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Nuclear power steam generator pipe detection robot

A steam generator and pipeline detection technology, applied in the field of detection robots, can solve the problems of low detection efficiency, pollution of steam generators, troublesome application, etc., and achieve the effect of convenient energy acquisition, flexible and reliable control, and clean application

Inactive Publication Date: 2009-02-11
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This structure solves the problem that the load force is borne by the driving element, but because of the size of the manhole, the size of the robot cannot be too large, so the detection range after one positioning is small, so the detection efficiency is low
Moreover, the system adopts hydraulic and pneumatic mixed control, so the application is more troublesome. It is necessary to provide air pressure source and hydraulic pressure source, and once the hydraulic system leaks, the hydraulic oil will pollute the steam generator

Method used

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  • Nuclear power steam generator pipe detection robot
  • Nuclear power steam generator pipe detection robot
  • Nuclear power steam generator pipe detection robot

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Embodiment Construction

[0020] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0021] The composition and assembly method of the nuclear steam generator pipeline inspection robot are as follows:

[0022] to combine image 3 , first the tensioning cylinder 3-5 and the support member 3-8 are fixed by screws, and then the tie rod connecting plate 3-6 and the gasket 3-7 are fixed to the cylinder rod of the tensioning cylinder 3-5 by screws. The expansion flap 3-10 is fixed on the expansion flap fixing plate 3-9 by riveting, and then the expansion flap fixing plate 3-9 is fixedly connected with the support member 3-8 with screws. Then the connecting rod 3-12 is passed through the expansion flap 3-10 one by one, and is fixed on the pull rod connecting plate 3-6 with the screw thread at its end, and glues to prevent loosening. The push-up cylinder 3-2 is fixed on the fixed plate 3-13 by screws on the upper 3-3 and the lower 3-1 of the push-up cyli...

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Abstract

The invention provides a pipeline inspection robot for a nuclear steam generator, which comprises two pawing mechanisms hinged with an upper cantilever via a driving shaft and a lower cantilever via a driven shaft. The upper cantilever is composed of two segments which are hinged with each other via a driving shaft; the lower cantilever is composed of two segments which are hinged with each other via a driven shaft; a motor is connected with the lower ends of both the driving shaft between the upper cantilever and the two pawing mechanisms and the driving shaft between the two segments of the upper cantilever; and a potentiometer is arranged at the upper end of each driving shaft and is connected with a sensor guide arm which is hinged with a fixed column fixed on the upper cantilever. The pipeline inspection robot has the following advantages: small volume, so as to be easy to be put into the steam generator by an operator through a narrow manhole; convenient energy availability, and flexible and reliable control; cantilever structure with a relatively large working radius after being unfolded; low requirements for the motor, and reliable operation; and good adaptability of replacement parts to different apertures and aperture plates.

Description

(1) Technical field [0001] The invention relates to a detection robot, in particular to a working tool carrying device. (2) Background technology [0002] The steam generator (SG) is the connection hub between the primary and secondary loops in the nuclear power plant, and it is also one of the equipment that has the most faults in the operation of the nuclear power plant. The working performance, safety and reliability of the steam generator are crucial to the safe and stable operation of the whole system. Due to the presence of radioactive substances in the steam generator, when a leak occurs, maintenance personnel cannot enter for maintenance. At this time, smart devices are needed to replace people to complete the maintenance work. Due to the narrow working space in the steam generator, the complex structure of the manipulator, and the heavy weight and large torque of the manipulator, the application of this kind of manipulator is not convenient, and it is easy to produ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G21C17/017F22B37/00F17D5/00
CPCY02E30/30
Inventor 王立权王天李林王刚
Owner HARBIN ENG UNIV
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