CN113997142B

CN113997142B - Robot system for nuclear reactor core end face grinding

Info

Publication number: CN113997142B
Application number: CN202111244126.XA
Authority: CN
Inventors: 段星光; 靳励行; 王晋; 李浩源; 崔腾飞; 孟繁盛
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2023-03-17
Anticipated expiration: 2041-10-25
Also published as: CN113997142A

Abstract

The application discloses a robot system for nuclear power reactor core terminal surface grinds, including the mount pad, set up in the mount pad and have position adjustment function's linear drive module, set up on linear drive module and have the flexible effect and angle self-adaptation function move the platform and set up the grinding device on moving the platform, still be provided with visual monitoring subassembly and terminal surface scanning subassembly on moving the platform. This application replaces artifically through the machine, avoids the workman to operate under the radiation environment, guarantees personnel's work safety.

Description

Robot system for nuclear reactor core end face grinding

Technical Field

The application relates to the technical field of grinding, in particular to a robot system for grinding the end face of a nuclear reactor core.

Background

The function of changing the material of the heavy water reactor without stopping the reactor is mainly realized by the material loading and unloading machines which are positioned at two sides of the end surface of the reactor, and the material changing function is realized by clamping the material loading and unloading machines and the fuel channel. The action of the loading and unloading machine is realized by the action of the bridge frame and the components thereof.

When the handling machine carries out the armful card to fuel passage, the sealed face of fuel passage forms sealedly with the inside center support section of thick bamboo contact of handling machine mouthpiece, can arouse sealed inefficacy when the sealed face of passage has the defect, and the heavy water in the passageway leaks, and when leaking and reacing a definite value, the reloading can't be gone on, generally grinds the passageway with self-control special grinding tool, and this method not only wastes time and energy, and is very unfavorable to staff's radiation pollution control under the environment that the terminal surface high dose is polluted.

Disclosure of Invention

The main aim at of this application provides a robot system for nuclear power reactor core terminal surface grinds, replaces the manual work through the machine, avoids the workman to operate under the radiation environment, guarantees personnel's work safety.

In order to achieve the purpose, the robot system for end face grinding of the nuclear reactor core comprises a mounting seat, a linear driving module, a movable platform and a grinding device, wherein the linear driving module is arranged in the mounting seat and has a position adjusting function, the movable platform is arranged on the linear driving module and has an elastic effect, the grinding device is arranged on the movable platform, and the movable platform is further provided with a visual monitoring assembly and an end face scanning assembly.

Preferably, the linear driving module comprises a fixed seat fixed on the mounting seat, a supporting block circumferentially and uniformly fixed on the fixed seat, and a moving assembly arranged on the supporting block, wherein the moving assembly is rotatably connected with a movable rod, and one end of the movable rod, far away from the moving assembly, is rotatably connected with the moving platform.

Preferably, the moving component comprises a concave block fixed on the supporting block, a threaded rod arranged in an opening of the concave block and in running fit with the concave block, and a driving motor fixed at one end of the concave block and fixedly connected with the threaded rod, a sliding block is arranged in the opening of the concave block in a sliding manner and in running fit with the threaded rod, and one end of the movable rod is in running fit with the sliding block.

Preferably, the movable platform comprises an installation frame and a connecting block, the installation frame is rotatably connected with the movable rod, the connecting block is arranged in the middle of the installation frame, and the connecting block and the installation frame are connected through a plurality of elastic devices.

Preferably, the movable rod comprises a first T-shaped rod fixed on the sliding block and a second T-shaped rod fixed on the mounting frame, connecting rods are symmetrically arranged between the first T-shaped rod and the second T-shaped rod, and two ends of each connecting rod are respectively arranged outside the first T-shaped rod and the second T-shaped rod and are in running fit with the first T-shaped rod and the second T-shaped rod.

Preferably, the grinding device is a pneumatic grinder or an electric grinder or a hydraulic grinder.

Preferably, the visual monitoring assembly is an irradiation-resistant camera.

Preferably, the end face scanning assembly is a seam tracker.

