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CN-116237965-B - Modularized rotary type heat transfer tube inner hole clamping mechanism

CN116237965BCN 116237965 BCN116237965 BCN 116237965BCN-116237965-B

Abstract

The invention relates to a modularized rotary type heat transfer pipe inner hole clamping mechanism, which aims to solve the problems that the existing heat transfer pipe inner hole clamping mechanism cannot passively rotate, cannot adapt to various aperture heat transfer pipes and cannot reliably clamp in the face of complex environments and comprises a clamping jaw module, a driving module and a clamping jaw mounting seat; the clamping jaw module is connected with the driving module through a clamping jaw mounting seat, the driving module comprises a lifting cylinder, a telescopic cylinder and a tensioning cylinder, the tensioning cylinder and the telescopic cylinder are arranged in the lifting cylinder from inside to outside, the bottom end of the clamping jaw mounting seat is connected with the top end of the tensioning cylinder, the top end of the clamping jaw mounting seat is connected with the clamping jaw module, and the top end of a tensioning piston of the tensioning cylinder penetrates through the clamping jaw mounting seat and is connected with the driving end of the clamping jaw module. The invention belongs to the field of heat transfer tube overhaul.

Inventors

  • FAN JIZHUANG
  • ZHANG KUAN
  • ZHANG XUEHE
  • XING ZHENMING
  • XU BIYING
  • OU YUE
  • ZHAO JIE

Assignees

  • 哈尔滨工业大学

Dates

Publication Date
20260508
Application Date
20221116

Claims (8)

