Walking device of nuclear power plant pipeline welding equipment

Abstract

The utility model discloses a walking device of nuclear power plant pipeline welding equipment, which comprises a walking circular rail used for being mounted on a nuclear power plant pipeline, the walking circular rail comprises an annular main body, an annular boss is arranged on the inner surface of the annular main body, and a step surface is defined on the inner surface of the annular main body; the walking mechanism comprises a shell, a driving motor, walking wheels and a guide limiting assembly. The output end of the driving motor is provided with a driving gear. The walking wheels are provided with driven gears; the driving gear is meshed with the driven gear; each guide limiting assembly is provided with at least one guide wheel, and the guide wheels make contact with the step faces. The walking device is relatively compact in structure, does not occupy a large space, can be suitable for operation in a narrow space, can stably walk on the periphery of the nuclear power plant pipeline, and then can drive other components such as a welding device of the nuclear power plant pipeline welding equipment to rotate along the periphery of the nuclear power plant pipeline. Automatic welding operation of nuclear power plant pipelines is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to nuclear power technology field especially relates to a walking device of nuclear power plant pipeline welding equipment. BACKGROUND

[0002] Nuclear power plant is configured with numerous pipelines, and in the past, when welding operation is needed, workers usually use welding devices such as welding guns to weld, but some pipelines are located in narrow spaces, and personnel cannot perform welding operation, so it is necessary to use automatic welding equipment to weld, but how the automatic welding equipment stably walks on the pipeline is a technical problem. UTILITY MODEL CONTENTS

[0003] The utility model solves the technical problem that in, provide a walking device of nuclear power plant pipeline welding equipment.

[0004] The utility model adopts the technical scheme in the technical problem that it solves its technical problem: construct a walking device of nuclear power plant pipeline welding equipment, including:

[0005] Walking round rail, the walking round rail is used to install on nuclear power plant pipeline, the walking round rail includes annular main body, the inner surface of annular main body is equipped with annular boss, the axial length of annular main body is greater than the axial length of annular boss, to define the step surface on the inner surface of annular main body;

[0006] Walking mechanism, the walking mechanism includes the shell, drive motor, walking wheel and guide limiting component, the shell has opposite first side plate and second side plate, the drive motor is installed in the shell, and the output end of drive motor protrudes from the first side plate, and the output end of drive motor is equipped with drive gear;

[0007] The mounting shaft of walking wheel is connected with the first side plate and the second side plate, the first end of mounting shaft protrudes from the first side plate, and the part of first end of mounting shaft protruding from the first side plate is equipped with driven gear;Drive gear and driven gear are engaged with each other.

[0008] The number of guide limiting component is two, two guide limiting components are connected with the first side plate and the second side plate respectively, and each guide limiting component is equipped with at least one guide wheel, and the guide wheel is in contact with the step surface.

[0009] In some embodiments, the walking round rail includes detachably connected first semicircular track and second semicircular track.

[0010] In some embodiments, the end face of both ends of the first semicircular track is respectively equipped with the first connecting hole;

[0011] The second half-circular track is provided with a second connecting hole at each end, the second connecting hole being formed by penetrating the circumferential outer side of each end of the second half-circular track to the end face of each end of the second half-circular track;

[0012] The first connecting hole and the second connecting hole are connected and fixed by a fastener.

[0013] In some embodiments, the inner side of the annular boss is further provided with a plurality of grooves, the grooves being arranged at intervals along the circumferential direction of the annular boss;

[0014] The walking mechanism further comprises a limiting block arranged in the groove.

[0015] In some embodiments, the inner wall of the groove is provided with a plurality of adjusting holes penetrating to the outer surface of the annular body, and the walking circular track further comprises an adjusting member penetrating the adjusting hole to adjust the radial extension amount of the limiting block.

[0016] In some embodiments, the outer surface of the annular body is further provided with a texture.