Preferably, the sanding plate is detachably arranged on the grinding device.

Preferably, the elastic means is a spring or an elastic band.

In the embodiment of the application, the facing angle of the movable platform is kept through the linear driving module, the linear driving module can convert the vertical motion of the linear driving guide rail into the motion of a space three-dimensional degree of freedom, and the linear driving module has the advantages of small space axial size, high rigidity and high precision and can meet the requirement of limited installation space in a field environment; flexible prepressing is realized through the movable platform, and the service life of the polishing device is prolonged; the polishing device and the linear driving module are monitored through the visual monitoring assembly, and the polishing device and the linear driving module are ensured to be in normal working states; the end face scanning assembly is used for analyzing the damage condition of the end face of the material pipe, so that the end face can be accurately polished; the whole process does not need personnel to participate, the working safety of workers is guaranteed, and automatic grinding of the end face of the material pipe is achieved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic view for showing the overall structure of the embodiment;

FIG. 2 is a schematic diagram for showing relevant structures such as a pneumatic grinder, a radiation-resistant camera, and a seam tracker;

fig. 3 is a schematic view for showing the structure of the moving assembly, the moving bar and the moving platform.

Reference numerals: 1. a mounting seat; 2. a linear drive module; 3. moving the platform; 4. a polishing device; 5. a visual inspection device; 6. an end face scanning assembly; 7. a fixed seat; 8. a supporting block; 9. a moving assembly; 10. a movable rod; 11. a concave block; 12. a threaded rod; 13. a drive motor; 14. a slider; 15. a mounting frame; 16. connecting blocks; 17. a spring; 18. a first T-bar; 19. a second T-bar; 20. a connecting rod; 21. a pneumatic grinder; 22. an irradiation-resistant camera; 23. a weld tracker; 24. sand paper board.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the application herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1 to 3, a robot system for nuclear reactor core end face grinding includes a mounting base 1, a linear driving module 2 disposed in the mounting base 1 and having an orientation adjusting function, a movable platform 3 disposed on the linear driving module 2 and having an elastic effect, and a polishing device 4 disposed on the movable platform 3, wherein a visual monitoring assembly 5 and an end face scanning assembly 6 are further disposed on the movable platform 3.

As shown in fig. 1 and 2, the heavy water reactor core is located in the material pipe, the core needs to be replaced by a handling machine, the moving platform is always at an angle through the linear module, when the heavy water reactor core is used, the mounting base 1 is fixed on the handling machine, the handling machine can move in a three-dimensional direction in space, the mounting base 1 can also move along with the movement of the handling machine, when the polishing device 4 corresponds to one end face of the material pipe, the handling machine stops moving, the end face scanning assembly 6 scans the end face of the material pipe at the moment, the end face scanning assembly 6 is a weld tracker 23, the end face scanning assembly 6 can scan and identify the damage or the gap of the end face of the material pipe, the depth required to be polished by the polishing device 4 is further determined, the states of the polishing device 4 and the linear driving module 2 can be monitored in real time through the visual monitoring assembly 5, the normal operation of the polishing device 4 and the linear driving module 2 is ensured, and the visual monitoring assembly 5 selects the irradiation-resistant camera 22.

In the course of the work, linear drive module 2 moves, drives welding seam tracker 23 and removes, and then welding seam tracker 23 can carry out the plane scanning to the terminal surface of material pipe, gathers the crack information of this terminal surface, and after the collection was accomplished, welding seam tracker 23 signals and gives central controller, and central controller deciphers the signal and sends the signal and gives the handling material machine. After the loading and unloading machine moves to a proper position, the linear driving module 2 starts to start.

