Detection and maintenance robot for nuclear power steam generator

Abstract

The utility model discloses a nuclear power steam generator detection and maintenance robot, which belongs to the technical field of maintenance equipment, and comprises a machine vehicle body, the upper surface of the machine vehicle body is fixedly connected with a machine vehicle platform, the front surface of the machine vehicle platform is fixedly connected with a support plate, and the lower end of the front surface of the support plate is provided with a chute. A transverse threaded lead screw is rotationally connected into the sliding groove, the surface of the transverse threaded lead screw is sleeved with a moving seat in a threaded mode, a supporting seat is fixedly connected to the front face of the moving seat, a rotating rod is rotationally connected to the upper surface of the supporting seat, and a manipulator mechanism is fixedly connected to the upper surface of the rotating rod. According to the utility model, through the arrangement of the machine vehicle body, the accuracy and efficiency of detection are improved, the safety of operators is guaranteed, through the arrangement of the manipulator mechanism, the accurate clamping and lifting operation of articles and instruments is realized, the efficiency and convenience of article and instrument management are improved, the operation process is highly automatic, and the labor intensity is reduced. And the working efficiency and stability of the device are improved.

Description

Technical Field

[0001] This utility model relates to the field of maintenance equipment technology, and in particular to a robot for testing and maintaining nuclear power steam generators. Background Technology

[0002] The nuclear power steam generator is one of the key pieces of equipment in a nuclear power plant. It connects the primary and secondary loops of the nuclear power plant and plays an important role in transferring the heat energy generated by the reactor to the working fluid in the secondary loop and turning it into steam.

[0003] Due to the complex structure of nuclear power steam generators and their operation in high-temperature, high-pressure, and high-radiation environments, their inspection and maintenance face enormous challenges. Traditional manual inspection methods are not only inefficient but also pose extremely high safety risks. Furthermore, during maintenance, various specialized instruments need to be quickly and safely transported from the storage area to the work area near the steam generator to reduce the risks and costs of manual handling. To address these issues, this invention provides a nuclear power steam generator inspection and maintenance robot. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a nuclear power steam generator inspection and maintenance robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A nuclear power plant steam generator inspection and maintenance robot includes a robot body, a robot platform fixedly connected to the upper surface of the robot body, a support plate fixedly connected to the front of the robot platform, a groove formed at the lower end of the front of the support plate, a transverse threaded screw rotatably connected inside the groove, a movable seat threaded onto the surface of the transverse threaded screw, the movable seat movably connected to the groove, a support base fixedly connected to the front of the movable seat, a rotating rod rotatably connected to the upper surface of the support base, and a robotic arm mechanism fixedly connected to the upper surface of the rotating rod.

[0007] As a further improvement of this utility model, the robotic arm mechanism includes a lifting platform fixedly connected to the upper surface of the rotating rod. A vertical threaded screw rotates inside the lifting platform, and a lifting seat is threadedly sleeved on the surface of the vertical threaded screw. The lifting seat is movably connected inside the lifting platform. A U-shaped connecting plate is fixedly connected to the front of the lifting seat. Cylinders are fixedly connected to both sides inside the U-shaped connecting plate, and clamping plates are fixedly connected to the extension and retraction ends of the two cylinders.

[0008] As a further improvement of this utility model, a first drive motor is fixedly connected to the upper surface of the lifting platform, and the power end of the first drive motor is fixedly connected to a vertical threaded screw. A second drive motor is fixedly connected to one side of the support plate, and the power end of the second drive motor is fixedly connected to a horizontal threaded screw.

[0009] As a further improvement of this utility model, a rotary motor is fixedly connected inside the support base, and the power end of the rotary motor is fixedly connected to the rotating rod.

[0010] As a further improvement of this utility model, both sides of the machine body are provided with power wheels, and a detection camera is fixedly connected to the upper end of the front of the lifting platform.

[0011] As a further improvement of this utility model, electric push rods are fixedly connected to both sides of the front of the machine platform, and push plates are fixedly connected to the telescopic ends of the two electric push rods. The push plates are movably connected inside the machine platform.

