CN115050494A - Cantilever type irradiation monitoring tube gripping device and working method - Google Patents

Cantilever type irradiation monitoring tube gripping device and working method Download PDF

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Publication number
CN115050494A
CN115050494A CN202210734696.5A CN202210734696A CN115050494A CN 115050494 A CN115050494 A CN 115050494A CN 202210734696 A CN202210734696 A CN 202210734696A CN 115050494 A CN115050494 A CN 115050494A
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China
Prior art keywords
connecting rod
jacking
irradiation
assembly
grabbing
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CN202210734696.5A
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CN115050494B (en
Inventor
万浩
陈书华
董岱林
方才顺
黄新东
周捷
杜华
李美福
陈茜
马山林
张安锐
湛卉
安彦波
杨其辉
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Nuclear Power Institute of China
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Nuclear Power Institute of China
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Publication of CN115050494A publication Critical patent/CN115050494A/en
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    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
    • G21C19/02—Details of handling arrangements
    • G21C19/10—Lifting devices or pulling devices adapted for co-operation with fuel elements or with control elements
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/10—Structural combination of fuel element, control rod, reactor core, or moderator structure with sensitive instruments, e.g. for measuring radioactivity, strain
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
    • G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
    • 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)
  • Engineering & Computer Science (AREA)
  • Plasma & Fusion (AREA)
  • General Engineering & Computer Science (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Manipulator (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
  • Monitoring And Testing Of Nuclear Reactors (AREA)

Abstract

The invention relates to a cantilever type irradiation monitoring pipe gripping device and a working method, wherein the cantilever type irradiation monitoring pipe gripping device comprises a stacking positioning device, a connecting rod assembly, a counterweight assembly, a gripping assembly, an underwater camera and a control element; the stacking positioning device comprises a base, a lifting lug, a guide rail, a sliding table, a connecting rod supporting platform, a motor and the like, and is connected with the grabbing assembly through the connecting rod assembly to realize the remote positioning operation of the device; the grabbing component comprises a jacking component, a rotating component, a guide mechanism and the like, and the grabbing component provides jacking movement and rotating movement. The cantilever type device can realize the grabbing and transferring of the irradiation monitoring tube and the placing of the irradiation monitoring tube into a high-level shielding container through the grabbing component. The device has high automation degree, high positioning precision and low requirement on the operating environment, and is suitable for underwater remote grabbing operation of the irradiation monitoring pipe.

Description

Cantilever type irradiation monitoring tube gripping device and working method
Technical Field
The invention belongs to the technical field of pressurized water reactor refueling and overhauling operations, and particularly relates to an irradiation supervisory tube disassembling tool.
Background
In order to detect the influence of the irradiation environment on the material performance of a pressurized water reactor pressure vessel of a nuclear power station, an irradiation monitoring pipe is arranged in the reactor. The irradiation monitoring pipe is a component for material performance monitoring installed at the lower part of the reactor pressure vessel. When the reactor is periodically reloaded and overhauled, an operator takes the irradiation monitoring pipe out of the pressure vessel, inspects and tests the performance of the irradiation monitoring pipe, determines the performance change of related materials, provides parameters for safety evaluation of the reactor pressure vessel, and monitors the embrittlement condition of the materials of the pressure vessel.
When the reactor is reloaded and overhauled, the pressure vessel and the irradiation monitoring pipe have strong radioactivity, so the irradiation monitoring pipe needs to be disassembled and assembled remotely underwater at the bottom of the pressure vessel by using a disassembling tool. In a common pressurized water reactor, the installation direction of the irradiation monitoring pipe is over against a plugging hole above a pressure container, and the irradiation monitoring pipe is only required to be disassembled from top to bottom by a corresponding long rod operating tool, so that the disassembly of the irradiation monitoring pipe is realized. However, in some new pressurized water reactor types, a shielding object exists right above the installation position of the irradiation monitoring pipe, the operation space is narrow, and the long rod operation tool cannot be directly used for disassembly. Therefore, the operation tool proposed in the literature "design and application of novel gripping tool for nuclear power plant" (journal paper, mechanical research and application, 2018) and "remote gripping tool for irradiation monitoring tube" (patent, CN109949954A) cannot meet the corresponding working conditions.
Disclosure of Invention
In view of the above, the invention provides a cantilever type irradiation monitoring pipe gripping device and a working method thereof, aiming at the working conditions that a shielding object exists right above the installation position of an irradiation monitoring pipe and the operation space is narrow in some new pressurized water reactor types, and aims to remotely grip the irradiation monitoring pipe underwater under the working conditions.