As shown in fig. 2 and fig. 3, the linear driving module 2 includes a fixing seat 7 fixed on the mounting seat 1, a supporting block 8 uniformly fixed on the fixing seat 7 in the circumferential direction, and a moving assembly 9 disposed on the supporting block 8, the moving assembly 9 is rotatably connected to a moving rod 10, and one end of the moving rod 10 away from the moving assembly 9 is rotatably connected to the moving platform 3, according to a signal sent by the central controller, the moving assembly 9 starts to start, the moving assembly 9 includes a concave block 11 fixed on the supporting block 8, a threaded rod 12 disposed in an opening of the concave block 11 and rotatably engaged with the concave block 11, and a driving motor 13 fixed at one end of the concave block 11 and fixedly connected to the threaded rod 12, a slider 14 is slidably disposed in the opening of the concave block 11 and threadedly engaged with the threaded rod 12, one end of the moving rod 10 is rotatably engaged with the slider 14, the central controller sends a signal to the driving motor 13, the driving motor 13 rotates to drive the threaded rod 12 to rotate, the slider 14 moves along the length direction of the threaded rod 12 under the threaded coordination of the threaded rod 12 and the slider 14, the slider 14 moves to drive one end of the movable rod 10 to move, the movable rod 10 comprises a first T-shaped rod 18 fixed on the slider 14 and a second T-shaped rod 19 fixed on the mounting frame 15, a connecting rod 20 is symmetrically arranged between the first T-shaped rod 18 and the second T-shaped rod 19, two ends of the connecting rod 20 are respectively arranged outside the first T-shaped rod 18 and the second T-shaped rod 19 and are in rotating coordination with the first T-shaped rod 18 and the second T-shaped rod 19, the movement of the slider 14 drives the first T-shaped rod 18 to move together, and one end of the movable rod 10 moves along with the movement of the slider 14, and under the connection action of the movable rod 10, second T type pole 19 also can take place to remove, because movable rod 10 is provided with a plurality ofly, cooperation through a plurality of removal subassemblies 9 and movable rod 10, can be to moving platform 3 towards the angle adjustment, treat that moving platform 3 forward is to the material pipe terminal surface, moving subassembly 9 promotes moving platform 3 again and is close to material pipe terminal surface and then make moving platform 3 towards the angle keep unchangeable, and can make grinding device 4 be close to the terminal surface of material pipe, treat that grinding device 4 and the terminal surface of material pipe contact back, moving subassembly 9 stops.

As shown in fig. 3, because movable platform 3 includes that the mounting bracket 15 of being connected rotates with movable rod 10 and sets up in the connecting block 16 at mounting bracket 15 middle part, connect through a plurality of elastic devices 17 between connecting block 16 and the mounting bracket 15, elastic device 17 is spring or elastic webbing, after grinding device 4 contacted with the terminal surface of material pipe, under grinding device 4's power transmission effect, connecting block 16 removed to the direction of being close to fixing base 7, spring 17 found deformation this moment, and then spring 17 provided grinding device 4 to the pressing effect of material pipe, guaranteed grinding device 4's the effect of polishing, and then accessible movable platform 3 realized the flexible contact of grinding device 4 and material pipe, increased grinding device 4's life.

Above-mentioned grinding device 4 is that pneumatic grinding machine 21 or electronic grinding machine or hydraulic pressure grind the machine, and can dismantle on grinding device 4 and be provided with sand cardboard 24, and this dismantlement mode accessible plug-in connection also can be connected through glue bonding, through the dismantled being connected of abrasive paper board 24 and pneumatic grinding machine 21, conveniently changes abrasive paper, guarantees the effect of polishing of material pipe port.

The device realizes the angle-oriented maintenance of the movable platform 3 through the linear driving module 2, and ensures the detection quality of the radiation-resistant camera 22 and the welding seam tracker 23; the flexible attachment of the polishing device 4 and the end face of the material pipe is realized through the structures such as the movable platform 3, the hard contact between the pneumatic grinding machine 21 and the material pipe is avoided, and the service life of the pneumatic grinding machine 21 is prolonged; the irradiation-resistant camera 22 is additionally arranged to monitor related working components such as the grinding device 4 and the like in real time, so that the working state of the pneumatic grinding machine 21 and the grinding effect of the end face of the material pipe are guaranteed; and a welding seam tracker 23 is additionally arranged to monitor the phenomena that the cracks and the like of the end face do not meet the standard in real time, so that the flatness of the end face of the material pipe is ensured. The operation is realized in a mechanical mode, the check of the end face cracks of the material pipe, the real-time feedback of running part information and the like can be realized without personnel participation in the whole process, the safety of workers is guaranteed, and the efficiency and the quality of grinding the end face of the material pipe are improved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot system for grinding the end face of the core of a nuclear reactor is characterized in that,