  1. 1. A modularized rotary heat transfer tube inner hole clamping mechanism is characterized by comprising a clamping jaw module (1), a driving module (2) and a clamping jaw mounting seat (3), wherein the clamping jaw mounting seat (3) comprises a clamping jaw mounting seat stator (301), a clamping jaw mounting seat rotor (302), a clamping jaw mounting seat rotor base (303) and a bearing (304), and the clamping jaw module (1) comprises a clamping jaw shell (101), a sliding block sleeve (103), a sliding block baffle cover (104), a sliding block baffle block (105), a sliding block inner column (106), a clamping jaw baffle block (108), a fourth spring (11-4) and four clamping jaws (102); The clamping jaw module (1) is connected with the driving module (2) through a clamping jaw mounting seat (3), the driving module (2) comprises a lifting air cylinder (201), a telescopic air cylinder (203) and a tensioning air cylinder (204), the tensioning air cylinder (204) and the telescopic air cylinder (203) are arranged in the lifting air cylinder (201) from inside to outside, the bottom end of the clamping jaw mounting seat (3) is connected with the top end of the tensioning air cylinder (204), the top end of the clamping jaw mounting seat (3) is connected with the clamping jaw module (1), the top end of a tensioning piston (206) of the tensioning air cylinder (204) penetrates through the clamping jaw mounting seat (3) to be connected with the driving end of the clamping jaw module (1), The clamping jaw installation seat stator (301) is an annular sleeve body, annular grooves are respectively formed in two ends of the annular sleeve body, annular protrusions are formed in the outer side walls of the annular sleeve body, which are close to the bottom end, the clamping jaw installation seat rotor (302) comprises a top annular sleeve body and a bottom annular sleeve body, the top annular sleeve body and the bottom annular sleeve body are integrally arranged, the diameter of the top annular sleeve body is larger than that of the bottom annular sleeve body, the clamping jaw installation seat rotor base (303) is an inverted T-shaped sleeve body, the annular protrusions on the clamping jaw installation seat stator (301) are arranged between a tensioning cylinder (204) and a shell of a telescopic cylinder (203) and are positioned in the shell of the telescopic cylinder (203), the outer side walls of the bottom end of the clamping jaw installation seat stator (301) are in threaded connection with the inner side walls of the top end of the tensioning cylinder (204), the clamping jaw installation seat rotor base (303) and a bearing (304) are arranged at the bottom end of the clamping jaw installation seat stator (301), the clamping jaw installation seat rotor base (303) is in rotary connection with the clamping jaw installation seat stator (301) through the bearing (304), the annular sleeve rotor base (302) is arranged at the top end of the clamping jaw installation seat stator (301) and is in threaded connection with the clamping jaw rotor base (301), the circular rod body of the tensioning piston (206) passes through the clamping jaw installation seat rotor (302) and the clamping jaw installation seat rotor base (303), The clamping jaw (102) is an L-shaped block, the inner side wall of the vertical block of the L-shaped block is obliquely arranged from bottom to top, two sides of the L-shaped block are respectively provided with a bulge, the bottom end of the clamping jaw shell (101) is a circular sleeve body, the top end of the clamping jaw shell (101) is a sliding block mounting frame, the sliding block inner column (106) is arranged in the circular sleeve body at the bottom end of the clamping jaw shell (101) in a sliding manner, the sliding block sleeve (103) is sleeved on the sliding block inner column (106), the sliding block retaining cover (104) is arranged at the top end of the sliding block sleeve (103), the fourth spring (11-4) is sleeved on the sliding block sleeve (103), the top end of the fourth spring (11-4) is propped against the circular sleeve body of the clamping jaw shell (101), the bottom end of the fourth spring (11-4) is propped against the sliding block inner column (106), the sliding block (105) is arranged at the bottom end of the clamping block mounting frame (101), the four clamping jaws (102) are arranged on the bottom end of the sliding block mounting frame in a radial direction, the transverse blocks at the bottom end of each clamping jaw (102) are arranged in the opening of the sliding block sleeve (103) close to the top end, the top end of the sliding block retaining cover (103), the top side walls are respectively provided with guide grooves (109) are respectively arranged at the two sides of the sliding block, the side walls are obliquely arranged at the two sides of the sliding block side walls (109 respectively, the clamping jaw stop block (108) is arranged at the top end of the sliding block installation frame, the top end of the circular rod body of the tensioning piston (206) is propped against the bottom end of the sliding block inner column (106), and the circular sleeve body at the bottom end of the clamping jaw shell (101) is in threaded connection with the clamping jaw installation seat rotor (302).
  2. 2. The modular rotary heat transfer tube inner hole clamping mechanism as set forth in claim 1, wherein the drive module (2) further comprises a lifting cylinder bottom cover (202), a tensioning cylinder bottom cover (205), a limiting block (207), a limiting block top cover (208), a first spring (11-1), a second spring (11-2), a third spring (11-3) and a plurality of air pipe joints (14), wherein an annular protrusion and two cylindrical protrusions are machined on the upper end surface of the lifting cylinder bottom cover (202), the lifting cylinder bottom cover (202) is mounted on the bottom end surface of the shell of the lifting cylinder (201), the annular protrusion of the lifting cylinder bottom cover (202) is mounted in the shell of the lifting cylinder (201), Each cylindrical bulge is provided with a vertical through hole, two horizontal through holes are processed on the lifting cylinder bottom cover (202), one end of each horizontal through hole is communicated with one cylindrical bulge vertical through hole, the other end of each horizontal through hole is communicated with one air pipe joint (14), the two air pipe joints (14) are vertically arranged on the lifting cylinder bottom cover (202), the shell of the telescopic cylinder (203) is vertically and