[0012] The beneficial effects of this utility model are:

[0013] By setting up a robotic vehicle, the robot can autonomously move to the nuclear power plant's steam generator during use and conduct efficient and comprehensive inspections using detection cameras. This reduces the time and labor costs required for manual inspections, and improves the accuracy and efficiency of the inspections. At the same time, nuclear power environments typically have high radioactive risks, and manual operation poses significant safety hazards. By replacing personnel in entering dangerous areas, the robot effectively reduces the risk of personnel exposure to radioactive environments and ensures the safety of operators.

[0014] By incorporating a robotic arm mechanism, the device achieves precise clamping and lifting of items and instruments through the cooperation of a first drive motor and a cylinder. By adjusting the spacing and shape of the clamping plates, it can accommodate items and instruments of different sizes and shapes. Simultaneously, by utilizing a rotary motor and an electric push rod, items and instruments can be flexibly transferred from one position on the machine platform to another, enabling the stacking and organization of items and instruments. This improves the efficiency and convenience of item and instrument management. The highly automated operation process reduces operational difficulty and enhances work efficiency and stability.

[0015] In summary, this utility model not only improves the efficiency and accuracy of testing and maintenance, but also reduces personnel risks and work difficulty. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the nuclear power steam generator inspection and maintenance robot proposed in this utility model.

[0017] Figure 2This is a schematic diagram of the manipulator mechanism of the nuclear power steam generator inspection and maintenance robot proposed in this utility model.

[0018] Figure 3 This is a schematic diagram of the machine platform of the nuclear power steam generator inspection and maintenance robot proposed in this utility model.

[0019] Figure 4 This is a side view of the nuclear power steam generator inspection and maintenance robot proposed in this utility model.

[0020] In the diagram: 1. Machine body, 2. Machine platform, 3. Support plate, 4. Slide groove, 5. Horizontal threaded screw, 6. Moving seat, 7. Support seat, 8. Rotating rod, 9. Lifting platform, 10. Vertical threaded screw, 11. Lifting seat, 12. U-shaped connecting plate, 13. Cylinder, 14. Clamping plate, 15. First drive motor, 16. Rotary motor, 17. Power wheel, 18. Detection camera, 19. Electric push rod, 20. Push plate, 21. Second drive motor. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] Reference Figures 1-4 A nuclear power steam generator inspection and maintenance robot includes a machine body 1, a machine platform 2 fixedly connected to the upper surface of the machine body 1, a support plate 3 fixedly connected to the front of the machine platform 2, a slide groove 4 opened at the lower end of the front of the support plate 3, a transverse threaded screw 5 rotatably connected inside the slide groove 4, a movable seat 6 threadedly sleeved on the surface of the transverse threaded screw 5, the movable seat 6 movably connected to the slide groove 4, a support seat 7 fixedly connected to the front of the movable seat 6, a rotating rod 8 rotatably connected to the upper surface of the support seat 7, and a robotic arm mechanism fixedly connected to the upper surface of the rotating rod 8.

[0023] In this utility model, the robotic arm mechanism includes a lifting platform 9 fixedly connected to the upper surface of the rotating rod 8. A vertical threaded screw 10 rotates inside the lifting platform 9. A lifting seat 11 is threadedly sleeved on the surface of the vertical threaded screw 10. The lifting seat 11 is movably connected inside the lifting platform 9. A U-shaped connecting plate 12 is fixedly connected to the front of the lifting seat 11. Cylinders 13 are fixedly connected to both sides inside the U-shaped connecting plate 12. Clamping plates 14 are fixedly connected to the telescopic ends of the two cylinders 13. The cylinders 13 drive the two clamping plates 14 to move towards each other to clamp the objects and instruments.

[0024] A first drive motor 15 is fixedly connected to the upper surface of the lifting platform 9. The power end of the first drive motor 15 is fixedly connected to the vertical threaded screw 10. A second drive motor 21 is fixedly connected to one side of the support plate 3. The power end of the second drive motor 21 is fixedly connected to the horizontal threaded screw 5. A rotary motor 16 is fixedly connected inside the support base 7. The power end of the rotary motor 16 is fixedly connected to the rotating rod 8. The first drive motor 15 drives the vertical threaded screw 10 to rotate, the second drive motor 21 drives the horizontal threaded screw 5 to rotate, and the rotary motor 16 drives the rotating rod 8 to rotate.

