CN114683239B - Crawling positioning robot structure - Google Patents
Crawling positioning robot structure Download PDFInfo
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- CN114683239B CN114683239B CN202011559222.9A CN202011559222A CN114683239B CN 114683239 B CN114683239 B CN 114683239B CN 202011559222 A CN202011559222 A CN 202011559222A CN 114683239 B CN114683239 B CN 114683239B
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- sliding table
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- crawling
- tool end
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- 230000009193 crawling Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 210000003371 toe Anatomy 0.000 claims abstract 10
- 230000001360 synchronised effect Effects 0.000 claims description 43
- 210000000078 claw Anatomy 0.000 claims description 25
- 238000012423 maintenance Methods 0.000 claims description 21
- 238000012546 transfer Methods 0.000 abstract description 11
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000523 sample Substances 0.000 description 23
- 238000012544 monitoring process Methods 0.000 description 6
- 238000013519 translation Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a crawling positioning robot structure which comprises a turntable, a sliding table, a base and a tool end, wherein a rotary degree of freedom is arranged between the turntable and the base to realize multi-angle rotation, a relative translational degree of freedom is arranged between the sliding table and the turntable and the base to realize linear walking, and a relative lifting degree of freedom is arranged between the sliding table and the turntable and the base to realize alternate lifting of toes of the turntable and toes of the sliding table. The invention has the beneficial effects that: the novel mechanism can adapt to the complex working condition of in-service overhaul of the steam generator, is a novel mechanism capable of being maintained and disassembled in a modularized mode, has a motion mode which is not limited by the arrangement mode and the pipe spacing of the heat transfer pipes, and can remarkably improve the positioning efficiency of the positioning device.
Description
Technical Field
The invention belongs to nondestructive detection of heat transfer tubes of steam generators and similar equipment, and particularly relates to a crawling positioning robot structure.
Background
A Steam Generator (SG) is a heavy-duty key device next to a reactor vessel in a nuclear power plant, and is one of the most malfunctioning devices in the operation of the nuclear power plant. The inner surface of the SG water chamber, the main pipeline joint, the partition plate, the tube plates and thousands of heat transfer tubes are all objects of in-service overhaul and assessment of the SG, wherein the in-service overhaul and assessment of the heat transfer tubes are the most complicated. Corrosion damage to the heat transfer tubes will cause the radioactive medium of the primary circuit to leak into the secondary circuit, creating serious water pollution and compromising the primary circuit. Once a leakage accident occurs, the nuclear power station is forced to be in emergency shutdown, and serious economic loss and potential safety hazard are caused. Therefore, the regular in-service overhaul and evaluation of the SG are the main means for avoiding unplanned shutdown.
Disclosure of Invention
The invention aims to provide a crawling positioning robot structure which can adapt to the complex working condition of in-service overhaul of a steam generator, is a novel mechanism capable of being maintained and disassembled in a modularized mode, has a motion mode which is not limited by the arrangement mode and the pipe spacing of heat transfer pipes, and can obviously improve the positioning efficiency of a positioning device.
The technical scheme of the invention is as follows: the utility model provides a positioning robot structure crawls, includes revolving stage, slip table, base and instrument end, the revolving stage relative base between have rotatory degree of freedom in order to realize the multi-angle rotation, have relative translation degree of freedom in order to realize sharp walking between relative revolving stage of slip table and the base, have relative lift degree of freedom in order to realize the alternate lift of revolving stage toe and slip table toe between relative revolving stage of slip table and the base.
The two ends of the sliding table are respectively provided with a claw and a driver, the lower part of the sliding table is provided with a claw limiting support, two guide rails are arranged on two sides of the sliding table, the sliding table is fixed with the guide rails and the sliding table synchronous belt wheel set, and the base is fixed on the clamping plate.
The outside of the guide rail and the sliding table synchronous pulley group is covered with a sliding table shell.
The driving wheel of the sliding table synchronous belt wheel set is fixed on an output shaft of a sliding table motor, the sliding table motor is fixed on one side of the sliding table, and the driven is connected to the tensioning block through a bearing snap ring.
