an embodiment of the utility model;

[0018] Figure 2 It is a structural schematic diagram of a magnetic suction head of a nuclear power plant steam generator plugging plate control mechanical arm according to an embodiment of the utility model;

[0019] Figure 3 The present invention is a schematic diagram of the connection between a plugging plate control mechanical arm of a steam generator in a nuclear power plant, a plugging plate and an installation trolley according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present utility model are given below in conjunction with the accompanying drawings and described in detail.

[0021] like Figure 1 As shown, an embodiment of the utility model provides a nuclear power plant steam generator plugging plate control robot arm 200, which includes a first connecting rod 210, a second connecting rod 220 and a third connecting rod 230 connected in sequence from head to tail, the first connecting rod 210 is hinged to the second connecting rod 220, the second connecting rod 220 and the third connecting rod 230 are connected by a universal joint 240, and a first rotating device 250 is provided at the head of the first connecting rod 210, and a magnetic suction head 260 is provided on the first rotating device 250, and the first rotating device 250 is used to rotate the magnetic suction head 260 around the Z axis, and at least one magnet 261 is provided on the magnetic suction head 260 for adsorbing the plugging plate so that the plugging plate can be detachably connected to the robot arm 200.

[0022] In some embodiments, the head end and the tail end of the universal joint 240 are respectively provided with a second rotating device 241 and a third rotating device 242, the second rotating device 241 is connected to the second connecting rod 220, and is used to rotate the second connecting rod 220 around the X-axis, and the third rotating device 242 is connected to the third connecting rod 230, and is used to rotate the third connecting rod 230 around the X-axis.

[0023] In some embodiments, the first rotating device 250 may include a first rotating base and a first rotating table, the first rotating base is fixed to the head end of the first connecting rod 210, the first rotating base is provided with a first rotating motor and a first rotating shaft extending along the Z direction, the first rotating motor is connected to the first rotating shaft, the first rotating table is fixedly connected to the first rotating shaft, the first rotating motor can drive the first rotating shaft to rotate, thereby driving the first rotating table to rotate around the Z axis. The magnetic head 260 is fixedly connected to the first rotating table to rotate with the first rotating table.

[0024] In some embodiments, the second rotating device 241 may include a second rotating base and a second rotating table, the second rotating base is fixed to the head end of the universal connector 240, the second rotating base is provided with a second rotating motor and a second rotating shaft extending along the X direction, the second rotating motor is connected to the second rotating shaft, the second rotating table is fixedly connected to the second rotating shaft, and the second rotating motor can drive the second rotating shaft to rotate, thereby driving the second rotating table to rotate around the X axis. The tail end of the second connecting rod 220 is fixedly connected to the second rotating table, thereby rotating with the second rotating table. The third rotating device 242 may include a third rotating base and a third rotating table, the third rotating base is fixed to the tail end of the universal connector 240, the third rotating base is provided with a third rotating motor and a third rotating shaft extending along the X direction, the third rotating motor is connected to the third rotating shaft, the third rotating table is fixedly connected to the third rotating shaft, and the third rotating motor can drive the third rotating shaft to rotate, thereby driving the third rotating table to rotate around the X axis. The head end of the third connecting rod 230 is fixedly connected to the third turntable so as to rotate along with the third turntable.

[0025] In some embodiments, the first link 210 and the second link 220 can be connected through a pitch device 270. The pitch device 270 includes a pitch motor and a pitch axis arranged along the Y direction. The pitch axis is installed on the second link 220 and can rotate around its own axis relative to the second link 220. The pitch motor is fixed on the second link 220 and connected to the pitch axis. The tail end of the first link 210 is fixedly connected to the pitch axis. The pitch motor can drive the pitch axis to rotate, thereby driving the first link 210 to rotate around the Y axis relative to the second link 220, thereby realizing pitch movement.

[0026] In some embodiments, the robot arm 200 may further include an extension rod 280 connected to the tail end of the third connecting rod 230 to increase the length of the robot arm 200 so that the robot arm 200 can move a longer distance along the X direction. For example, the extension rod 280 may be threadedly connected to the tail end of the third connecting rod 230.

[0027] like Figure 2As shown, the magnetic head 260 may include a magnetic head bracket 262 , an extension arm 263 is provided on the magnetic head bracket 262 , the magnet 261 is fixed on the magnetic head bracket 262 (for example, fixed on the bottom), and a pin 264 is provided on the extension arm 263 .

[0028] like Figure 3 As shown, when the plugging plate control robot arm 200 of the steam generator of the nuclear power plant is in use, the plugging plate 300 is adsorbed by the magnet 261 on the magnetic head bracket 262, and then the plugging plate 300 is made to move with multiple degrees of freedom through the first rotating device 250, the second rotating device 241, the third rotating device 242, the pitching device 270, etc., so that the plugging plate 300 is adjusted into place (that is, the plugging plate 300 is fitted with the water inlet and the screw hole on the plugging plate 300 is aligned with the screw hole of the water inlet); the plugging plate 30 0 is provided with an installation trolley 400. When the blocking plate 300 is adjusted into place, the installation trolley 400 will complete the tightening of the bolts, thereby realizing the installation of the blocking plate 300; the installation trolley 400 is provided with a pin hole 410 matching the pin 264. After the installation is completed, the installation trolley 400 can be moved to the robot arm 200 to insert the pin 264 into the pin hole 410, thereby realizing the positioning and fixation of the robot arm 200 and the installation trolley 400, so that the robot arm 200 can take the installation trolley out.