[0025] Both sides of the machine body 1 are equipped with drive wheels 17. The upper part of the front of the lifting platform 9 is fixedly connected to a detection camera 18. Both sides of the front of the machine platform 2 are fixedly connected to electric push rods 19. The telescopic ends of the two electric push rods 19 are fixedly connected to push plates 20. The push plates 20 are movably connected inside the machine platform 2. The drive wheels 17 provide power for the movement of the device. The detection cameras 18 detect the nuclear power steam generator. The electric push rods 19 drive the push plates 20 to move the items and instruments on the machine platform 2.

[0026] In use, this invention first activates the drive wheel 17 to move the device, and then uses the detection camera 18 to detect the nuclear power steam generator. Next, if it is necessary to transfer related items or equipment, the device is moved to the target point. The first drive motor 15 is then activated to rotate the vertical threaded screw 10. Simultaneously, the rotation of the vertical threaded screw 10 drives the lifting seat 11 and the U-shaped connecting plate 12 to move on the lifting platform 9 until the two clamping plates 14 move downwards to enclose the items or equipment. Then, the two cylinders 13 are activated to move the two clamping plates 14 towards each other to clamp the items or equipment. Finally, the first drive motor 15 is activated again to move the clamping plates 14 and the items... The instrument moves upwards, and once it reaches the highest point, the rotary motor 16 is activated, which drives the lifting platform 9 to rotate half a circle via the rotating rod 8. The first drive motor 15 is then activated, which drives the clamping plate 14 and the instrument to move downwards until the instrument is placed on the machine carriage 2. Finally, the second drive motor 21 is activated, which drives the transverse threaded screw 5 to rotate. While the transverse threaded screw 5 is rotating, it drives the moving seat 6 and the support seat 7 to move left and right. The above steps are repeated to place other instruments on the other side of the machine carriage 2. Once the carriage is full, the electric push rod 19 is activated, which drives the push plate 20 to move, pushing the instruments on one end of the machine carriage 2 to the other end for easy handling later.

[0027] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A nuclear power plant steam generator inspection and maintenance robot, comprising a robot body (1), characterized in that, A machine platform (2) is fixedly connected to the upper surface of the machine body (1). A support plate (3) is fixedly connected to the front of the machine platform (2). A groove (4) is opened at the lower end of the front of the support plate (3). A transverse threaded screw (5) is rotatably connected inside the groove (4). A movable seat (6) is threaded onto the surface of the transverse threaded screw (5). The movable seat (6) is movably connected to the groove (4). A support seat (7) is fixedly connected to the front of the movable seat (6). A rotating rod (8) is rotatably connected to the upper surface of the support seat (7). A robotic arm mechanism is fixedly connected to the upper surface of the rotating rod (8).

2. The nuclear power steam generator inspection and maintenance robot according to claim 1, characterized in that, The robotic arm mechanism includes a lifting platform (9) fixedly connected to the upper surface of the rotating rod (8). A vertical threaded screw (10) rotates inside the lifting platform (9). A lifting seat (11) is threaded onto the surface of the vertical threaded screw (10). The lifting seat (11) is movably connected inside the lifting platform (9). A U-shaped connecting plate (12) is fixedly connected to the front of the lifting seat (11). Cylinders (13) are fixedly connected to both sides inside the U-shaped connecting plate (12). Clamping plates (14) are fixedly connected to the telescopic ends of the two cylinders (13).

3. The nuclear power steam generator inspection and maintenance robot according to claim 2, characterized in that, The upper surface of the lifting platform (9) is fixedly connected to a first drive motor (15), the power end of the first drive motor (15) is fixedly connected to a vertical threaded screw (10), and a second drive motor (21) is fixedly connected to one side of the support plate (3), the power end of the second drive motor (21) is fixedly connected to a horizontal threaded screw (5).

4. The nuclear power steam generator inspection and maintenance robot according to claim 1, characterized in that, A rotary motor (16) is fixedly connected inside the support base (7), and the power end of the rotary motor (16) is fixedly connected to the rotating rod (8).

5. The nuclear power steam generator inspection and maintenance robot according to claim 2, characterized in that, The machine body (1) is equipped with power wheels (17) on both sides, and a detection camera (18) is fixedly connected to the upper end of the front of the lifting platform (9).

6. The nuclear power steam generator inspection and maintenance robot according to claim 1, characterized in that, Electric push rods (19) are fixedly connected to both sides of the front of the machine platform (2). Push plates (20) are fixedly connected to the telescopic ends of the two electric push rods (19). The push plates (20) are movably connected inside the machine platform (2).

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