hermetically arranged in the shell of the lifting cylinder (201), the outer side wall of the bottom end of the shell of the telescopic cylinder (203) is provided with an annular groove, the first spring (11-1) is sleeved on the annular groove of the telescopic cylinder (203), the bottom end of the first spring (11-1) is propped against the annular bulge of the lifting cylinder bottom cover (202), the tensioning cylinder (204) is a circular sleeve body, the circular sleeve body is provided with an annular transverse plate, the shell side wall of the tensioning cylinder (204) is provided with a running hole, the top end of the running hole is arranged on the bottom end face of the annular transverse plate and is communicated with the bottom space of the annular transverse plate, the bottom end of the tensioning cylinder (204) is provided with a sealing hole, the bottom end of the tensioning cylinder (204) of the running hole (205) is arranged near the bottom of the shell of the tensioning cylinder (204), the bottom of the tensioning cylinder (205) is provided with a sealing hole (204) and the bottom of the piston (205) is arranged near the top end of the tensioning cylinder (203) is arranged in the cylinder (203), the bottom end of the tensioning piston (206) is provided with a circular groove, the tensioning piston (206) and the third spring (11-3) are vertically arranged in the shell of the tensioning cylinder (204), the top end of the tensioning piston (206) passes through the annular transverse plate of the tensioning cylinder (204) to be arranged, the tensioning cylinder bottom cover (205) is fixedly arranged on the bottom end of the shell of the tensioning cylinder (204), the cylindrical bulge at the top end of the tensioning cylinder bottom cover (205) is arranged in the shell of the tensioning cylinder (204), the two cylindrical bulges of the lifting cylinder bottom cover (202) are respectively arranged in the vertical blind holes at the bottom end of the tensioning cylinder bottom cover (205), the vertical blind holes on the tensioning cylinder bottom cover (205) are communicated with the cavity of the tensioning cylinder (204), the top end of the other vertical blind hole on the tensioning cylinder bottom cover (205) is communicated with the bottom end of the air passing hole on the tensioning cylinder (204) through a through hole, a second spring (11-2) is sleeved on a bulge with two vertical blind holes at the bottom end of the tensioning cylinder bottom cover (205), the bottom end of the second spring (11-2) is propped against the upper end face of the lifting cylinder bottom cover (202), a limiting block (207) is an annular body, the bottom end of the limiting block (207) is fixedly connected with the top end of a shell of the telescopic cylinder (203), a limiting block top cover (208) is buckled on the top end of the limiting block (207), two air pipe joints (14) are respectively arranged on the side wall, close to the top end, of the shell of the lifting cylinder (201) and the side wall, close to the bottom end, an air pipe joint (14) is arranged on the side wall of the top end of the shell of the telescopic cylinder (203).
  3. 3. The modular rotary heat transfer tube inner hole clamping mechanism according to claim 2, wherein the driving module (2) further comprises a toe connecting shell (209), a magnetic switch (210) and a magnetic switch seat (211), the magnetic switch (210) is arranged on the side wall, close to the top, of the shell of the telescopic cylinder (203) through the magnetic switch seat (211), and the toe connecting shell (209) is arranged on the shell of the telescopic cylinder (203) and the lifting cylinder bottom cover (202).
  4. 4. The modular rotary heat transfer tube inner hole clamping mechanism as set forth in claim 2, further comprising two air pipe plugs (15), wherein an air pipe plug (15) is disposed at a position where each horizontal through hole of the lifting cylinder bottom cover (202) is communicated with an outer side wall of the lifting cylinder bottom cover (202).
  5. 5. The modularized rotary heat transfer pipe inner hole clamping mechanism according to claim 1, further comprising a plurality of sealing rings (12) and a plurality of guide rings (13), wherein the annular convex outer side wall is processed on the upper end face of the lifting cylinder bottom cover (202), the sealing ring (12) is embedded on the inner side wall of the top end of the shell of the lifting cylinder (201), the sealing ring (12) and the two guide rings (13) are embedded on the outer side wall of the shell of the telescopic cylinder (203), the sealing ring (12) is arranged between the two guide rings (13), the sealing ring (12) and the guide rings (13) are embedded on the inner side wall of the shell of the telescopic cylinder (203) from top to bottom, the clamping jaw (13) and the sealing ring (12) are embedded on the inner side wall of the top end of the circular sleeve of the shell (101).
  6. 6. The modular rotary heat transfer tube inner hole clamping mechanism of claim 1, wherein the clamping jaw module (1) further comprises a plurality of steel balls (107), a retainer is arranged near the top end of the sliding block sleeve (103), an upper retainer is arranged at the bottom of the sliding block baffle cover (104), a lower retainer is arranged at the top of the sliding block inner column (106), four clamping jaws (102) are arranged between the upper retainer and the lower retainer along the radial direction, the plurality of steel balls (107) are uniformly distributed on the retainer and are limited by the sliding block baffle cover (104) and the sliding block inner column (106) respectively, and one steel ball (107) is arranged above and below each clamping jaw (102) respectively.
  7. 7. The modular rotary heat transfer tube inner hole clamping mechanism of claim 6, wherein the clamping jaw module (1) further comprises a first cylindrical pin (16) and a second cylindrical pin (16-1), the first cylindrical pin (16) is inserted onto the sliding block sleeve (103) and the sliding block inner column (106), and the sliding block blocking cover (104) is mounted on the top end of the sliding block sleeve (103) through the second cylindrical pin (16-1).
  8. 8. The modular rotary heat transfer tube inner hole clamping mechanism as set forth in claim 6, wherein the inner side of the limit block top cover (208) and the outer side of the limit block (207) are of wave-shaped matching structures, and interference fit is generated at wave crests of the two structures.