And a first photoelectric switch is arranged below the synchronous belt.
One end of the sliding table is provided with a tool end, an outer shell of a claw on the tool end is fixedly installed by a toe base and a toe top cover, a tool end valve island and a first electromagnetic valve are installed on the toe base, a tool end motor driver is installed on the toe top cover, the structure forms a tool end toe module, and the tool end toe module is installed on a tool end support after module assembly is completed.
The air pipe connected with the base is connected with the tool end valve island and is provided with five electromagnetic valves.
The tool end is arranged at one end of the sliding table and comprises a non-replaceable tool seat and a replaceable overhaul tool.
The tool seat comprises a tool end bracket and a rotating head, the rotating motion of the tool seat is driven by a tool motor set and a tool synchronous pulley set, and a driving wheel and a driven wheel of the tool synchronous pulley set are fixed on an output shaft of the tool motor set and a rotating shaft of the tool seat.
The rear side of the rotary head is provided with a detachable rear cover, the main end of the pneumatic quick-change connector is arranged on a quick-change connector bracket, the quick-change connector bracket is fixed on the lower part of the rotary head, and the camera is arranged on the camera bracket.
The structure be a but novel mechanism of modularization maintenance and dismantlement, a slip table structure both ends are equipped with a jack catch respectively, and the slip table is fixed with guide rail and slip table synchronous pulley group, drives slip table synchronous pulley group motion when slip table motor group, can produce relative translational motion with the slip table along the guide rail with the base that splint is fixed.
The positioning robot structure is a modularized maintenance and disassembly structure, a driver, an electromagnetic valve and a claw are respectively installed at the motor end and the tool end of the sliding table to form a module, the driver and the electromagnetic valve are installed, the electromagnetic valve, the camera and the quick-change connector form a module at the tool end, the turntable and the base form a module respectively, and the modules can be separated by dismantling part of the electric connector, the air pipe connector and a small amount of fasteners.
The invention has the beneficial effects that: the positioning robot structure is mainly divided into four parts: the device comprises a turntable, a sliding table, a base and a tool end. In order to enable the positioning robot to complete continuous multi-angle alternate translational movement, the positioning robot is designed into a three-degree-of-freedom mechanism, and three degrees of freedom of movement are respectively as follows: the rotary freedom degree between the rotary table and the base is used for realizing multi-angle rotation, the translational freedom degree between the sliding table and the base is used for realizing linear walking, and the lifting freedom degree between the sliding table and the base is used for realizing alternate lifting of the toe of the rotary table and the toe of the sliding table. A claw is respectively arranged at two ends of a sliding table structure, a sliding table is fixed with a guide rail and a sliding table synchronous pulley group, and when a sliding table motor group drives the sliding table synchronous pulley group to move, a base fixed with a clamping plate and the sliding table generate relative translational movement along the guide rail. The motor end and the tool end of the sliding table are in modularized design, and a driver and an electromagnetic valve are installed. The air pipe connected from the tool end is connected to the air pipe joint at the motor end along the shell, and the tensioning, releasing and retracting actions of the positioning and clamping mechanism are respectively controlled through the electromagnetic valve. Maintenance may enable modular disassembly. The maintenance difficulty is reduced, and the working time of personnel in the radiation area is reduced. The overhaul tool mechanism is divided into two parts, namely a non-replaceable tool seat and a replaceable overhaul tool. The tool seat consists of a tool end bracket and a rotating head, and the rotating motion of the tool seat is driven by a tool motor unit and a tool synchronous belt wheel set. The electromagnetic valve and the quick-change connector are integrally arranged in the tool seat.
Drawings
FIG. 1 is a schematic diagram of a crawling positioning robot according to the present invention;
FIG. 2 is a side view of a slipway timing belt;
FIG. 3 is a timing belt drive schematic;
FIG. 4 is a side view of a slipway driver;
FIG. 5 is a schematic view of a tool holder;
FIG. 6 is a cross-sectional view of a tool holder;
Fig. 7 is a view of an inspection tool.
