CN112730443A - Rod bundle detection equipment - Google Patents

Rod bundle detection equipment Download PDF

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Publication number
CN112730443A
CN112730443A CN202011449946.8A CN202011449946A CN112730443A CN 112730443 A CN112730443 A CN 112730443A CN 202011449946 A CN202011449946 A CN 202011449946A CN 112730443 A CN112730443 A CN 112730443A
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China
Prior art keywords
control processing
processing system
arc
shaped clamping
conveying
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CN202011449946.8A
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CN112730443B (en
Inventor
王刚
徐小胜
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Ningbo Yunsheng Intelligent Software Co ltd
NINGBO YUNSHENG INTELLIGENT TECHNOLOGY CO LTD
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Ningbo Yunsheng Intelligent Software Co ltd
NINGBO YUNSHENG INTELLIGENT TECHNOLOGY CO LTD
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/20—Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Textile Engineering (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

The invention discloses a detection device of a rod bundle, wherein a material receiving system is used for receiving and buffering the rod bundle, a first carrying and conveying system is used for carrying the rod bundle to an image acquisition system and a nuclear leakage detection system, a second carrying and conveying system is used for carrying the rod bundle to a weighing and bending gauge detection system and an appearance detection system, the image acquisition system is used for shooting an image of the rod bundle carried to the image acquisition system and sending the image to a control processing system, the nuclear leakage detection system is used for detecting vacuum helium data of the rod bundle carried to the nuclear leakage detection system and sending the vacuum helium data to the control processing system, the weighing and bending gauge detection system is used for detecting weight and bending data of the rod bundle carried to the nuclear leakage detection system and sending the vacuum helium data to the control processing system, and the appearance detection system is used for manually detecting appearance defects at two ends of the rod bundle; the advantage is that can realize the automated inspection of cluster, detects the precision height, and intensity of labour is little, and detection efficiency is high, can not appear louing to examine the false retrieval, and personnel do not contact with cluster direct, and the security is higher.

Description

Rod bundle detection equipment
Technical Field
The invention relates to a detection device, in particular to a rod bundle detection device.
Background
A bundle is used in the modern nuclear industry for power generation systems in nuclear power plants, and is a bundle-shaped fuel formed by a plurality of fuel rods (i.e., nuclear fuel rods) arranged in a cylindrical shape and fixedly connected at both ends thereof by welding. Currently, a certain fuel rod in the outermost circle of fuel rods in each bundle is designated as a fuel rod number 1, and then, the fuel rods are sequentially numbered from the outermost circle to the innermost circle, the top end of each fuel rod is marked with a unique identification symbol, and each identification symbol corresponds to the number of the fuel rod. The rod bundle provides energy for the power generation system of the nuclear power station, and is one of important components of the power generation system of the nuclear power station, and whether the size, the appearance, the weight, the performance (whether nuclear leakage exists) and the like of the rod bundle are qualified or not seriously affects the safety and the use efficiency of the power generation system of the whole nuclear power station, so that the detection of the qualification of the size, the appearance, the weight, the performance and the like of the rod bundle is very important.
At present, the cluster size, the outward appearance, the detection of weight and performance is independently gone on respectively, wherein size, outward appearance and weight all adopt artifical detection mode, for example size detection mainly adopts the artifical mode of using instruments such as size gauge to detect, the outward appearance is gone on through the artifical mode of looking over, weight is gone on through the artifical mode of weighing, because artifical detection error is great, cause the detection precision not high, and cluster self weight is heavier, there are a great deal of inconveniences such as transport turnover, detection efficiency is low, intensity of labour is also great, the false retrieval leak hunting also appears easily to the measurement personnel, in addition, artifical detection mode measurement personnel need directly and the cluster contact, direct contact has potential defective work nuclear leakage to cause potential safety hazards such as nuclear radiation.
Disclosure of Invention
The invention aims to solve the technical problem of providing the rod bundle detection equipment which has high detection precision, low labor intensity, high detection efficiency, no missing detection and false detection and higher safety.
The technical scheme adopted by the invention for solving the technical problems is as follows: a detection device of a rod bundle comprises a workbench, a material receiving system, two carrying and conveying systems, an image acquisition system, a nuclear leakage detection system, a weighing and bending gauge detection system, an appearance detection system and a control processing system, wherein the control processing system is respectively connected with the material receiving system, the two carrying and conveying systems, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system, the material receiving system, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system are sequentially arranged on the workbench according to the sequence from front to back, the two carrying and conveying systems are respectively called as a first carrying and conveying system and a second carrying and conveying system, the system comprises a material receiving system, a first conveying and conveying system, a second conveying and conveying system, a weighing and bending gauge detecting system, an appearance detecting system, an image collecting system, a control processing system, a nuclear leakage detecting system, a weighing and bending gauge detecting system, a control processing system and a control processing system, wherein the material receiving system is used for receiving and buffering rod bundles, the first conveying and conveying system is used for conveying the rod bundles at the material receiving system to the image collecting system and conveying the rod bundles at the image collecting system to the nuclear leakage detecting system, the second conveying and conveying system is used for conveying the rod bundles at the nuclear leakage detecting system to the weighing and bending gauge detecting system and conveying the rod bundles at the nuclear leakage detecting system, the weighing and bending gauge detecting system is used for detecting the weight and bending data of the rod bundles conveyed to the nuclear leakage detecting system and conveying the vacuum helium data to the control processing system, and the weighing and bending gauge detecting system is used for detecting the weight and bending data of the rod bundles conveyed to the control processing system and conveying the rod bundles to the control processing system The appearance detection system is used for manually detecting appearance defects at two ends of the rod bundle, the control processing system is used for controlling the cooperative work of the material receiving system, the two carrying and conveying systems, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system, and a detection result is obtained based on images acquired by the image acquisition system, vacuum helium data detected by the nuclear leakage detection system and weight and bending data detected by the weighing and bending gauge detection system.
The material receiving system comprises a disc, a first motor, a cam divider and a plurality of material receiving positioning seats, wherein the material receiving positioning seats are arranged on the disc and are uniformly distributed along the circumferential direction of the disc, the disc is arranged on the cam divider, the cam divider is connected with the first motor, the first motor drives the disc to rotate through the first cam divider, the first motor is connected with the control processing system, a first sensor for sensing whether a rod bundle is arranged in the material receiving positioning seat is arranged at each material receiving positioning seat, each first sensor is connected with the control processing system, a material taking position is arranged at the material receiving system, and when the detection equipment of the rod bundle starts to detect, the first motor drives the disc to rotate under the control of the control processing system, the material receiving positioning seat with the rod bundles on the disc is enabled to rotate to the material taking position in sequence to wait for material taking.