the device comprises a mounting seat (1), a linear driving module (2) which is arranged in the mounting seat (1) and has an azimuth adjusting function, a movable platform (3) which is arranged on the linear driving module (2) and has an elastic effect, and a polishing device (4) which is arranged on the movable platform (3), wherein a visual monitoring assembly (5) and an end face scanning assembly (6) are also arranged on the movable platform (3);

the linear driving module (2) comprises a fixed seat (7) fixed on the mounting seat (1), a supporting block (8) circumferentially and uniformly fixed on the fixed seat (7) and a moving assembly (9) arranged on the supporting block (8), a moving rod (10) is connected to the moving assembly (9) in a rotating mode, one end, far away from the moving assembly (9), of the moving rod (10) is connected with the moving platform (3) in a rotating mode, the moving assembly (9) starts according to a signal sent by a central controller, the moving assembly (9) comprises a concave block (11) fixed on the supporting block (8), a threaded rod (12) arranged in an opening of the concave block (11) and in rotating fit with the concave block (11) and a driving motor (13) fixed at one end of the concave block (11) and fixedly connected with the threaded rod (12), a sliding block (14) is arranged in the opening of the concave block (11) in a sliding mode, the sliding block (14) is in threaded fit with the threaded block (12), one end of the moving rod (10) is in rotating fit with the sliding block (14), the central controller sends a signal to the driving motor (13), the driving motor (13) can drive the sliding block (12) to rotate and drive the threaded rod (12) to move along the direction, and the threaded rod (12) and the length of the sliding block (12) can drive the sliding block (12) and move along the direction, the material pipe polishing device comprises a material pipe polishing device, a material pipe polishing platform, a material pipe polishing device and a material pipe polishing device, wherein the material pipe polishing device comprises a sliding block (14), the sliding block (14) moves to drive one end of a movable rod (10) to move, the movable rod (10) comprises a first T-shaped rod (18) fixed on the sliding block (14) and a second T-shaped rod (19) fixed on a mounting frame (15), connecting rods (20) are symmetrically arranged between the first T-shaped rod (18) and the second T-shaped rod (19), two ends of each connecting rod (20) are respectively and externally arranged on the first T-shaped rod (18) and the second T-shaped rod (19) and are in running fit with the first T-shaped rod (18) and the second T-shaped rod (19), the first T-shaped rod (18) is driven to move by the movement of the sliding block (14), one end of the movable rod (10) moves along with the movement of the sliding block (14), the second T-shaped rod (19) moves under the connecting action of the movable rod (10), the movable rod (10) can adjust the angle of the movable rod (9) to face the material pipe polishing platform (3), and the end face the polishing platform (4), the moving assembly (9) is stopped;

move platform (3) including rotate mounting bracket (15) of being connected with movable rod (10) and set up in connecting block (16) at mounting bracket (15) middle part, connecting block (16) with mounting bracket (15) are located same horizontal plane, connect through a plurality of elastomeric element (17) between connecting block (16) and mounting bracket (15).

2. The robotic system for nuclear reactor core end face grinding according to claim 1, characterized in that the grinding device (4) is a pneumatic grinder (21) or an electric grinder or a hydraulic grinder.

3. The robotic system for nuclear reactor core end face grinding according to claim 1 wherein the visual monitoring assembly (5) is an irradiation-resistant camera (22).

4. The robotic system for nuclear reactor core end face grinding according to claim 1 wherein the end face scanning assembly (6) is a weld tracker (23).

5. The robot system for end face grinding of nuclear reactor cores according to claim 1, characterized in that a sand paper plate (24) is detachably arranged on the grinding device (4).

6. The robotic system for nuclear reactor core end face grinding according to claim 1 wherein the elastic means (17) is a spring or an elastic band.