Description

Modularized rotary type heat transfer tube inner hole clamping mechanism Technical Field The invention relates to a clamping mechanism, in particular to a modular rotary type heat transfer tube inner hole clamping mechanism. Background With the increasing prominence of energy and environmental problems, nuclear power is widely paid attention to in all countries in the world by the characteristics of environmental protection, cleanness, stability and relative safety, and the configuration of the pressurized water reactor unit is realized by the special structural design of a steam generator (SG for short), and nuclear radiation substances are sealed in the first loop while the heat energy exchange of the first loop and the second loop is realized, so that the equipment of the second loop cannot be polluted by nuclear radiation in the normal operation process of the unit. Therefore, the working performance of the steam generator is a key for realizing efficient energy transfer and nuclear radiation pollution prevention of two-loop unit equipment. High performance steam generator heat transfer tube service robots have been developed. At present, the maintenance robot is mainly fixed on the SG tube plate by means of an inner hole clamping mechanism of a heat transfer tube, and the inner hole clamping mechanism used by PEGASYS designed by Westinghouse corporation in the United states comprises 2 pneumatically driven degrees of freedom, so that clamping jaws can enter and exit the heat transfer tube, and clamping release actions can be carried out. The self-locking spring is used for ensuring the safety during the gas interruption during the clamping. When the heat transfer tube is in and out, only one air passage is designed, and opposite actions are realized through the reset spring. The clamping mechanism is simple and portable, but due to the lack of lifting freedom, the clamping mechanism needs to be reliably clamped by being attached to the tube plate by the aid of a robot, and when clamping jaws are damaged or heat transfer tubes with other apertures need to be clamped, the clamping mechanism needs to be integrally replaced. When the positioning accuracy of the clamping jaw is poor, the reset spring is difficult to drive the clamping jaw to enter the heat transfer tube, and the reliability is low. The heat transfer tube inner hole clamping mechanism used by ZR100 of Zetec company adopts a highly integrated design, and only 3 electromagnetic valves are used to realize complex air path control. And the clamping jaw module can be replaced by adopting a modularized design. But the default position of the spring control is a release state, and the self-locking protection during the air break can not be realized by means of the spring. The designed mechanical self-locking device has larger clamping force, but is difficult to manually disassemble when the gas is cut off, reduces the capability of artificial interference in a complex environment, and has poor reliability. And the clamping jaw module is installed by using threads and has no independent rotating mechanism, and the clamping jaw module can fall off when the clamping jaw module passively rotates. Based on the research current situation of the inner hole clamping mechanism of the heat transfer pipe in China and aiming at the problems, the modularized rotary inner hole clamping mechanism of the heat transfer pipe is designed, so that the modularized rotary inner hole clamping mechanism not only can adapt to heat transfer pipes with various apertures through changing clamping jaw modules, but also can be suitable for various application scenes such as the need of fixing, the need of passive rotation and the like, and the mechanism is light and small, convenient to maintain, reliable to use and convenient to install on various maintenance robots. Disclosure of Invention The invention aims to solve the problems that the existing heat transfer tube inner hole clamping mechanism cannot passively rotate, cannot adapt to heat transfer tubes with various apertures and cannot reliably clamp in the face of complex environments, and further provides a modularized rotary heat transfer tube inner hole clamping mechanism. The invention adopts the technical proposal for solving the problems that: the modularized rotary type heat transfer tube inner hole clamping mechanism comprises a clamping jaw module, a driving module and a clamping jaw mounting seat, wherein the clamping jaw module and the driving module are connected through the clamping jaw mounting seat, the driving module comprises a lifting cylinder, a telescopic cylinder and a tensioning cylinder, the tensioning cylinder and the telescopic cylinder are arranged in the lifting cylinder from inside to outside, the bottom end of the clamping jaw mounting seat is connected with the top end of the tensioning cylinder, the top end of the clamping jaw mounting seat is connected with the clamping jaw module, and the