The invention is realized by the following technical scheme:
a cantilever type irradiation monitoring pipe gripping device comprises a jacking assembly, a rotating assembly, a guide mechanism and a supporting block, wherein the jacking assembly comprises a jacking cylinder, the guide mechanism comprises a sliding plate, the supporting block and the sliding plate are provided with a horizontal opening for accommodating an irradiation monitoring pipe, the rotating assembly is connected with the sliding plate, and the sliding plate is driven to rotate to seal the horizontal opening; the jacking cylinder body is arranged on the supporting block, and the pushing force of a pushing rod of the jacking cylinder acts on a large shaft shoulder of the irradiation monitoring pipe.
As preferred scheme, jacking subassembly still includes the jacking board, and jacking cylinder push rod is connected with the jacking board.
As a preferred scheme, the guide mechanism further comprises a guide post and a limiting post, the guide post is vertically arranged on the jacking plate, an arc-shaped hole is formed in the sliding plate, and the guide post is positioned in the arc-shaped hole; the limiting column is vertically installed on the supporting block and penetrates through the jacking plate in a sliding mode to limit vertical movement.
Preferably, the rotating assembly comprises a swing cylinder and a link mechanism, the main body of the swing cylinder is mounted on the jacking plate, and the output shaft of the swing cylinder is connected with the sliding plate through the link mechanism.
As preferred scheme, still including piling positioner, connecting rod subassembly and connecting plate, the connecting rod subassembly includes the connecting rod, and the supporting shoe passes through the connecting plate to be connected with the connecting rod bottom, and the connecting rod top is connected on piling positioner.
As preferred scheme, pile positioner and include the base, the lug, X is to the guide rail, the slip table, connecting rod supporting platform, including a motor, an end cap, a controller, and a cover plate, the motor, digital display, the dog, Y is to the guide rail, the lug is installed on base upper portion, X is to the guide rail installation in the base lower part, the slip table is installed on X is to the guide rail, Y is to the guide rail installation on the slip table, connecting rod supporting platform installs on Y is to the guide rail, the connecting rod top is connected on connecting rod supporting platform, X is to guide rail and Y to guide rail configuration motor and dog, digital display is used for showing X to and Y to the displacement.
As preferred scheme, the connecting rod subassembly still includes connecting rod operating handle, and the connecting rod passes through connecting rod operating handle to be installed on connecting rod supporting platform.
As preferred scheme, still include the counter weight subassembly, the counter weight subassembly includes connection interface, balancing weight and adjusting nut, and the balancing weight passes through connection interface and installs in the connecting rod bottom of connecting rod subassembly, and the balancing weight is located the relative both sides of connecting rod with the subassembly of snatching that comprises jacking subassembly, rotating assembly and guiding mechanism, and adjusting nut adjustment level counter weight position is passed through to the balancing weight both sides.
Preferably, the underwater robot further comprises an underwater camera, wherein the underwater camera is opposite to the grabbing assembly and is in signal connection with the control system.
The working method of the cantilever type irradiation monitoring pipe gripping device comprises the following steps:
1) installing an on-pile positioning device;
2) the installation connecting rod component and the grabbing component with the lower part consisting of a jacking component, a rotating component and a guiding mechanism;
3) adjusting an operating handle of the connecting rod to perform directional coarse positioning;
4) carrying out position coarse positioning through an underwater camera;
5) starting an electromagnetic switch of the swing cylinder;
6) monitoring the in-place condition by an underwater camera;
7) starting an electromagnetic switch of the jacking cylinder;
8) monitoring the in-place condition by an underwater camera;
9) completing the grabbing action;
10) the irradiation monitoring tube is withdrawn and moved to the shielding container;
11) starting an electromagnetic switch of a swing cylinder to carry out reversing;
12) releasing the irradiation monitoring tube to the shielding container;
13) closing the electromagnetic switches of the jacking cylinder and the swing cylinder in sequence;
14) the gripping device is withdrawn.
In summary, compared with the conventional irradiation monitoring pipe dismounting tool in the prior art, the invention has the following differences, advantages and beneficial effects:
1) the invention adopts a brand-new cantilever type structure dismounting scheme, and can be used for dismounting the irradiation monitoring tube which is shielded in the vertical direction and has a narrow operation space.
2) The two actions of jacking movement and rotating movement can be automatically realized.
3) The automation degree is high, the operation is simple, the manpower requirement is less, and the requirement on structural machining and assembling is low.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.
FIG. 1 is an irradiation supervisor tube installation schematic (a).
FIG. 2 is an irradiation supervisor tube installation schematic (b).
FIG. 3 is an irradiation supervisor tube installation schematic (c).
Fig. 4 is a schematic view of the upper end face of the hold down shaft.
FIG. 5 is a general view of a cantilevered irradiation supervisor grasping device.
Fig. 6 is a schematic view of the grasping assembly (with the hold-down assembly disengaged and the internals concealed).
Fig. 7 is a schematic view of the on-stack positioning device.
Fig. 8 is a schematic view of a connecting rod assembly.
