Multi-legged robot for repairing heat transfer tubes

Abstract

The invention belongs to the technical field of nondestructive detection and maintenance of heat transfer tubes of steam generators, and particularly relates to a multi-legged robot for repairing theheat transfer tubes. The robot comprises a body, bionic legs, fixing devices, a probe guide device and a drive module, wherein the plurality of bionic legs are arranged on the body, the fixing devicesare arranged at the tail ends of the bionic legs, the probe guiding device is arranged on the body, and a probe or a maintenance tool is arranged at the tail end of the probe guide device; the drivemodule drives the bionic legs, so that the fixing devices extend into the heat transfer tubes and expand inside the heat transfer tubes, and the body is hung upside down below a tube plate of the steam generator; the drive module drives the probe guide device to change position, so that the probe or the maintenance tool arranged at the tail end of the probe guide device is positioned directly below the tube orifice of to-be-repaired heat transfer tubes to carry out relevant maintenance work. According to the robot, by controlling the freedom degree of each bionic leg and the sliding movement of the probe guide device, the hole position of a positioning pipe of to-be-repaired targets of the robot can be changed, so that the function of repairing multiple heat transfer tubes through positioning by once are realized.

Description

technical field [0001] The invention belongs to the technical field of non-destructive testing and maintenance of heat transfer tubes of steam generators and similar equipment, and in particular relates to a multi-legged robot for checking and repairing heat transfer tubes. Background technique [0002] The heat transfer tube of the steam generator in the nuclear power plant is damaged, and the task is generally completed by manual inspection, positioning and plugging of the tube to ensure its safe and reliable operation. However, the personnel received a large radiation dose, and the maintenance period was relatively long. With the advancement of technology, some positioning devices have begun to appear. The degree of automation of these positioning devices is generally not high, and the movement mode is limited by the arrangement of the heat transfer tubes of the steam generator and the tube spacing. [0003] Footed robot is a kind of robot with bionic structure. It has a...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-legged robot for overhauling heat transfer tubes to solve the problem of overhauling under strong radiation of steam generator heat transfer tubes

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