Each carrying and conveying system respectively comprises a carrying frame, a horizontal transverse linear moving mechanism, a horizontal longitudinal linear moving mechanism, a first vertical linear moving mechanism and a carrying and clamping mechanism, wherein the horizontal longitudinal linear moving mechanism is arranged on the horizontal transverse linear moving mechanism, the carrying frame is arranged on the horizontal longitudinal linear moving mechanism, the first vertical linear moving mechanism is arranged on the carrying frame, the carrying and clamping mechanism comprises a first air cylinder, a second air cylinder, two first arc-shaped clamping blocks and two second arc-shaped clamping blocks, the two first arc-shaped clamping blocks are arranged on an output shaft of the first air cylinder and are arranged at intervals up and down, the two second arc-shaped clamping blocks are arranged on an output shaft of the second air cylinder and are arranged at intervals up and down, when the output shafts of the first air cylinder and the second air cylinder synchronously contract, the two first arc-shaped clamping blocks and the two second arc-shaped clamping blocks are correspondingly close one by one to clamp the rod bundle, when the output shafts of the first air cylinder and the second air cylinder extend synchronously, the two first arc-shaped clamping blocks and the two second arc-shaped clamping blocks are correspondingly away one by one, the first air cylinder and the second air cylinder are respectively arranged on the first vertical linear moving mechanism and are respectively connected with the control processing system, the first air cylinder and the second air cylinder can contract synchronously or extend synchronously under the control of the control processing system, the horizontal transverse linear moving mechanism, the horizontal longitudinal linear moving mechanism and the first vertical linear moving mechanism are respectively connected with the control processing system, and the horizontal transverse linear moving mechanism can do linear motion along the front-back direction under the control of the control processing system, the horizontal longitudinal linear moving mechanism can move linearly in the left-right direction under the control of the control processing system, the first vertical linear moving mechanism can move linearly in the up-down direction under the control of the control processing system, and the control processing system controls the horizontal transverse linear moving mechanism, the horizontal longitudinal linear moving mechanism, the first vertical linear moving mechanism and the carrying and holding mechanism to work cooperatively to carry the rod bundle.
The image acquisition system comprises a marble base arranged on the workbench, an acquisition frame arranged on the marble base, a second vertical linear moving mechanism, a first image acquisition device for shooting images at the top of the rod beam, a second image acquisition device for shooting images at the side of the rod beam, a product rotating table, a product protection seat and a second motor for driving the product rotating table to rotate, wherein the product rotating table is arranged on the marble base, the product protection seat is arranged on the product rotating table, the first image acquisition device is arranged on the acquisition frame and is positioned right above the product protection seat, the first image acquisition device is connected with the control processing system, after the first conveying and conveying system conveys the rod beam to the product protection seat, the first image acquisition device shoots a top image of the bundle and sends the top image of the bundle to the control processing system, the control processing system determines the position of a fuel rod No. 1 based on an identification symbol of each fuel rod displayed in the top image of the bundle, the second vertical linear movement mechanism is installed on the acquisition frame, the second image acquisition device is installed on the second vertical linear movement mechanism, the second vertical linear movement mechanism and the second motor are both connected with the control processing system, the second motor drives the product rotation table to rotate under the control of the control processing system so that the fuel rods with the serial numbers from the fuel rod No. 1 to the last ring in the bundle in the product protection seat sequentially enter a shooting area of the second image acquisition device, and each time one fuel rod enters the shooting area of the second image acquisition device, the second vertical linear moving mechanism drives the second image acquisition device to do linear motion along the up-down direction under the control of the control processing system so as to shoot a complete side image of the corresponding fuel rod in the shooting area, the second image acquisition device is connected with the control processing system, the second image acquisition device sends the shot side image of each fuel rod to the control processing system, the control processing system judges whether the size of each fuel rod is qualified or not based on the side image of each fuel rod, and if the size of a certain fuel rod is unqualified, the control processing system outputs the serial number and the unqualified size data of the fuel rod.
The nuclear leakage detection system comprises a detection frame, a detection positioning seat, a third vertical linear movement mechanism, a sealing cylinder, a vacuumizing mechanism, a vacuum gauge and a helium leakage detector, wherein the detection frame is arranged on the workbench, the detection positioning seat and the third vertical linear movement mechanism are respectively arranged on the detection frame, the sealing cylinder is positioned right above the detection positioning seat, the sealing cylinder is arranged on the third vertical linear movement mechanism, after the first conveying and conveying system conveys the rod bundle to the detection positioning seat, the third vertical linear movement mechanism drives the sealing cylinder to downwards move to form a closed space with the detection positioning seat under the control of the control processing system, the rod bundle is positioned in the closed space, and at the moment, the vacuumizing mechanism vacuumizes the closed space under the control of the control processing system, the vacuum gauge detects the vacuum degree of the closed space in real time, when the vacuum degree reaches a set value, the vacuumizing mechanism stops working, the helium leakage detector detects helium content data in the closed space under the control of the control processing system at the moment and feeds the data back to the control processing system, and the control processing system obtains a conclusion that nuclear leakage exists based on the data.
The weighing and bending gauge detection system comprises a fixing frame, an electronic scale, a fourth vertical linear moving mechanism, a bending gauge and a protective holding assembly, wherein the electronic scale and the fixing frame are respectively arranged on the workbench, the fourth vertical linear moving mechanism is arranged on the fixing frame, the bending gauge is arranged on the fourth vertical linear moving mechanism and is positioned right above the electronic scale, the protective holding assembly comprises a third cylinder, a fourth cylinder, a third arc-shaped clamping block and a fourth arc-shaped clamping block, the third arc-shaped clamping block is arranged on an output shaft of the third cylinder, the fourth arc-shaped clamping block is arranged on an output shaft of the fourth cylinder, when the output shafts of the third cylinder and the fourth cylinder synchronously contract, the third arc-shaped clamping block and the fourth arc-shaped clamping block are close to clamp a bar bundle, when the output shafts of the third cylinder and the fourth cylinder extend synchronously, the third arc-shaped clamping block and the fourth arc-shaped clamping block are separated, the third cylinder and the fourth cylinder are installed on the fixing frame, the third arc-shaped clamping block and the fourth arc-shaped clamping block are positioned above the electronic scale, in an initial state, the third arc-shaped clamping block and the fourth arc-shaped clamping block are separated, the electronic scale, the fourth vertical linear moving mechanism, the third cylinder and the fourth cylinder are all connected with the control processing system, after the second conveying and conveying system conveys the rod bundle to the electronic scale, the electronic scale reads the weight of the rod bundle and feeds the weight back to the control processing system, the control processing system judges whether the weight is qualified or not, and then the control processing system controls the fourth vertical linear moving mechanism to drive the bending gauge to be arranged on the electronic scale The rod bundle is sleeved downwards on the electronic scale, in the sleeving process, if the weight fed back to the control processing system by the electronic scale exceeds the reference weight prestored in the control processing system, the bending of the rod bundle is indicated to cause the sleeving of the bending gauge to be blocked, at the moment, the control processing system judges that the rod bundle is unqualified and drives the third air cylinder and the fourth air cylinder to contract synchronously, the third arc-shaped clamping block and the fourth arc-shaped clamping block are closed to clamp the rod bundle tightly, the control processing system controls the fourth vertical linear moving mechanism to drive the bending gauge to move upwards for resetting to be separated from the rod bundle, the control processing system controls the third air cylinder and the fourth air cylinder to extend and reset synchronously, at the moment, the third arc-shaped clamping block and the fourth arc-shaped clamping block loosen the rod bundle, the second conveying and conveying system can convey the rod bundles to the appearance detection system.