Fig. 9 is a schematic view of a counterweight assembly.
Fig. 10 is a schematic view of a grasping assembly.
Fig. 11 is a schematic view of a rotating assembly.
Fig. 12 is an overall architecture diagram of the control system.
Fig. 13 is a control mode panel diagram.
Fig. 14 is an operational flow diagram.
Reference numbers and corresponding part names:
an irradiation monitoring tube 100, a small shaft shoulder 101, a large shaft shoulder 102 and an upper end part 103 of the irradiation monitoring tube;
the fixing structure 200, the upper fixing block 210, the lower fixing block 220, the pressing component 230, the pressing fixing block 231, the pressing sleeve 232, the pressing shaft 233 and the pressing spring 234;
the device comprises a stacking positioning device 300, a base 301, a lifting lug 302, an X-direction guide rail 303, a sliding table 304, a connecting rod supporting platform 305, a motor 306, a digital display 307, a stop block 308, a Y-direction guide rail 309, a pressure container sealing surface 310 and an in-stack structural member 311;
a connecting rod assembly 400, a connecting rod 401, a connecting rod operating handle 402;
the balance weight component 500, a connecting interface 501, a balance weight block 502 and an adjusting nut 503;
the grabbing component 600, the supporting block 640 and the connecting plate 650;
a jacking assembly 610, a jacking cylinder 611 and a jacking plate 612;
a rotating assembly 620, a swing cylinder 621, a link mechanism 622;
a guide mechanism 630, a guide post 631, a sliding plate 632, a limit post 633;
an underwater camera 700.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the following detailed description of the principles, features and the like of the present invention is made with reference to the following examples and accompanying drawings, and the exemplary embodiments and descriptions of the present invention are only used for explaining the present invention, and are not used as limiting the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the description, references to "one embodiment," "an embodiment," "one example," or "an example" mean: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The following discloses many different embodiments or examples for implementing the subject technology described. While specific examples of one or more arrangements of features are described below to simplify the disclosure, the examples should not be construed as limiting the present disclosure, and a first feature described later in the specification in conjunction with a second feature can include embodiments that are directly related, can also include embodiments that form additional features, and further can include embodiments in which one or more additional intervening features are used to indirectly connect or combine the first and second features to each other so that the first and second features may not be directly related.
In the description of the present invention, it is to be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "high", "low", "inner", "outer", "center", "length", "peripheral side", "circumferential" and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the scope of the invention.
In the description of the present specification, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
The terms used in the present specification are those general terms currently widely used in the art in consideration of functions related to the present disclosure, but they may be changed according to the intention of a person having ordinary skill in the art, precedent, or new technology in the art. Also, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present disclosure. Therefore, the terms used in the specification should not be construed as simple names but based on the meanings of the terms and the overall description of the present disclosure.
Flowcharts or text are used in this specification to illustrate the operational steps performed in accordance with embodiments of the present application. It should be understood that the operational steps in the embodiments of the present application are not necessarily performed in the exact order recited. Rather, the various steps may be processed in reverse order or simultaneously, as desired. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
In some new pressurized water reactor types, a shielding object (in-reactor structural part 311) exists right above the installation position of the irradiation monitoring pipe, and the operation space is narrow. In view of the above, there is a need to provide a device that is simple in operation, cantilever-type, and can be used for remotely tripping an irradiation monitoring pipe underwater, and a device for remotely grabbing, transferring and placing an overhead shielding container underwater.
The fixing structure and the mounting and dismounting processes of the irradiation monitoring tube are as follows:
1. fixing structure and installation
As shown in fig. 1, 2 and 3, the installation process is that the small shoulder 101 (the outer diameter of the relatively large shoulder 102) on the upper part of the irradiation monitoring tube 100 is reduced) horizontally enters the upper fixing block 210 of the fixing structure 200, the lower fixing block 220 (the "expansion" mechanism) is inserted downwards, and the degree of freedom in the horizontal direction is fixed horizontally by the upper and lower fixing blocks (fig. 3); the degrees of freedom in the vertical direction are fixed by a pressing assembly 230 (fig. 1, 2), and the pressing assembly 230 is positioned and fixed by a pressing fixing block 231. The pressing component 230 is composed of a pressing sleeve 232, a pressing shaft 233, a pressing spring 234 and the like, when the pressing shaft 233 is pressed downwards for pre-tightening, and rotates clockwise by 90 degrees (from the process of fig. 1 to fig. 2) after reaching the bottom, the pressing shaft is clamped by an L-shaped groove on the pressing sleeve 232, and the irradiation monitoring tube 100 component is pressed in the vertical direction. The upper end face of the pressing shaft 233 is provided with a triangular deep hole (as shown in fig. 4) for releasing when a special tool for installing a pre-tightening or releasing device is disassembled.