[0017] In some embodiments, the guide limiting assembly further comprises a first fixed block, a second fixed block, a connecting block, a sliding block, and an adjusting bolt;

[0018] The first fixed block and the second fixed block are arranged opposite to each other, the connecting block connects the first fixed block and the second fixed block, and an installation space is formed between the first fixed block and the second fixed block.

[0019] The sliding block has an L-shaped structure, the sliding block comprises a main body portion and a mounting portion connected to one side of the main body portion, the main body portion is movably installed in the installation space, and the adjusting bolt penetrates the connecting block to be connected with the main body portion.

[0020] The guide wheel is mounted on the mounting portion.

[0021] In some embodiments, the connecting block is provided with a threaded hole penetrating its upper and lower surfaces, and the adjusting bolt penetrates the threaded hole.

[0022] In some embodiments, one side of the first fixed block facing the second fixed block is provided with a first guide groove, and one side of the second fixed block facing the first fixed block is provided with a second guide groove.

[0023] Opposite sides of the main body portion are respectively provided with a first limiting portion and a second limiting portion, the first limiting portion is located in the first guide groove, and the second limiting portion is located in the second guide groove.

[0024] In some embodiments, the walking mechanism further comprises an encoder mounted in the housing, a gear of the encoder being intermeshed with the driving gear or the driven gear.

[0025] The walking device of the nuclear power plant pipeline welding equipment has the following beneficial effects: the walking device has a relatively compact structure and does not occupy a large space, and can be applied to narrow space operation; the walking device can realize stable walking around the nuclear power plant pipeline, and then can drive other components such as a welding device of the nuclear power plant pipeline welding equipment to rotate along the outer periphery of the nuclear power plant pipeline, and realize automatic welding operation of the nuclear power plant pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme of the utility model, the utility model will be further described below in combination with the drawings and embodiments, and it should be understood that the following drawings only show some embodiments of the utility model, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0027] Figure 1 It is an application schematic diagram of the nuclear power plant pipeline welding equipment in some embodiments of the utility model;

[0028] Figure 2 It is a structural schematic diagram of the walking circular rail in some embodiments of the utility model;

[0029] Figure 3 It is a partial structural schematic diagram of the walking circular rail in some embodiments of the utility model;

[0030] Figure 4 It is an exploded view of the walking circular rail in some embodiments of the utility model;

[0031] Figure 5 It is one of the structural schematic diagrams of the walking mechanism in some embodiments of the utility model;

[0032] Figure 6 It is the second structural schematic diagram of the walking mechanism in some embodiments of the utility model;

[0033] Figure 7 It is a partial structural schematic diagram of the walking mechanism in some embodiments of the utility model;

[0034] Figure 8 It is one of the structural schematic diagrams of the guide limiting assembly in some embodiments of the utility model;

[0035] Figure 9 It is an exploded view of the guide limiting assembly in Figure 8 ; and

[0036] Figure 10 Figure 2 is a structural schematic diagram of a guide limiting assembly in some embodiments of the present application;

[0037] Figure 11 Figure 3 is an exploded view of the guide limiting assembly in Figure 10 DETAILED DESCRIPTION

[0038] In order to have a clearer understanding of the technical features, objects and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or positional relationships shown in the drawings, constructed and operated in a particular direction, and are only for the convenience of describing the present technical solution, and are not intended to indicate that the devices or elements referred to must have a particular direction, therefore, it cannot be understood as a limitation on the present application.

[0039] It should also be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing", "setting" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there can be one or more intermediate elements. The terms "first", "second", "third" and the like are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features, therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] In the following description, specific details are presented in order to facilitate a thorough understanding of the present application, but it should be understood that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits and methods are omitted in order not to obscure the description of the present application with unnecessary details.

[0041] Reference is made to Figure 1 ​The utility model discloses a nuclear power plant pipeline welding equipment, it can include nuclear power plant pipeline welding equipment's walking device, and with the nuclear power plant pipeline welding equipment's walking device connection's welding device 30, this welding device 30 includes but is limited to welding torch.