The appearance detection system comprises a support, a mounting plate, a first fixing seat, a second fixing seat, a telescopic positioning mechanism, a photoelectric sensor, a spring self-locking device, a spring positioning pin, a clamping seat and an appearance holding mechanism, wherein the support is arranged on the workbench, the mounting plate is arranged on the support through a rotating shaft, the spring self-locking device is arranged at the upper end of the mounting plate, the clamping seat is fixed on the mounting plate, the first fixing seat is rotatably arranged on the mounting plate and fixedly connected with the spring self-locking device, the spring self-locking device can drive the first fixing seat to rotate 180 degrees, the first fixing seat is provided with a detection position and a charging position, and the position of the first fixing seat is taken as the 0-degree position of the first fixing seat in a detection state, at the moment, the first fixing seat is positioned right above the second fixing seat, the first fixing seat is embedded into the clamping seat and supported by the clamping seat and locked by the spring self-locking device, the second fixing seat is fixedly arranged at the lower end of the mounting plate, the first fixing seat and the second fixing seat can clamp a rod bundle between the first fixing seat and the second fixing seat, the appearance clasping mechanism comprises a fifth cylinder, a sixth cylinder, a fifth arc-shaped clamping block and a sixth arc-shaped clamping block, the fifth cylinder and the sixth cylinder are respectively arranged on the mounting plate, the fifth arc-shaped clamping block is arranged on an output shaft of the fifth cylinder, the sixth arc-shaped clamping block is arranged on an output shaft of the sixth cylinder, and the fifth cylinder and the sixth cylinder are used for driving the fifth arc-shaped clamping block and the sixth arc-shaped clamping block to be close to or far away from each other, when a rod bundle is placed between the first fixing seat and the second fixing seat, the fifth air cylinder and the sixth air cylinder can drive the fifth arc-shaped clamping block and the sixth arc-shaped clamping block to be clamped in the middle of the rod bundle to clamp the rod bundle after the fifth arc-shaped clamping block and the sixth arc-shaped clamping block are closed; when the first fixing seat is turned 180 degrees counterclockwise relative to the 0 degree position of the first fixing seat and fixed, the first fixing seat is located at the 180 degree position, namely the loading state, the photoelectric sensor is installed on the installation plate and used for sensing whether the first fixing seat is located at the 0 degree position or not, the photoelectric sensor is connected with the control processing system, and when the first fixing seat is located at the 0 degree position, the second conveying and conveying system cannot convey the rod bundle into the appearance detection system under the control of the control processing system; the telescopic positioning mechanism is positioned below the second fixed seat, when the telescopic positioning mechanism extends, the telescopic positioning mechanism is clamped with the second fixed seat, the second fixed seat and the mounting plate are fixed by the telescopic positioning mechanism, when the telescopic positioning mechanism retracts, the telescopic positioning mechanism is separated from the second fixed seat, the telescopic positioning mechanism is connected with the control processing system, and the control processing system controls the extension and retraction of the telescopic positioning mechanism; the support is provided with a first positioning hole, the mounting plate is provided with a plurality of second positioning holes which are distributed at intervals along an arc shape, and the mounting plate can be fixed on the support after the elastic positioning pin passes through the first positioning hole and one of the second positioning holes; when appearance detection is carried out, firstly, a detection person manually operates to enable the first fixing seat to be locked at a 180-degree position, the control processing system controls the telescopic positioning mechanism to extend to fix the mounting plate, the second carrying and conveying system carries the rod bundle into the second fixing seat under the control of the control processing system, at the moment, the detection person manually operates the first fixing seat again to enable the first fixing seat to rotate to a 0-degree position to be locked, at the moment, the first fixing seat is sleeved into the top of the rod bundle to fix the rod bundle, then, the fifth air cylinder and the sixth air cylinder work to drive the fifth arc-shaped clamping block and the sixth arc-shaped clamping block to be close to and clamped in the middle of the rod bundle to clamp the rod bundle, the control processing system controls the telescopic positioning mechanism to contract again, at the moment, the detection person can manually rotate the mounting plate to a position where a certain end face of the rod bundle can be directly observed, and finely adjusting the mounting plate to align a certain second positioning hole with the first positioning hole, inserting the spring positioning pin into the first positioning hole and the second positioning hole, and fixing, so that whether each connecting welding point on the end face of the rod bundle is qualified can be manually observed.
The first fixing seat comprises a base, a rolling bearing and a positioning ring, a through hole penetrating through the base is formed in the base, the rolling bearing is installed at the through hole, the positioning ring is coaxially fixed in the rolling bearing, the second fixing seat is identical to the first fixing seat in structure, a V-shaped clamping strip is fixed on the lower end face of the base of the second fixing seat, and a V-shaped clamping groove matched with the V-shaped clamping strip is formed in the telescopic positioning mechanism.
The spring self-locking device comprises a fixed block, a movable block, a spring and a handle, wherein the fixed block is fixed on the mounting plate, the movable block is connected with the fixed block through a pin shaft, the spring is arranged between the fixed block and the movable block and is respectively connected with the fixed block and the movable block, the handle is fixed on the movable block, when the first fixing seat is at a 0-degree position, the spring is in a natural state to bounce the movable block, and the movable block blocks clamp the fixed block to make the fixed block immovable, if stimulate this moment the handle, the handle stimulate the movable block follow the round pin axle rotate the compression the spring, this moment the movable block with the fixed block separation, the fixed block can follow first fixing base rotate, work as first fixing base rotate to 180 degrees positions, the spring will again the movable block bounce will the fixed block card die.
Compared with the prior art, the rod bundle detection device has the advantages that the rod bundle detection device is constructed by the workbench, the material receiving system, the two conveying and conveying systems, the image acquisition system, the image acquisition and bending gauge detection system, the appearance detection system and the control processing system, the control processing system is respectively connected with the material receiving system, the two conveying and conveying systems, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system, the material receiving system, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system are sequentially arranged on the workbench from front to back, the two conveying and conveying systems are respectively called as a first conveying and conveying system and a second conveying and conveying system, the material receiving system is used for receiving and buffering rod bundles, the first conveying and conveying system is used for conveying the rod bundles at the material receiving system to the image acquisition system and conveying the rod bundles at the image acquisition system to the image acquisition system The nuclear leakage detection system is used for conveying the rod bundle at the nuclear leakage detection system to the weighing and bending gauge detection system and conveying the rod bundle at the weighing and bending gauge detection system to the appearance detection system, the image acquisition system is used for shooting an image of the rod bundle conveyed to the image acquisition system and sending the image to the control processing system, the nuclear leakage detection system is used for detecting vacuum helium data of the rod bundle conveyed to the nuclear leakage detection system and sending the vacuum helium data to the control processing system, the weighing and bending gauge detection system is used for detecting weight and bending data of the rod bundle conveyed to the image acquisition system and sending the weight and bending data to the control processing system, the appearance detection system is used for manually detecting appearance defects at two ends of the rod bundle, and the control processing system is used for controlling the cooperative work of the material receiving system, the two conveying systems, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system, and the detection result is obtained based on the image acquired by the image acquisition system, the vacuum helium data detected by the nuclear leakage detection system, and the weight and curvature data detected by the weighing and bending gauge detection system.