[0029] In some embodiments, the blocking plate 300 can be foldable, and has a folded state and an unfolded state. The blocking plate 300 can be driven to switch between the folded state and the unfolded state by the blocking plate driving motor 310. The blocking plate driving motor 310 can be fixed on the magnetic head bracket 262 (for example, fixed on the bottom). When the mechanical arm 200 adsorbs the blocking plate 300, the blocking plate driving motor 310 can be connected to the transmission mechanism (not shown in the figure) on the blocking plate 300, thereby driving the blocking plate 300 to fold or unfold. Before installation, the blocking plate 300 is in a folded state so that the mechanical arm 200 can bring it into the population, and then the blocking plate driving motor 310 drives the blocking plate 300 to unfold, and then the mechanical arm 200 adjusts the blocking plate 300 into place, and the installation trolley 400 completes the installation of the blocking plate 300. After the installation is completed, the mechanical arm 200 takes the blocking plate driving motor 310 out.

[0030] In some embodiments, a camera 265 may also be provided on the extension arm 263 for real-time observation of the working conditions.

[0031] The nuclear power plant steam generator plugging plate control robot 200 of the utility model embodiment is formed by connecting multiple connecting rods such as a magnetic suction head 260, a first connecting rod 210, a second connecting rod 220 and a third connecting rod 230 in sequence. It is small in size and can easily enter the entrance of the steam generator, which is very convenient. Multi-degree-of-freedom movement can be achieved through the first rotating device 250, the second rotating device 241, the third rotating device 242 and the pitch device, so as to adjust the position and posture of the plugging plate 300, so that it can be smoothly installed to the water outlet, and the difficulty of loading and unloading the plugging plate 300 is reduced.

[0032] The above is only a preferred embodiment of the utility model, and is not intended to limit the scope of the utility model. The above embodiments of the utility model can also be modified in various ways. That is, all simple, equivalent changes and modifications made according to the claims and the contents of the specification of the utility model application fall within the scope of protection of the claims of the utility model patent. The conventional technical contents are not described in detail in the utility model.

Claims

1. A nuclear power plant steam generator plugging plate control robot arm, characterized in that: It includes a first connecting rod, a second connecting rod and a third connecting rod which are connected in sequence from beginning to end, the first connecting rod is hinged to the second connecting rod, the second connecting rod and the third connecting rod are connected via a universal joint, the head of the first connecting rod is provided with a first rotating device, the first rotating device is provided with a magnetic head, the first rotating device is configured to enable the magnetic head to rotate around the Z axis, and the magnetic head is provided with at least one magnet for adsorbing the blocking plate.

2. The nuclear power plant steam generator plugging plate control robot arm according to claim 1, characterized in that: The head end and tail end of the universal joint are respectively provided with a second rotating device and a third rotating device, the second rotating device is connected to the second connecting rod so that the second connecting rod rotates around the X-axis, and the third rotating device is connected to the third connecting rod so that the third connecting rod rotates around the X-axis.

3. The nuclear power plant steam generator plugging plate control robot arm according to claim 1, characterized in that: The first rotating device includes a first rotating base and a first rotating table. The first rotating base is fixed to the head end of the first connecting rod. The first rotating base is provided with a first rotating motor and a first rotating shaft extending along the Z direction. The first rotating motor is connected to the first rotating shaft. The first rotating table is fixedly connected to the first rotating shaft. The magnetic head is fixedly connected to the first rotating table.

4. The nuclear power plant steam generator plugging plate control robot arm according to claim 2, characterized in that: The second rotating device includes a second rotating base and a second rotating table, the second rotating base is fixed to the head end of the universal connector, the second rotating base is provided with a second rotating motor and a second rotating shaft extending along the X direction, the second rotating motor is connected to the second rotating shaft, the second rotating table is fixedly connected to the second rotating shaft, and the tail end of the second connecting rod is fixedly connected to the second rotating table; the third rotating device includes a third rotating base and a third rotating table, the third rotating base is fixed to the tail end of the universal connector, the third rotating base is provided with a third rotating motor and a third rotating shaft extending along the X direction, the third rotating motor is connected to the third rotating shaft, the third turntable is fixedly connected to the third rotating shaft, and the head end of the third connecting rod is fixedly connected to the third turntable.

5. The nuclear power plant steam generator plugging plate control robot arm according to claim 1, characterized in that: The first connecting rod and the second connecting rod are connected through a pitch device, and the pitch device includes a pitch motor and a pitch axis arranged along the Y direction. The pitch axis is installed on the second connecting rod, and the pitch motor is fixed on the second connecting rod and connected to the pitch axis. The tail end of the first connecting rod is fixedly connected to the pitch axis.

6. The nuclear power plant steam generator plugging plate control robot arm according to claim 1, characterized in that: It also includes an extension rod, which is connected to the tail end of the third connecting rod.

7. The nuclear power plant steam generator plugging plate control robot arm according to claim 1, characterized in that: The magnetic head comprises a magnetic head bracket, an extension arm is arranged on the magnetic head bracket, and the magnet is fixed on the magnetic head bracket.

8. The nuclear power plant steam generator plugging plate control robot arm according to claim 7, characterized in that: The extension arm is provided with a pin for cooperating with a pin hole on the mounting trolley.

9. The nuclear power plant steam generator plugging plate control robot arm according to claim 7, characterized in that: A camera is arranged on the extension arm.

10. The nuclear power plant steam generator plugging plate control robot arm according to claim 7, characterized in that: The magnetic head bracket is provided with a blocking plate driving motor for driving the blocking plate to unfold and fold.

Images