[0042] Reference Figures 2 to 11 In some embodiments, the walking device of the nuclear power plant pipeline welding equipment includes a walking circular rail 10 and a walking mechanism 20.

[0043] The walking circular rail 10 is used to be installed on the nuclear power plant pipeline 100, and the walking circular rail 10 includes a ring-shaped body 11, the inner surface of the ring-shaped body 11 is provided with a ring-shaped boss 12, and the axial length of the ring-shaped body 11 is greater than the axial length of the ring-shaped boss 12, so as to define a stepped surface 13 on the inner surface of the ring-shaped body 11.

[0044] The walking mechanism 20 includes a housing 21, a driving motor 22, a walking wheel 23 and a guide limiting assembly 24. The housing 21 is generally in a cylindrical structure, and the housing 21 has opposite first and second side plates 211 and 212 and a top plate 213 connected between the first and second side plates 211 and 212. In some embodiments, the housing 21 further includes a third side plate 214, which can be connected with the top plate 213, and the third side plate 214 is arranged close to the first side plate 211 (as shown in the drawings). Figure 6

[0045] The driving motor 22 is installed in the housing 21, and the output end of the driving motor 22 protrudes from the first side plate 211, and the output end of the driving motor 22 is provided with a driving gear 25. The driving motor 22 can be a servo motor, which has high adjustment accuracy and has a forward and reverse function.

[0046] The mounting shaft of the walking wheel 23 is connected between the first and second side plates 211 and 212, and the first end of the mounting shaft protrudes from the first side plate 211, and the part of the first end of the mounting shaft protruding from the first side plate 211 is provided with a driven gear 26; the driving gear 25 and the driven gear 26 are engaged with each other. When the walking wheel 23 is two, the driving motor 22 can be arranged between the two walking wheels 23, so that one driving gear 25 can be engaged with two driven gears 26.

[0047] ​There are two guide limiting components 24. Both guide limiting components 24 are connected to the first side plate 211 and the second side plate 212 respectively; alternatively, one guide limiting component 24 is connected to the second side plate 212 and the other is connected to the third side plate 214. Each guide limiting component 24 is equipped with at least one guide wheel 246, which contacts the stepped surface 13, allowing the walking mechanism 20 to move more stably on the walking circular track 10.

[0048] like Figures 2 to 4 As shown, in some embodiments, the traveling track 10 includes a first semicircular track 10a and a second semicircular track 10b that are detachably connected to facilitate assembly onto the nuclear power plant pipeline 100.

[0049] like Figure 4 As shown, in some embodiments, the end faces of the first semicircular track 10a are respectively provided with first connecting holes 10c; the end faces of the second semicircular track 10b are provided with second connecting holes 10d, which are provided through the outer circumferential surfaces of the two ends of the second semicircular track 10b to the end faces of the two ends of the second semicircular track 10b; the first connecting holes 10c and the second connecting holes 10d are connected and fixed by fasteners. The fasteners include, but are not limited to, bolts or screws.

[0050] like Figure 2 and Figure 3 As shown, the inner side of the annular boss 12 is also provided with a plurality of grooves 121, which are spaced apart along the circumferential direction of the annular boss 12. The walking mechanism 20 also includes a limiting block 14 disposed in the groove 121.

[0051] The inner wall of the groove 121 is provided with a plurality of adjusting holes 15 extending to the outer surface of the annular body 11. The traveling rail 10 also includes adjusting members that pass through the adjusting holes 15 to adjust the radial extension of the limiting block 14. The adjusting members include, but are not limited to, bolts. By adjusting the radial extension of the limiting block 14, the traveling rail can be better fixed on the nuclear power plant pipeline 100, and the limiting block 14 can be replaced as needed to adapt to nuclear power plant pipelines 100 with different outer diameters.

[0052] In some embodiments, the outer surface of the annular body 11 is also provided with texture to increase friction, so that the walking mechanism 20 can walk more stably on the outer surface of the annular body 11.