Drawings
FIG. 1 is a perspective view of a cluster testing apparatus of the present invention;
FIG. 2 is a perspective view of a receiving system of the apparatus for detecting a bundle of rods of the present invention;
FIG. 3 is a first perspective view of a transport conveyor system of the cluster inspection apparatus of the present invention;
FIG. 4 is a second perspective view of the transport conveyor system of the cluster inspection apparatus of the present invention;
FIG. 5 is a perspective view of an image acquisition system of the bundle detection apparatus of the present invention;
FIG. 6 is a perspective view of a nuclear leak detection system of the rod cluster detection apparatus of the present invention;
FIG. 7 is a perspective view of the weighing and bending gauge detection system of the cluster detection apparatus of the present invention;
FIG. 8 is a perspective view of the appearance inspection system of the inspection apparatus of a bundle of rods of the present invention in an inspection state;
FIG. 9 is a partial perspective view of the appearance inspection system of the inspection apparatus for bundles of rods of the present invention in a charged state;
FIG. 10 is a perspective view of a first mounting bracket of the visual inspection system of the apparatus for inspecting a bundle of rods of the present invention;
FIG. 11 is a partial side view of an appearance inspection system of the bundle inspection device of the present invention;
FIG. 12 is a view showing the second fixing base and the retractable positioning mechanism separated from each other in the appearance inspecting system of the detecting device for a bundle of rods of the present invention;
fig. 13 is a schematic connection diagram of the first fixing seat and the spring self-locking device in the appearance detection system of the rod bundle detection device according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The first embodiment is as follows: as shown in fig. 1, a detecting apparatus for rod bundle includes a workbench 1, a material receiving system 2, two conveying and conveying systems, an image collecting system 3, a nuclear leakage detecting system 4, a weighing and bending gauge detecting system 5, an appearance detecting system 6 and a control processing system, wherein the control processing system is respectively connected with the material receiving system 2, the two conveying and conveying systems, the image collecting system 3, the nuclear leakage detecting system 4, the weighing and bending gauge detecting system 5 and the appearance detecting system 6, the material receiving system 2, the image collecting system 3, the nuclear leakage detecting system 4, the weighing and bending gauge detecting system 5 and the appearance detecting system 6 are sequentially arranged on the workbench 1 from front to back, the two conveying and conveying systems are respectively called a first conveying and conveying system 7 and a second conveying and conveying system 8, the material receiving system 2 is used for receiving and buffering rod bundle, the first conveying and conveying system 7 is used for conveying the rod bundle at the material receiving system 2 to the image collecting system 3 and storing the rod bundle at the image collecting system 3 The rod bundle at the position of the image acquisition system 3 is conveyed to the position of the nuclear leakage detection system 4, the second conveying and conveying system 8 is used for conveying the rod bundle at the position of the nuclear leakage detection system 4 to the position of the weighing and bending gauge detection system 5 and conveying the rod bundle at the position of the weighing and bending gauge detection system 5 to the position of the appearance detection system 6, the image acquisition system 3 is used for shooting an image of the rod bundle conveyed to the position and sending the image to the control processing system, the nuclear leakage detection system 4 is used for detecting vacuum helium data of the rod bundle conveyed to the position and sending the vacuum helium data to the control processing system, the weighing and bending gauge detection system 5 is used for detecting weight and bending data of the rod bundle conveyed to the position and sending the weight and bending data to the control processing system, the appearance detection system 6 is used for manually detecting appearance defects at two ends of the rod bundle, and the control processing system is used for controlling the material receiving system 2, the two conveying and conveying systems and the image acquisition, The nuclear leakage detection system 4, the weighing and bending gauge detection system 5 and the appearance detection system 6 work cooperatively, and detection results are obtained based on images acquired by the image acquisition system 3, vacuum helium data detected by the nuclear leakage detection system 4, and weight and bending data detected by the weighing and bending gauge detection system 5.
As shown in fig. 2, in this embodiment, the material receiving system 2 includes a disc 9, a first motor 10, a cam divider 11 and a plurality of material receiving positioning seats 12, the plurality of material receiving positioning seats 12 are installed on the disc 9 and are uniformly distributed along the circumferential direction of the disc 9, the disc 9 is installed on the cam divider 11, the cam divider 11 is connected to the first motor 10, the first motor 10 drives the disc 9 to rotate through the first cam divider 11, the first motor 10 is connected to the control processing system, a first sensor for sensing whether a rod bundle is installed in the material receiving positioning seat 12 is disposed at each material receiving positioning seat 12, each first sensor is connected to the control processing system, a material taking position is disposed at the material receiving system 2, when the detection equipment of the rod bundle starts to detect, the first motor 10 drives the disc 9 to rotate under the control of the control processing system, so that the material receiving positioning seats 12 on the disc 9, which are provided with the rod bundle, sequentially rotate to the material taking positions to wait for material taking.
As shown in fig. 3 and 4, in the present embodiment, each of the conveying systems respectively includes a conveying frame 13, a horizontal transverse linear moving mechanism 14, a horizontal longitudinal linear moving mechanism 15, a first vertical linear moving mechanism 16 and a conveying clasping mechanism, the horizontal longitudinal linear moving mechanism 15 is installed on the horizontal transverse linear moving mechanism 14, the conveying frame 13 is installed on the horizontal longitudinal linear moving mechanism 15, the first vertical linear moving mechanism 16 is installed on the conveying frame 13, the conveying clasping mechanism 17 includes a first cylinder 18, a second cylinder 19, two first arc-shaped clamping blocks 20 and two second arc-shaped clamping blocks 21, the two first arc-shaped clamping blocks 20 are installed on an output shaft of the first cylinder 18 and are spaced up and down, the two second arc-shaped clamping blocks 21 are installed on an output shaft of the second cylinder 19 and are spaced up and down, when the output shafts of the first cylinder 18 and the second cylinder 19 are synchronously contracted, the two first arc-shaped clamping blocks 20 and the two second arc-shaped clamping blocks 21 are correspondingly close to each other one by one to clamp the rod bundle, when the output shafts of the first air cylinder 18 and the second air cylinder 19 extend synchronously, the two first arc-shaped clamping blocks 20 and the two second arc-shaped clamping blocks 21 are correspondingly far away one by one, the first air cylinder 18 and the second air cylinder 19 are respectively arranged on the first vertical linear moving mechanism 16 and are respectively connected with the control processing system, the first air cylinder 18 and the second air cylinder 19 can synchronously contract or synchronously extend under the control of the control processing system, the horizontal transverse linear moving mechanism 14, the horizontal longitudinal linear moving mechanism 15 and the first vertical linear moving mechanism 16 are respectively connected with the control processing system, the horizontal transverse linear moving mechanism 14 can do linear motion along the front-back direction under the control of the control processing system, the horizontal longitudinal linear moving mechanism 15 can do linear motion along the left-right direction under the control of the control processing system, the first vertical linear moving mechanism 16 can make linear motion along the up-down direction under the control of the control processing system, and the control processing system controls the horizontal transverse linear moving mechanism 14, the horizontal longitudinal linear moving mechanism 15, the first vertical linear moving mechanism 16 and the carrying and holding mechanism to work cooperatively so as to carry the rod bundle.