In the drawing, a turntable 2, a sliding table, a base 3, a tool end 4, a first photoelectric switch 5, a second photoelectric switch 6, a claw 7, a guide rail 8, a sliding table synchronous belt wheel set 9, a clamping plate 10, a shell 11, a driving wheel 12, a sliding table motor 13, a driven wheel 14, a tensioning block 15, a synchronous belt 16, a claw valve island 17, a first electromagnetic valve 18, a tool end motor driver 19, a second electromagnetic valve 20, a tool end valve island 21, a tool seat 22, a maintenance tool 23, a tool end support 24, a rotary head 25, a tool motor 26, a tool synchronous belt wheel set 27, a tool seat rotary shaft 28, a rear cover 29, a pneumatic quick-change connector 30, a quick-change connector support 31, a camera 32, a camera support 33, a third electromagnetic valve 34, a cylinder 35, a connector 36, a 37 driver 38 claw limiting support and a tensioner 39.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
The utility model provides a novel nuclear power station steam generator tube sheet location detection robot structure can solve the maintenance problem of steam generator heat transfer pipe.
The crawling positioning robot structure is mainly divided into four parts: a turntable 1, a sliding table 2, a base 3 and a tool end 4. In order to enable the positioning robot to complete continuous multi-angle alternate translational movement, the positioning robot is designed into a three-degree-of-freedom mechanism, and three degrees of freedom of movement are respectively as follows: the rotary freedom degree between the rotary table 1 and the base 3 is used for realizing multi-angle rotation, the translational freedom degree between the sliding table 2 and the rotary table 1 and the base 3 is used for realizing linear walking, and the lifting freedom degree between the sliding table 2 and the rotary table 1 and the base 3 is used for realizing alternate lifting of the rotary table toe and the sliding table toe.
During operation, the turntable and the sliding table alternately perform translation, rotation and lifting motions, and the motion positioning is realized by means of the respective clamping claws 7, so that the positioning accuracy and the mechanism reliability of the mechanism during the motion positioning are improved, three clamping claws 7 are designed on the turntable, and two clamping claws 7 are respectively designed at two ends of the sliding table.
The claw 7 is equipped with respectively at slip table 2 both ends, and slip table 2 is fixed with guide rail 8 and slip table hold-in range group 9, and when slip table motor group drove slip table hold-in range group motion, base 3 that is fixed with splint 10 can produce relative translational motion with slip table 2 along guide rail 8 to realize the translation degree of freedom. The sliding table shell 11 consists of a main shell and a plurality of small shells, and comprises an upper cover, a side cover, a tool seat upper cover and a tool seat lower cover. In order to conveniently realize the sealing grade requirement of the electric parts of the main body mechanism, the sliding table synchronous belt wheel set and the two guide rails are fixed on the outer side of the shell, and the sliding table synchronous belt wheel set is protected through the side cover.
The shell 11 of the sliding table only plays a protective role, and after the shell is completely disassembled, the main support of the sliding table mechanism can be seen. The driving wheel 12 of the sliding table synchronous belt wheel group 9 is fixed on the output shaft of the sliding table motor 13, the sliding table motor 13 is fixed on one side of the sliding table, the driven wheel 14 is connected to the tensioning block 15 through a bearing snap ring and is positioned at the other end of the sliding table, and the function of tensioning the synchronous belt 16 is achieved. The slipway photoelectric switch 5 is located the hold-in range 16 below, and the position of accessible screw adjustment calibration slipway photoelectric switch 5, the trigger lever is installed in splint downside. Due to the need of supporting the weight of the base and turntable, two guide rails 8 are mounted on both sides of the slipway.
The outer shell of slip table tool end jack catch 7 is installed fixedly by toe base and toe top cap, installs tool end valve island 17 and solenoid valve 18 on the toe base, installs tool end motor driver 19 on the toe top cap, and above-mentioned structure has formed a tool end toe module, installs the tool end toe module on tool end support 24 again after accomplishing the module assembly, and the modular structural design has made things convenient for the dismouting of part module to change like this.