[0053] See Figures 8 to 11In some embodiments, the guide limiting assembly 24 further includes a first fixing block 241, a second fixing block 242, a connecting block 243, a slider 244, and an adjusting bolt 245; the first fixing block 241 and the second fixing block 242 are disposed opposite to each other, the connecting block 243 connects the first fixing block 241 and the second fixing block 242, and the connecting block 243, the first fixing block 241 and the second fixing block 242 can be connected by a connecting shaft 247.

[0054] An installation space is formed between the first fixing block 241 and the second fixing block 242. The slider 244 has an L-shaped structure and includes a main body 2441 and a mounting part 2442 connected to one side of the main body 2441. The main body 2441 is movably installed in the installation space. The adjusting bolt 245 passes through the connecting block 243 to connect with the main body 2441. The guide wheel 246 is installed on the mounting part 2442. The adjusting bolt 245 adjusts the tightness of the contact between the guide wheel 246 and the step surface 13, which can make the guide wheel 246 fit tightly against the step surface 13 and increase the friction between the traveling wheel 23 and the upper surface of the traveling rail 10, making the travel more stable and reliable.

[0055] Furthermore, the connecting block 243 is provided with a threaded hole 2431 that passes through its upper and lower surfaces, and the adjusting bolt 245 passes through the threaded hole 2431.

[0056] In some embodiments, the first fixing block 241 has a first guide groove 2411 on the side facing the second fixing block 242, and the second fixing block 242 has a second guide groove 2421 on the side facing the first fixing block 241. The main body 2441 has a first limiting portion 24411 and a second limiting portion 24412 on opposite sides, with the first limiting portion 24411 located within the first guide groove 2411 and the second limiting portion 24412 located within the second guide groove 2421. Alternatively, in some embodiments, the main body 2441 has a pin, with both ends protruding from opposite sides of the main body 2441 and extending into the first guide groove 2411 and the second guide groove 2421, respectively.

[0057] In some embodiments, the walking mechanism 20 further includes an encoder 27 mounted within the housing 21, wherein the gear 271 of the encoder 27 meshes with the drive gear 25 or the driven gear 26. Preferably, the gear 271 of the encoder 27 meshes with the driven gear 26.

[0058] The walking device of the nuclear power plant pipeline welding equipment has a relatively compact structure and does not occupy a large space, making it suitable for operation in narrow spaces. The walking device can move stably around the outer perimeter of the nuclear power plant pipeline, thereby driving other components of the nuclear power plant pipeline welding equipment, such as the welding device, to rotate along the outer perimeter of the nuclear power plant pipeline, realizing automatic welding operations of the nuclear power plant pipeline.

[0059] It is understood that the above embodiments only illustrate preferred embodiments of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present utility model patent. It should be noted that for those skilled in the art, the above technical features can be freely combined, and several modifications and improvements can be made without departing from the concept of the present utility model, all of which fall within the protection scope of the present utility model. Therefore, all equivalent transformations and modifications made within the scope of the claims of the present utility model should fall within the coverage of the claims of the present utility model.

Claims

1. A travelling device of a nuclear power plant pipe welding apparatus, characterized by, The utility model relates to a walking circular rail (10) for installing on nuclear power plant pipeline, walking mechanism (20) and guide limiting component (24), walking circular rail (10) includes annular main body (11), the inner surface of annular main body (11) is equipped with annular boss (12), the axial length of annular main body (11) is greater than the axial length of annular boss (12), to define the step surface (13) in the inner surface of annular main body (11); Walking mechanism (20) includes the shell (21), drive motor (22), walking wheel (23) and guide limiting component (24), the shell (21) has opposite first side plate (211) with second side plate (212), drive motor (22) is installed in the shell (21), and the output end of drive motor (22) protrudes from the first side plate (211), and the output end of drive motor (22) is equipped with drive gear (25); The mounting shaft of walking wheel (23) connects the first side plate (211) with the second side plate (212), the first end of the mounting shaft protrudes from the first side plate (211), and the part of the first end of the mounting shaft protruding from the first side plate (211) is provided with a driven gear (26);Drive gear (25) and driven gear (26) are engaged with each other; The number of guide limiting component (24) is two, two guide limiting component (24) is connected with first side plate (211) and second side plate (212) respectively, and each guide limiting component (24) is provided with at least one guide wheel (246), and the guide wheel (246) is in contact with the step surface (13). The walking circular rail (10) includes a first half-circular rail (10a) and a second half-circular rail (10b) that are detachably connected.