As shown in fig. 5, in the present embodiment, the image capturing system 3 includes a marble base 22 mounted on the table 1, a capturing frame 23 mounted on the marble base 22, a second vertical linear movement mechanism 24, a first image capturing device 25 for capturing an image of the top of the bundle, a second image capturing device 26 for capturing an image of the side of the bundle, a product rotating table 27, a product protecting base 28, and a second motor 29 for driving the product rotating table 27 to rotate, the product rotating table 27 is mounted on the marble base 22, the product protecting base 28 is mounted on the product rotating table 27, the first image capturing device 25 is mounted on the capturing frame 23 and located right above the product protecting base 28, the first image capturing device 25 is connected to the control processing system, and when the first carrying and conveying system 7 carries one bundle to the product protecting base 28, the first image capturing device 25 captures an image of the top of the bundle and sends it to the control processing system, the control processing system determines the position of the fuel rod No. 1 based on the identification symbol of each fuel rod displayed in the top image of the fuel rod bundle, the second vertical linear moving mechanism 24 is installed on the collecting frame 23, the second image collecting device 26 is installed on the second vertical linear moving mechanism 24, the second vertical linear moving mechanism 24 and the second motor 29 are both connected with the control processing system, the second motor 29 drives the product rotating platform 27 to rotate under the control of the control processing system, so that the fuel rods in the fuel rod bundle positioned in the product protecting seat 28 from the fuel rod No. 1 to the last numbered fuel rod of the outermost circle sequentially enter the shooting area of the second image collecting device 26, when one fuel rod enters the shooting area of the second image collecting device 26, the second vertical linear moving mechanism 24 drives the second image collecting device 26 to do linear motion along the up and down direction under the control of the control processing system so as to shoot the complete side image of the corresponding fuel rod positioned in the shooting area, the second image acquisition device 26 is connected with the control processing system, the second image acquisition device 26 sends the side image of each fuel rod shot by the second image acquisition device to the control processing system, the control processing system judges whether the size of each fuel rod is qualified or not based on the side image of each fuel rod, and if the size of a certain fuel rod is unqualified, the control processing system outputs the serial number and the unqualified size data of the fuel rod.
As shown in fig. 6, in the present embodiment, the nuclear leak detection system 4 includes a detection frame 30, a detection positioning seat 31, a third vertical linear movement mechanism 32, a sealing cylinder 33, a vacuum pumping mechanism, a vacuum gauge and a helium leak detector, the detection frame 30 is mounted on the workbench 1, the detection positioning seat 31 and the third vertical linear movement mechanism 32 are respectively mounted on the detection frame 30, the sealing cylinder 33 is located right above the detection positioning seat 31, the sealing cylinder 33 is mounted on the third vertical linear movement mechanism 32, after the first transportation and conveying system 7 transports the rod bundle onto the detection positioning seat 31, the third vertical linear movement mechanism 32 drives the sealing cylinder 33 to move downwards under the control of the control processing system to form a sealed space with the detection positioning seat 31, the rod bundle is located in the sealed space, and at this time, the vacuum pumping mechanism pumps vacuum to the sealed space under the control of the control processing system, the vacuum gauge detects the vacuum degree of the closed space in real time, when the vacuum degree reaches a set value, the vacuumizing mechanism stops working, at the moment, the helium leakage detector detects helium content data in the closed space under the control of the control processing system and feeds the data back to the control processing system, and the control processing system obtains a conclusion that the nuclear leakage exists on the basis of the data.
As shown in fig. 7, in this embodiment, the weighing and bending gauge detecting system 5 includes a fixing frame 34, an electronic scale 35, a fourth vertical linear moving mechanism 36, a bending gauge 37 and a protective clasping assembly, the electronic scale 35 and the fixing frame 34 are respectively installed on the worktable 1, the fourth vertical linear moving mechanism 36 is installed on the fixing frame 34, the bending gauge 37 is installed on the fourth vertical linear moving mechanism 36 and is located right above the electronic scale 35, the protective clasping assembly includes a third cylinder 38, a fourth cylinder 39, a third arc-shaped clamping block 40 and a fourth arc-shaped clamping block 41, the third arc-shaped clamping block 40 is installed on an output shaft of the third cylinder 38, the fourth arc-shaped clamping block 41 is installed on an output shaft of the fourth cylinder 39, when the output shafts of the third cylinder 38 and the fourth cylinder 39 contract synchronously, the third arc-shaped clamping block 40 and the fourth arc-shaped clamping block 41 are closed to clamp the bar bundle, when the output shafts of the third air cylinder 38 and the fourth air cylinder 39 extend synchronously, the third arc-shaped clamping block 40 and the fourth arc-shaped clamping block 41 are separated, the third air cylinder 38 and the fourth air cylinder 39 are installed on the fixed frame 34, the third arc-shaped clamping block 40 and the fourth arc-shaped clamping block 41 are positioned above the electronic scale 35, in an initial state, the third arc-shaped clamping block 40 and the fourth arc-shaped clamping block 41 are separated, the electronic scale 35, the fourth vertical linear moving mechanism 36, the third air cylinder 38 and the fourth air cylinder 39 are all connected with the control processing system, after the second conveying and conveying system 8 conveys the rod bundle to the electronic scale 35, the electronic scale 35 reads the weight of the rod bundle and feeds the weight back to the control processing system, the control processing system judges whether the weight is qualified or not, then the control processing system controls the fourth vertical linear moving mechanism 36 to drive the bending gauge 37 to sleeve the rod bundle on the electronic scale 35 from top to bottom, in the nesting process, if the weight fed back to the control processing system by the electronic scale 35 exceeds the reference weight prestored in the control processing system, the fact that the bending gauge 37 is blocked due to bending of the rod bundle is indicated, at the moment, the control processing system judges that the rod bundle is unqualified and drives the third air cylinder 38 and the fourth air cylinder 39 to synchronously contract, the third arc-shaped clamping block 40 and the fourth arc-shaped clamping block 41 are folded to tightly hold the rod bundle, the control processing system controls the fourth vertical linear moving mechanism 36 to drive the bending gauge 37 to move upwards and reset to be separated from the rod bundle, the control processing system controls the third air cylinder 38 and the fourth air cylinder 39 to synchronously extend and reset, at the moment, the third arc-shaped clamping block 40 and the fourth arc-shaped clamping block 41 loosen the rod bundle, and the second carrying and conveying system 8 can carry the rod bundle to the appearance detecting system 6.