On the air path, an air pipe connected from the base is connected to a tool end valve island 21 and is provided with five electromagnetic valves for respectively controlling the tensioning, releasing and retracting actions of the positioning and clamping mechanism and supplying air to the motor end and the overhaul tool mechanism. In order to prevent the wire from being clamped by the structures such as the spring, the trigger rod and the like, the valve island, the electromagnetic valve and the like are placed on the opposite side of the spring, and the tool motor unit is inversely arranged on the tool end bracket and is on the same side of the spring of the claw.
The slip motor end is similar to the tool end and is modular in design and also incorporates the driver 37 and solenoid valve 20. The air pipe connected from the tool end is connected to the air pipe joint of the motor end along the shell, and the tensioning, releasing and retracting actions of the positioning and clamping mechanism are respectively controlled by the electromagnetic valve 20.
According to the demand of positioning robot to the maintenance instrument, the heat transfer pipe maintenance instrument needs can quick replacement, through changing different maintenance instruments, realizes different maintenance functions to accomplish the maintenance operation of different demands, so can divide into two parts with maintenance instrument mechanism, non-removable tool holder 22 and removable maintenance instrument 23, in the vortex detection, the maintenance instrument can realize carrying out the probe door instrument that detects simultaneously to two heat transfer pipe holes.
The tool holder 22 is composed of a tool end support 24 and a rotary head 25, the rotational movement of which is driven by a tool motor set 26 and a tool timing belt pulley set 27.
The driving wheel and the driven wheel of the tool synchronous belt wheel set 27 are fixed on the output shaft of the tool motor set and the rotating shaft 28 of the tool seat, the photoelectric switch 5 is fixed beside the tool synchronous belt 27 through a mounting seat, and the trigger rod is fixed on the driven wheel of the tool synchronous belt wheel set.
The tool seat rotating head 25 and the tool seat rotating shaft 28 are respectively provided with a thin-wall bearing which can reduce the load of two shafts, and the hollow shaft of the tool seat rotating head can penetrate an air pipe to supply air for the rotating head.
The rear side of the rotating head is a detachable rear cover 29, an electric component inside the rotating head can be detached and overhauled, the main end of the pneumatic quick-change connector 30 is arranged on a quick-change connector bracket 31, the quick-change connector bracket 31 is fixed at the lower part of the rotating head 25, the camera 32 is arranged on a camera bracket 33, the camera bracket is fixed above the quick-change connector bracket, and the two cameras are respectively used for monitoring the positioning precision and monitoring the operation state of an overhauling tool. The quick-change connector bracket also serves as a rotary head valve island, four electromagnetic valves 34 are arranged on the rotary head valve island, the rising and the falling of the quick-change connector tensioning, releasing and overhauling tool mechanisms are respectively controlled, and all air pipe connectors are arranged on the upper part of the rotary head, so that air pipes can conveniently penetrate out of the hollow shaft.
The probe tool is provided with two probe guiding mechanisms, and the matching surface of the probe tool and the rotating head of the tool seat is provided with a quick-change connector 30 from end. The upper part of the two probe doors is provided with a cylinder 35 structure with a connecting cavity, and the lower part is provided with a probe hose connector 36. The cylinder structure can enable the probe door to ascend and descend so as to achieve approaching and keeping away from the evaporator tube plate, and the positioning accuracy of the probe is improved.
As shown in fig. 1, a crawling positioning robot structure comprises a turntable 1, a sliding table 2, a base 3 and a tool end 4. The mechanism has three degrees of freedom mechanisms respectively: the rotary freedom degree between the rotary table 1 and the base 3 is used for realizing multi-angle rotation, the translational freedom degree between the sliding table 2 and the rotary table 1 and the base 3 is used for realizing linear walking, and the lifting freedom degree between the sliding table 2 and the rotary table 1 and the base 3 is used for realizing alternate lifting of the rotary table toe and the sliding table toe.