2. The travelling device of a nuclear power plant piping welding apparatus according to claim 1, characterized by, The end faces of the two ends of the first half-circular rail (10a) are respectively provided with first connecting holes (10c); 3. The travelling device of a nuclear power plant piping welding apparatus according to claim 2, characterized by, The two ends of the second half-circular rail (10b) are provided with second connecting holes (10d), the second connecting holes (10d) are provided through from the circumferential outer side surfaces of the two ends of the second half-circular rail (10b) to the end faces of the two ends of the second half-circular rail (10b); The first connecting holes (10c) and the second connecting holes (10d) are connected and fixed by fasteners. The inner side surface of the annular boss (12) is further provided with a plurality of grooves (121), the grooves (121) are arranged at intervals along the circumferential direction of the annular boss (12); 4. The travelling device of a nuclear power plant piping welding apparatus according to claim 1, characterized by, The walking mechanism (20) further comprises a limiting block (14) arranged in the groove (121). The inner wall surface of the groove (121) is provided with a plurality of adjusting holes (15) penetrating to the outer surface of the annular main body (11), and the walking circular rail (10) further comprises an adjusting member penetrating the adjusting hole (15) to adjust the radial extension amount of the limiting block (14).

5. The travelling device of a nuclear power plant piping welding apparatus according to claim 4, characterized by, The outer surface of the annular main body (11) is further provided with a texture.

6. The travelling apparatus for a nuclear power plant piping welding apparatus according to claim 1, characterized by ​ 7. The travelling device of a nuclear power plant piping welding apparatus according to claim 1, wherein The guide limiting component (24) further comprises a first fixed block (241), a second fixed block (242), a connecting block (243), a sliding block (244) and an adjusting bolt (245); The first fixed block (241) is oppositely arranged with the second fixed block (242), the connecting block (243) connects the first fixed block (241) and the second fixed block (242), and an installation space is formed between the first fixed block (241) and the second fixed block (242); The sliding block (244) is in L-shaped structure, the sliding block (244) comprises a main body part (2441) and an installation part (2442) connected with one side of the main body part (2441), the main body part (2441) is movably installed in the installation space, and the adjusting bolt (245) is arranged in the connecting block (243) to be connected with the main body part (2441); The guide wheel (246) is installed on the installation part (2442).

8. The travelling device of a nuclear power plant piping welding apparatus according to claim 7, characterized by, The connecting block (243) is provided with a threaded hole (2431) penetrating through its upper and lower surfaces, and the adjusting bolt (245) is arranged in the threaded hole (2431).

9. The travelling device of a nuclear power plant piping welding apparatus according to claim 7, wherein The first fixed block (241) is provided with a first guide groove (2411) on the side facing the second fixed block (242), and the second fixed block (242) is provided with a second guide groove (2421) on the side facing the first fixed block (241). The opposite sides of the main body part (2441) are respectively provided with a first limiting part (24411) and a second limiting part (24412), the first limiting part (24411) is located in the first guide groove (2411), and the second limiting part (24412) is located in the second guide groove (2421).

10. The travelling apparatus of a nuclear power plant piping welding apparatus according to claim 1, wherein The walking mechanism (20) further comprises an encoder (27) installed in the shell (21), and a gear (271) of the encoder (27) is engaged with the driving gear (25) or the driven gear (26).

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