In this embodiment, as shown in fig. 8-13, the appearance detecting system includes a bracket 42, a mounting plate 43, a first fixing seat 44, a second fixing seat 45, a telescopic positioning mechanism 46, a photoelectric sensor, a spring self-locking device 47, a spring positioning pin 48, a clamping seat 49, and an appearance clasping mechanism, the bracket 42 is mounted on the workbench, the mounting plate 43 is mounted on the bracket 42 through a rotating shaft 50, the spring self-locking device 47 is mounted at the upper end of the mounting plate 43, the clamping seat 49 is fixed on the mounting plate 43, the first fixing seat 44 is rotatably mounted on the mounting plate 43, the first fixing seat 44 is fixedly connected to the spring self-locking device 47, the spring self-locking device 47 can drive the first fixing seat 44 to rotate 180 degrees, the first fixing seat 44 has a detecting position and a charging position, the position of the first fixing seat 44 is set as its 0 degree position in the detecting state, at this time, the first fixing, the first fixing seat 44 is embedded into the clamping seat 49 and supported by the clamping seat 49 and locked by the spring self-locking device 47, the second fixing seat 45 is fixedly installed at the lower end of the installing plate 43, the first fixing seat 44 and the second fixing seat 45 can clamp a rod bundle positioned between the first fixing seat 44 and the second fixing seat 45, the appearance clasping mechanism comprises a fifth air cylinder 51, a sixth air cylinder 52, a fifth arc-shaped clamping block 53 and a sixth arc-shaped clamping block 54, the fifth air cylinder 51 and the sixth air cylinder 52 are respectively installed on the installing plate 43, the fifth arc-shaped clamping block 53 is installed on an output shaft of the fifth air cylinder 51, the sixth arc-shaped clamping block 54 is installed on an output shaft of the sixth air cylinder 52, the fifth air cylinder 51 and the sixth air cylinder 52 are used for driving the fifth arc-shaped clamping block 53 and the sixth arc-shaped clamping block 54 to be close to or far away from each other, in an initial state, when the rod bundle is placed between the first fixing seat 44 and the second fixing seat 45, the fifth air cylinder 51 and the sixth air cylinder 52 can drive the fifth arc-shaped clamping block 53 and the sixth arc-shaped clamping block 54 to be clamped in the middle of the rod bundle after being closed, so that the rod bundle is clamped; when the first fixing seat 44 is turned 180 degrees counterclockwise relative to the 0 degree position of the first fixing seat 44 and fixed, the first fixing seat 44 is located at the 180 degree position, namely, the loading state, the photoelectric sensor is mounted on the mounting plate 43 and used for sensing whether the first fixing seat 44 is located at the 0 degree position or not, the photoelectric sensor is connected with the control processing system, and when the first fixing seat 44 is located at the 0 degree position, the second conveying and conveying system cannot convey the rod bundle into the appearance detection system under the control of the control processing system; the telescopic positioning mechanism 46 is positioned below the second fixed seat 45, when the telescopic positioning mechanism 46 extends, the telescopic positioning mechanism 46 is connected with the second fixed seat 45 in a clamping manner, at the moment, the second fixed seat 45 and the mounting plate 43 are fixed by the telescopic positioning mechanism 46, when the telescopic positioning mechanism 46 contracts, the telescopic positioning mechanism 46 is separated from the second fixed seat 45, the telescopic positioning mechanism 46 is connected with the control processing system, and the control processing system controls the extension and contraction of the telescopic positioning mechanism 46; the bracket 42 is provided with a first positioning hole, the mounting plate 43 is provided with a plurality of second positioning holes 55 which are distributed along an arc at intervals, and the mounting plate 43 can be fixed on the bracket 42 after the elastic positioning pin passes through the first positioning hole and one of the second positioning holes 55; when the appearance is detected, firstly, the detecting person manually operates the first fixing seat 44 to enable the first fixing seat 44 to be locked at a 180-degree position, the control processing system controls the telescopic positioning mechanism 46 to extend to fix the mounting plate 43, the second conveying and conveying system conveys the rod bundle to the second fixing seat 45 under the control of the control processing system, at the moment, the detecting person manually operates the first fixing seat 44 again to enable the first fixing seat 44 to rotate to a 0-degree position to be locked, at the moment, the first fixing seat 44 is sleeved into the top of the rod bundle to fix the rod bundle, then the fifth cylinder 51 and the sixth cylinder 52 work to drive the fifth arc-shaped clamping block 53 and the sixth arc-shaped clamping block 54 to be clamped in the middle of the rod bundle to clamp the rod bundle, the control processing system controls the telescopic positioning mechanism 46 to retract, at the moment, the detecting person can manually rotate the mounting plate 43 to a position where one end face of the rod bundle can be directly observed, fine-adjusts the mounting plate 43 to enable one second positioning hole 55 to be aligned And the second positioning hole 55, and then the rod bundle is fixed, so that whether each connecting welding point on the end surface of the rod bundle is qualified or not can be observed manually.
In this embodiment, the first fixing seat 44 includes a base 56, a rolling bearing 57 and a positioning collar 58, a through hole penetrating from top to bottom is provided on the base 56, the rolling bearing 57 is installed at the through hole, the positioning collar 58 is coaxially fixed in the rolling bearing 57, the structure of the second fixing seat 45 is the same as that of the first fixing seat 44, a V-shaped clamping strip 59 is fixed on the lower end face of the base 56 of the second fixing seat 45, a V-shaped clamping groove 60 matched with the V-shaped clamping strip 59 is provided on the telescopic positioning mechanism 46, and a pull rod 67 for operation of a detection person is further provided on the base 56.
In this embodiment, two guide blocks 61 are spaced at an upper end of the mounting plate 43, each guide block 61 is provided with a longitudinally extending guide groove 62, each guide groove 62 is provided with a guide pin 63, the guide pins 63 are connected with the base 56 of the first fixing seat 44, the spring self-locking device 47 comprises a fixed block 64, a movable block 65, a spring and a handle 66, the fixed block 64 is fixed on the mounting plate 43, the movable block 65 is connected with the fixed block 64 through a pin shaft, the spring is installed between the fixed block 64 and the movable block 65 and is respectively connected with the fixed block 64 and the movable block 65, the handle 66 is fixed on the movable block 65, when the first fixing seat 44 is at the 0-degree position, the spring is in a natural state to bounce the movable block 65, the movable block 65 blocks 64 are locked to be immovable, at this time, if the handle 66 is pulled, the handle 66 pulls the movable block 65 to rotate along, at this moment, the movable block 65 is separated from the fixed block 64, the fixed block 64 can rotate along with the first fixed seat 44, and when the first fixed seat 44 rotates to a position of 180 degrees, the spring bounces the movable block 65 again to clamp the fixed block 64.

Claims (9)

1. A detection device of a rod bundle is characterized by comprising a workbench, a material receiving system, two conveying and conveying systems, an image acquisition system, a nuclear leakage detection system, a weighing and bending gauge detection system, an appearance detection system and a control processing system, wherein the control processing system is respectively connected with the material receiving system, the two conveying and conveying systems, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system, the material receiving system, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system are sequentially arranged on the workbench from front to back, the two conveying and conveying systems are respectively called as a first conveying and conveying system and a second conveying and conveying system, the system comprises a material receiving system, a first conveying and conveying system, a second conveying and conveying system, a weighing and bending gauge detecting system, an appearance detecting system, an image collecting system, a control processing system, a nuclear leakage detecting system, a weighing and bending gauge detecting system, a control processing system and a control processing system, wherein the material receiving system is used for receiving and buffering rod bundles, the first conveying and conveying system is used for conveying the rod bundles at the material receiving system to the image collecting system and conveying the rod bundles at the image collecting system to the nuclear leakage detecting system, the second conveying and conveying system is used for conveying the rod bundles at the nuclear leakage detecting system to the weighing and bending gauge detecting system and conveying the rod bundles at the nuclear leakage detecting system, the weighing and bending gauge detecting system is used for detecting the weight and bending data of the rod bundles conveyed to the nuclear leakage detecting system and conveying the vacuum helium data to the control processing system, and the weighing and bending gauge detecting system is used for detecting the weight and bending data of the rod bundles conveyed to the control processing system and conveying the rod bundles to the control processing system The appearance detection system is used for manually detecting appearance defects at two ends of the rod bundle, the control processing system is used for controlling the cooperative work of the material receiving system, the two carrying and conveying systems, the image acquisition system, the nuclear leakage detection system, the weighing and bending gauge detection system and the appearance detection system, and a detection result is obtained based on images acquired by the image acquisition system, vacuum helium data detected by the nuclear leakage detection system and weight and bending data detected by the weighing and bending gauge detection system.