As shown in fig. 2, two ends of the sliding table 2 are respectively provided with a claw 7 and a driver 37, the lower part of the sliding table 2 is provided with a claw limiting bracket 38, and two guide rails 8 are arranged on two sides of the sliding table 2 and used for supporting the base 3 and the turntable 1. The sliding table 2 is fixed with the guide rail 8 and the sliding table synchronous belt pulley group 9, when the sliding table motor group drives the sliding table synchronous belt pulley group to move, the clamping plate 10 is fixed on the sliding table synchronous belt pulley group 9, the base 3 is fixed on the clamping plate 10, and relative translational movement is generated between the base 3 fixed with the clamping plate 10 and the sliding table 2 along the guide rail 8, so that translational freedom degree is realized. The slipway shell 11 covers the outside of the guide rail 8 and the slipway synchronous pulley group 9, and the slipway shell 11 comprises a main shell and a plurality of small shells, and specifically comprises an upper cover, a side cover, a tool seat upper cover and a tool seat lower cover. In order to conveniently realize the sealing grade requirement of the electric parts of the main body mechanism, the sliding table synchronous belt wheel set and the two guide rails are fixed on the outer side of the shell, and the sliding table synchronous belt wheel set is protected through the side cover.
As shown in fig. 2-4, the driving wheel 12 of the sliding table synchronous belt wheel set 9 is fixed on the output shaft of the sliding table motor 13, the sliding table motor 13 is fixed on one side of the sliding table 2, the driven wheel 14 is connected to the tensioning block 15 through a bearing snap ring and is positioned at the other end of the sliding table 2, and the function of tensioning the synchronous belt 16 is achieved. The first photoelectric switch 5 is positioned below the synchronous belt 16, the position of the first photoelectric switch 5 can be adjusted and calibrated through screws, and the trigger rod is arranged on the lower side of the clamping plate.
One end of the sliding table 2 is provided with a tool end 4, an outer shell of a claw 7 on the tool end 4 is fixedly installed by a toe base and a toe top cover, a tool end valve island 17 and a first electromagnetic valve 18 are installed on the toe base, a tool end motor driver 19 is installed on the toe top cover, the structure forms a tool end toe module, the tool end toe module is installed on a tool end bracket 24 after the module is assembled, and therefore, the modular structural design facilitates the disassembly, assembly and replacement of the component module.
On the air path, an air pipe connected from the base 3 is connected to a tool end valve island 21 and is provided with five electromagnetic valves for respectively controlling the tensioning, releasing and retracting actions of the positioning and clamping mechanism and supplying air to the motor end and the maintenance tool mechanism.
The motor end of the sliding table also adopts a modularized structure, and is provided with a driver 37 and a second electromagnetic valve 20. The air pipe connected from the tool end is connected to the air pipe joint of the motor end along the shell, and the tensioning, releasing and retracting actions of the positioning and clamping mechanism are respectively controlled by the second electromagnetic valve 20.
The tool end 4 is arranged at one end of the sliding table and comprises an unremovable tool seat 22 and an exchangeable overhaul tool 23, and in eddy current detection, the overhaul tool can realize probe door tools for simultaneously detecting two heat transfer pipe holes. The tool holder 22 comprises a tool end support 24 and a rotary head 25, the rotational movement of which is driven by a tool motor set 26 and a tool timing belt set 27.
The driving wheel and the driven wheel of the tool synchronous belt wheel set 27 are fixed on the output shaft of the tool motor set and the rotating shaft 28 of the tool seat, the first photoelectric switch 5 is fixed beside the tool synchronous belt 27 through a mounting seat, and the trigger rod is fixed on the driven wheel of the tool synchronous belt wheel set.
The rear side of the rotating head 25 is provided with a detachable rear cover 29, an electric component inside the rotating head can be detached and overhauled, the main end of the pneumatic quick-change connector 30 is arranged on a quick-change connector bracket 31, the quick-change connector bracket 31 is fixed at the lower part of the rotating head 25, the camera 32 is arranged on a camera bracket 33, the camera bracket is fixed above the quick-change connector bracket, and the two cameras are respectively used for monitoring the positioning precision and monitoring the operation state of an overhauling tool. The quick-change connector bracket also serves as a rotary head valve island, and is provided with four third electromagnetic valves 34 which respectively control the rising and falling of the tensioning, releasing and maintenance tool mechanisms of the quick-change connector, and all the air pipe connectors are arranged on the upper part of the rotary head, so that the air pipe can conveniently penetrate out of the hollow shaft.
The probe tool is provided with two probe guiding mechanisms, and the matching surface of the probe tool and the rotating head of the tool seat is provided with a quick-change connector 30 from end. Above the two probe doors is a cylinder 35 with a body cavity, and below is a probe hose connector 36. The cylinder can enable the probe door to ascend and descend so as to achieve approaching and keeping away from the evaporator tube plate, and the positioning accuracy of the probe is improved.
As shown in fig. 1, when the positioning robot works, the turntable and the sliding table alternately perform translation, rotation and lifting motions, and the motion positioning is realized by means of the respective clamping claws 7, so that the positioning precision and the reliability of the mechanism during the motion positioning are improved, three clamping claws 7 are designed on the turntable 1, and two clamping claws 7 are respectively designed at two ends of the sliding table 2. The claw 7 is installed respectively at slip table both ends, and the slip table is fixed with guide rail 8 and slip table synchronous pulley group 9, and when slip table motor group drive slip table synchronous pulley group motion, base 3 that is fixed with splint 10 can produce relative translational motion with slip table 2 along guide rail 8 to realize the translation degree of freedom. The heat transfer pipe overhauls the instrument needs can quick replacement, through changing different overhauls the instrument, realizes different maintenance functions to accomplish the maintenance operation of different demands, the camera 32 is installed on camera support 33, and the camera support is fixed in quick change connector support top, and two cameras are used for positioning accuracy monitoring and maintenance instrument operation state monitoring respectively. The quick-change connector bracket also serves as a rotary head valve island on which four solenoid valves 34 are mounted to control the tensioning, release and lifting of the service tool mechanism of the quick-change connector, respectively. The probe tool is provided with two probe guiding mechanisms, and the matching surface of the probe tool and the rotating head of the tool seat is provided with a quick-change connector 30 from end. The upper part of the two probe doors is provided with a cylinder 35 structure with a connecting cavity, and the lower part is provided with a probe hose connector 36. The cylinder structure can enable the probe door to ascend and descend so as to achieve approaching and keeping away from the evaporator tube plate, and the positioning accuracy of the probe is improved.
Claims (8)
1. The utility model provides a positioning robot structure crawls which characterized in that: the rotary table comprises a rotary table, a sliding table, a base and a tool end, wherein the rotary table has a rotary degree of freedom relative to the base to realize multi-angle rotation, the sliding table has a relative translational degree of freedom relative to the rotary table and the base to realize linear walking, and the sliding table has a relative lifting degree of freedom relative to the rotary table and the base to realize alternate lifting of the toes of the rotary table and the toes of the sliding table;
two ends of the sliding table are respectively provided with a claw and a driver, the lower part of the sliding table is provided with a claw limiting bracket, two guide rails are arranged on two sides of the sliding table, the sliding table is fixed with the guide rails and the sliding table synchronous belt wheel set, and the base is fixed on the clamping plate;
The outer parts of the guide rail and the sliding table synchronous pulley group are covered with a sliding table shell;
the driving wheel of the sliding table synchronous belt wheel set is fixed on an output shaft of a sliding table motor, the sliding table motor is fixed on one side of the sliding table, and the driven is connected to the tensioning block through a bearing snap ring;
One end of the sliding table is provided with a tool end, an outer shell of a claw on the tool end is fixedly installed by a toe base and a toe top cover, a tool end valve island and a first electromagnetic valve are installed on the toe base, a tool end motor driver is installed on the toe top cover, the structure forms a tool end toe module, and the tool end toe module is installed on a tool end support after module assembly is completed.
2. The crawling positioning robot structure of claim 1, wherein: and a first photoelectric switch is arranged below the synchronous belt.