2. The rod bundle detection device according to claim 1, wherein the receiving system comprises a disc, a first motor, a cam divider and a plurality of receiving positioning seats, the receiving positioning seats are mounted on the disc and are uniformly distributed along the circumferential direction of the disc, the disc is mounted on the cam divider, the cam divider is connected with the first motor, the first motor drives the disc to rotate through the first cam divider, the first motor is connected with the control processing system, each receiving position seat is provided with a first sensor for sensing whether a rod bundle is mounted in the receiving positioning seat, each first sensor is connected with the control processing system, the receiving system is provided with a receiving position, when the rod bundle detection device starts to detect, the first motor drives the disc to rotate under the control of the control processing system, so that the material receiving positioning seats on which the rod bundles are arranged on the disc rotate to the material taking positions in sequence to wait for material taking.
3. The rod cluster detecting device according to claim 1, wherein each of the transporting and conveying systems comprises a transporting frame, a horizontal transverse linear moving mechanism, a horizontal longitudinal linear moving mechanism, a first vertical linear moving mechanism and a transporting and clamping mechanism, the horizontal longitudinal linear moving mechanism is mounted on the horizontal transverse linear moving mechanism, the transporting frame is mounted on the horizontal longitudinal linear moving mechanism, the first vertical linear moving mechanism is mounted on the transporting frame, the transporting and clamping mechanism comprises a first air cylinder, a second air cylinder, two first arc-shaped clamping blocks and two second arc-shaped clamping blocks, the two first arc-shaped clamping blocks are mounted on an output shaft of the first air cylinder and are arranged at intervals up and down, the two second arc-shaped clamping blocks are mounted on an output shaft of the second air cylinder and are arranged at intervals up and down, when the output shafts of the first cylinder and the second cylinder contract synchronously, the two first arc-shaped clamping blocks and the two second arc-shaped clamping blocks are correspondingly close to each other one by one to clamp the rod bundle, when the output shafts of the first cylinder and the second cylinder extend synchronously, the two first arc-shaped clamping blocks and the two second arc-shaped clamping blocks are correspondingly far away one by one, the first cylinder and the second cylinder are respectively installed on the first vertical linear moving mechanism and are respectively connected with the control processing system, the first cylinder and the second cylinder can contract synchronously or extend synchronously under the control of the control processing system, the horizontal transverse linear moving mechanism, the horizontal longitudinal linear moving mechanism and the first vertical linear moving mechanism are respectively connected with the control processing system, the horizontal transverse linear moving mechanism can perform linear motion in the front-back direction under the control of the control processing system, the horizontal longitudinal linear moving mechanism can perform linear motion in the left-right direction under the control of the control processing system, the first vertical linear moving mechanism can perform linear motion in the up-down direction under the control of the control processing system, and the control processing system controls the horizontal transverse linear moving mechanism, the horizontal longitudinal linear moving mechanism, the first vertical linear moving mechanism and the carrying clasping mechanism to cooperatively work so as to carry the rod bundle.
4. The apparatus of claim 1, wherein the image capturing system comprises a marble base mounted on the worktable, a capturing frame mounted on the marble base, a second vertical linear movement mechanism, a first image capturing device for capturing an image of a top of the rod bundle, a second image capturing device for capturing an image of a side of the rod bundle, a product rotating table mounted on the marble base, a product protecting base mounted on the product rotating table, and a second motor for driving the product rotating table to rotate, the first image capturing device being mounted on the capturing frame and directly above the product protecting base, the first image capturing device being connected to the control processing system, after the first carrying and conveying system carries a bundle to the product protection seat, the first image acquisition device shoots a bundle top image and sends the bundle top image to the control processing system, the control processing system determines the position of a No. 1 fuel rod based on the identification symbol of each fuel rod displayed in the bundle top image, the second vertical linear moving mechanism is installed on the acquisition frame, the second image acquisition device is installed on the second vertical linear moving mechanism, the second vertical linear moving mechanism and the second motor are both connected with the control processing system, and the second motor drives the product rotating platform to rotate under the control of the control processing system so that the fuel rods in the bundle located in the product protection seat from the No. 1 fuel rod to the last numbered fuel rod in the outermost circle sequentially enter the shooting area of the second image acquisition device, when a fuel rod enters the shooting area of the second image acquisition device, the second vertical linear movement mechanism drives the second image acquisition device to do linear motion along the vertical direction under the control of the control processing system so as to shoot a complete side image of the corresponding fuel rod in the shooting area, the second image acquisition device is connected with the control processing system, the second image acquisition device sends the shot side image of each fuel rod to the control processing system, the control processing system judges whether the size of each fuel rod is qualified or not based on the side image of each fuel rod, and if the size of a certain fuel rod is unqualified, the control processing system outputs the serial number and the unqualified size data of the fuel rod.
5. The apparatus according to claim 1, wherein the nuclear leakage detecting system includes a detecting frame, a detecting and positioning seat, a third vertical linear moving mechanism, a sealing cylinder, a vacuum pumping mechanism, a vacuum gauge and a helium leakage detector, the detecting frame is mounted on the worktable, the detecting and positioning seat and the third vertical linear moving mechanism are respectively mounted on the detecting frame, the sealing cylinder is located right above the detecting and positioning seat, the sealing cylinder is mounted on the third vertical linear moving mechanism, when the first transporting and conveying system transports the rod bundle to the detecting and positioning seat, the third vertical linear moving mechanism drives the sealing cylinder to move downwards to form a sealed space with the detecting and positioning seat under the control of the control processing system, the rod bundle is positioned in the closed space, the vacuumizing mechanism vacuumizes the closed space under the control of the control processing system, the vacuum gauge detects the vacuum degree of the closed space in real time, the vacuumizing mechanism stops working after the vacuum degree reaches a set value, the helium leakage detector detects helium content data in the closed space under the control of the control processing system and feeds the data back to the control processing system, and the control processing system obtains a conclusion that nuclear leakage exists based on the data.
6. The rod bundle detecting device according to claim 1, wherein the weighing and bending gauge detecting system includes a fixing frame, an electronic scale, a fourth vertical linear moving mechanism, a bending gauge and a protective clasping assembly, the electronic scale and the fixing frame are respectively installed on the worktable, the fourth vertical linear moving mechanism is installed on the fixing frame, the bending gauge is installed on the fourth vertical linear moving mechanism and located right above the electronic scale, the protective clasping assembly includes a third cylinder, a fourth cylinder, a third arc-shaped clamping block and a fourth arc-shaped clamping block, the third arc-shaped clamping block is installed on an output shaft of the third cylinder, the fourth arc-shaped clamping block is installed on an output shaft of the fourth cylinder, when the output shafts of the third cylinder and the fourth cylinder contract synchronously, the third arc-shaped clamping block and the fourth arc-shaped clamping block are close to each other to clamp the rod bundle, when the output shafts of the third cylinder and the fourth cylinder extend synchronously, the third arc-shaped clamping block and the fourth arc-shaped clamping block are separated, the third cylinder and the fourth cylinder are installed on the fixing frame, the third arc-shaped clamping block and the fourth arc-shaped clamping block are positioned above the electronic scale, in an initial state, the third arc-shaped clamping block and the fourth arc-shaped clamping block are separated, the electronic scale, the fourth vertical linear moving mechanism, the third cylinder and the fourth cylinder are all connected with the control processing system, and after the second conveying system conveys the rod bundle to the electronic scale, the electronic scale reads the weight of the rod bundle and feeds the weight back to the control processing system, the control processing system judges whether the weight of the rod bundle is qualified or not, then the control processing system controls the fourth vertical linear moving mechanism to drive the bending gauge to be sleeved into the rod bundle on the electronic scale from top to bottom, in the sleeving process, if the weight fed back to the control processing system by the electronic scale exceeds a reference weight prestored in the control processing system, the bending gauge is indicated to be blocked due to bending of the rod bundle, at the moment, the control processing system judges that the rod bundle is unqualified and drives the third air cylinder and the fourth air cylinder to contract synchronously, the third arc-shaped clamping block and the fourth arc-shaped clamping block are folded to clamp the rod bundle tightly, the control processing system controls the fourth vertical linear moving mechanism to drive the bending gauge to move upwards to reset and separate from the rod bundle, and the control processing system controls the third air cylinder and the fourth air cylinder to extend and reset synchronously, at the moment, the third arc-shaped clamping block and the fourth arc-shaped clamping block loosen the rod bundle, and the second conveying and conveying system can convey the rod bundle to the appearance detection system.
7. The rod bundle detecting device according to claim 1, wherein the appearance detecting system includes a bracket, a mounting plate, a first fixing seat, a second fixing seat, a telescopic positioning mechanism, a photoelectric sensor, a spring self-locking device, a spring positioning pin, a clamping seat and an appearance clasping mechanism, the bracket is mounted on the worktable, the mounting plate is mounted on the bracket through a rotating shaft, the spring self-locking device is mounted at the upper end of the mounting plate, the clamping seat is fixed on the mounting plate, the first fixing seat is rotatably mounted on the mounting plate, the first fixing seat is fixedly connected with the spring self-locking device, the spring self-locking device can drive the first fixing seat to rotate 180 degrees, the first fixing seat has a detecting position and a charging position, the position of the first fixed seat is taken as the 0-degree position of the first fixed seat when in a detection state, the first fixed seat is positioned right above the second fixed seat, the first fixed seat is embedded into the clamping seat and supported by the clamping seat and locked by the spring self-locking device, the second fixed seat is fixedly arranged at the lower end of the mounting plate, the first fixed seat and the second fixed seat can clamp a rod bundle positioned between the first fixed seat and the second fixed seat, the appearance clasping mechanism comprises a fifth air cylinder, a sixth air cylinder, a fifth arc-shaped clamping block and a sixth arc-shaped clamping block, the fifth air cylinder and the sixth air cylinder are respectively arranged on the mounting plate, the fifth arc-shaped clamping block is arranged on an output shaft of the fifth air cylinder, and the sixth arc-shaped clamping block is arranged on an output shaft of the sixth air cylinder, the fifth cylinder and the sixth cylinder are used for driving the fifth arc-shaped clamping block and the sixth arc-shaped clamping block to move close to or away from each other, in an initial state, the fifth arc-shaped clamping block and the sixth arc-shaped clamping block are in a far state, and when a rod bundle is placed between the first fixing seat and the second fixing seat, the fifth cylinder and the sixth cylinder can drive the fifth arc-shaped clamping block and the sixth arc-shaped clamping block to move close to each other and then clamp the rod bundle in the middle of the rod bundle to clamp the rod bundle; when the first fixing seat is turned 180 degrees counterclockwise relative to the 0 degree position of the first fixing seat and fixed, the first fixing seat is located at the 180 degree position, namely the loading state, the photoelectric sensor is installed on the installation plate and used for sensing whether the first fixing seat is located at the 0 degree position or not, the photoelectric sensor is connected with the control processing system, and when the first fixing seat is located at the 0 degree position, the second conveying and conveying system cannot convey the rod bundle into the appearance detection system under the control of the control processing system; the telescopic positioning mechanism is positioned below the second fixed seat, when the telescopic positioning mechanism extends, the telescopic positioning mechanism is clamped with the second fixed seat, the second fixed seat and the mounting plate are fixed by the telescopic positioning mechanism, when the telescopic positioning mechanism retracts, the telescopic positioning mechanism is separated from the second fixed seat, the telescopic positioning mechanism is connected with the control processing system, and the control processing system controls the extension and retraction of the telescopic positioning mechanism; the support is provided with a first positioning hole, the mounting plate is provided with a plurality of second positioning holes which are distributed at intervals along an arc shape, and the mounting plate can be fixed on the support after the elastic positioning pin passes through the first positioning hole and one of the second positioning holes; when appearance detection is carried out, firstly, a detection person manually operates to enable the first fixing seat to be locked at a 180-degree position, the control processing system controls the telescopic positioning mechanism to extend to fix the mounting plate, the second carrying and conveying system carries the rod bundle into the second fixing seat under the control of the control processing system, at the moment, the detection person manually operates the first fixing seat again to enable the first fixing seat to rotate to a 0-degree position to be locked, at the moment, the first fixing seat is sleeved into the top of the rod bundle to fix the rod bundle, then, the fifth air cylinder and the sixth air cylinder work to drive the fifth arc-shaped clamping block and the sixth arc-shaped clamping block to be close to and clamped in the middle of the rod bundle to clamp the rod bundle, the control processing system controls the telescopic positioning mechanism to contract again, at the moment, the detection person can manually rotate the mounting plate to a position where a certain end face of the rod bundle can be directly observed, and finely adjusting the mounting plate to align a certain second positioning hole with the first positioning hole, inserting the spring positioning pin into the first positioning hole and the second positioning hole, and fixing, so that whether each connecting welding point on the end face of the rod bundle is qualified can be manually observed.
8. The rod bundle detection device according to claim 7, wherein the first fixing seat comprises a base, a rolling bearing and a positioning ring, a through hole penetrating through the base is formed in the base, the rolling bearing is installed at the through hole, the positioning ring is coaxially fixed in the rolling bearing, the second fixing seat is identical to the first fixing seat in structure, a V-shaped clamping strip is fixed on the lower end face of the base of the second fixing seat, and a V-shaped clamping groove matched with the V-shaped clamping strip is formed in the telescopic positioning mechanism.
9. The rod bundle detecting device according to claim 8, wherein two guide blocks are spaced apart from each other at an upper end of the mounting plate, each guide block has a longitudinally extending guide groove, each guide groove has a guide pin therein and the guide pin is connected to a base of the first fixing base, the spring self-locking device includes a fixed block, a movable block, a spring and a handle, the fixed block is fixed to the mounting plate, the movable block is connected to the fixed block through a pin shaft, the spring is installed between the fixed block and the movable block and is connected to the fixed block and the movable block, the handle is fixed to the movable block, and when the first fixing base is at a 0 degree position, the spring is in a natural state to bounce the movable block, the movable block will the fixed block card die make its unable motion, if stimulate this moment the handle, the handle stimulate the movable block rotate along round pin axle compress the spring, this moment the movable block with the fixed block separation, the fixed block can rotate along with first fixing base, when first fixing base rotate to 180 degrees positions, the spring will again the movable block bounce will the fixed block card die.
CN202011449946.8A 2020-12-11 2020-12-11 Detection equipment for bar bundles Active CN112730443B (en)

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