3. The crawling positioning robot structure of claim 1, wherein: the air pipe connected with the base is connected with the tool end valve island and is provided with five electromagnetic valves.
4. The crawling positioning robot structure of claim 1, wherein: the tool end is arranged at one end of the sliding table and comprises a non-replaceable tool seat.
5. The crawling positioning robot structure according to claim 4, characterized in that: the tool seat comprises a tool end bracket and a rotating head, the rotating motion of the tool seat is driven by a tool motor set and a tool synchronous pulley set, and a driving wheel and a driven wheel of the tool synchronous pulley set are fixed on an output shaft of the tool motor set and a rotating shaft of the tool seat.
6. The crawling positioning robot structure according to claim 5, characterized in that: the rear side of the rotary head is provided with a detachable rear cover, the main end of the pneumatic quick-change connector is arranged on a quick-change connector bracket, the quick-change connector bracket is fixed on the lower part of the rotary head, and the camera is arranged on the camera bracket.
7. The crawling positioning robot structure according to claim 5, characterized in that: the crawling positioning robot structure is a modularized maintenance and disassembly mechanism, two ends of the sliding table structure are respectively provided with a claw, the sliding table is fixed with the guide rail and the sliding table synchronous pulley group, and when the sliding table motor group drives the sliding table synchronous pulley group to move, the base fixed with the clamping plate and the sliding table generate relative translational movement along the guide rail.
8. The crawling positioning robot structure according to claim 5, characterized in that: the positioning robot structure is a modularized maintenance and disassembly structure, a driver, an electromagnetic valve and a claw are respectively installed at the motor end and the tool end of the sliding table to form a module, the driver and the electromagnetic valve are installed, the electromagnetic valve, the camera and the quick-change connector form a module at the tool end, the turntable and the base form a module respectively, and the modules can be separated by dismantling part of the electric connector, the air pipe connector and a small amount of fasteners.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011559222.9A CN114683239B (en) | 2020-12-25 | 2020-12-25 | Crawling positioning robot structure |
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| CN202011559222.9A CN114683239B (en) | 2020-12-25 | 2020-12-25 | Crawling positioning robot structure |
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| CN114683239A CN114683239A (en) | 2022-07-01 |
| CN114683239B true CN114683239B (en) | 2024-09-10 |
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| CN115635494A (en) * | 2022-10-12 | 2023-01-24 | 国核电站运行服务技术有限公司 | Tube plate crawling robot and control method thereof |
| CN119289209A (en) * | 2024-11-28 | 2025-01-10 | 哈尔滨工业大学 | A crawling robot for heat transfer tube maintenance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN214724192U (en) * | 2020-12-25 | 2021-11-16 | 中核武汉核电运行技术股份有限公司 | Crawling positioning robot structure |
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| US5355063A (en) * | 1990-11-01 | 1994-10-11 | Westinghouse Electric Corp. | Robotic system for servicing the heat exchanger tubes of a nuclear steam generator |
| US6145583A (en) * | 1996-06-14 | 2000-11-14 | R. Brooks Associates, Inc. | Inspection device |
| JP3258575B2 (en) * | 1996-10-08 | 2002-02-18 | 三菱重工業株式会社 | Capillary inspection robot device |
| FR2837415B1 (en) * | 2002-03-22 | 2004-12-17 | Framatome Anp | DEVICE AND METHOD FOR INTERVENING IN A ZONE OF A WALL-DEFINED INSTALLATION HAVING AT LEAST TWO SURFACES OPPOSITE |
| CN101364452B (en) * | 2008-09-27 | 2011-01-26 | 哈尔滨工程大学 | Nuclear steam generator pipeline inspection robot |
| KR101056856B1 (en) * | 2008-10-16 | 2011-08-12 | 도키오 오카와 | Superheated steam generator, power line and connecting robot |
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2020
- 2020-12-25 CN CN202011559222.9A patent/CN114683239B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN214724192U (en) * | 2020-12-25 | 2021-11-16 | 中核武汉核电运行技术股份有限公司 | Crawling positioning robot structure |
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