2. Disassembly
1) Operating the compression assembly 230 trips the irradiation supervisor 100:
the tripping device firstly positions a triangular deep hole on the upper end face of the pressing shaft 233, then inserts the deep hole through the triangular operating rod 633, further compresses the pressing spring 234 of the pressing assembly 230 by vertically moving downwards with a certain pressure, finally, the triangular operating rod 633 rotates anticlockwise to drive the pressing shaft 233 to rotate for 90 degrees, then the triangular operating rod 633 is lifted, and the pressing shaft 233 rebounds under the action of the pressing spring 234 of the pressing assembly 230, so that the irradiation monitoring tube 100 is tripped.
2) Grabbing the tripped irradiation monitoring tube 100:
after the gripping tool finishes the tripping operation of the irradiation monitoring tube 100, the irradiation monitoring tube 100 is firstly positioned, the neck of the upper large shaft shoulder 102 of the irradiation monitoring tube 100 is clamped by a mechanism, then upward force is applied to separate the lower part of the irradiation monitoring tube 100 from the lower fixed block 220 (the upward moving distance is limited by the large shaft shoulder 102 and the upper fixed block 210), the irradiation monitoring tube 100 is "embraced" by the mechanism, horizontally moves and separates from the upper fixed block 210, and finally the irradiation monitoring tube 100 is placed in a high-level shielding container.
Examples
The embodiment provides a cantilever type irradiation monitoring pipe gripping device and a working method, and the device comprises a stacking positioning device 300, a connecting rod assembly 400, a counterweight assembly 500, a gripping assembly 600, an underwater camera 700 and a control element; the stacking positioning device 300 is connected with the grabbing assembly 600 through the connecting rod assembly 400, so that the remote positioning operation of the device is realized; the grasping assembly 600 provides both a jacking motion and a rotating motion. The cantilever-type device of the present embodiment can realize the grabbing and transferring of the irradiation monitoring tube 100 and the placing into a high-level shielding container through the grabbing component 600. The device has high automation degree, high positioning precision and low requirement on the operating environment, and is suitable for underwater remote grabbing operation of the irradiation monitoring pipe 100.
The gripping device mainly comprises a jacking assembly 610, a rotating assembly 620, a guide mechanism 630 and a supporting block 640, wherein the jacking assembly 610 comprises a jacking cylinder 611, the guide mechanism 630 comprises a sliding plate 632, the supporting block 640 and the sliding plate 632 are provided with horizontal openings for accommodating the irradiation monitoring pipe 100, the rotating assembly 620 is connected with the sliding plate 632 and drives the sliding plate 632 to rotate so as to close the horizontal openings; the main body of the jacking cylinder 611 is mounted on the supporting block 640, and the pushing force of the push rod of the jacking cylinder 611 acts on the large shaft shoulder 102 of the irradiation monitoring pipe 100.
1. Working principle of cantilever type irradiation monitoring tube gripping device
Cantilever type irradiation supervise pipe grabbing device mainly by: the system comprises a pile-up positioning device 300, a connecting rod assembly 400, a counterweight assembly 500, a grabbing assembly 600 (comprising a jacking assembly 610, a rotating assembly 620, a guide mechanism 630 and the like), an underwater camera 700 and a control element, as shown in fig. 5 and 6.
The on-pile positioning device 300 is connected to the grasping assembly 600 by the connecting rod assembly 400, and through this, positioning movement of the grasping assembly 600 in the horizontal X, Y direction is achieved.
The grabbing assembly 600 clamps the neck (the lower part of the large shoulder 102) of the irradiation monitoring tube 100 at the opening of the grabbing assembly 600 by rotating the connecting rod assembly 400 on the on-pile positioning device 300; the jacking assembly 610 provides jacking force to enable the irradiation monitoring pipe 100 to be separated from the lower fixing block 220; irradiation monitoring tube 100 is rotated 90 ° with rotation of rotation assembly 620, i.e., "clasped," and moved out of the mounting block with grasping assembly 600.
The counterweight assembly 500 is used for balancing of the cantilevered grasping assembly 600.
The underwater camera 700 is used for monitoring the action execution condition of the mechanism, and the underwater camera 700 is opposite to the grabbing assembly 600 and is in signal connection with the control system.
2. Description of the structural Components
The main structure of the cantilever type irradiation monitoring pipe gripping device is shown in fig. 5 and 6.
1) On-pile positioning device
The on-pile positioning device 300 is composed of a base 301, a lifting lug 302, an X-direction guide rail 303, a sliding table 304, a connecting rod supporting platform 305, a motor 306, a digital display 307, a stop block 308, a Y-direction guide rail 309 and the like, as shown in fig. 7. The stack positioning device 300 sits on the pressure vessel sealing face 310 and achieves the stringent installation requirements through the positioning keys. Lifting lug 302 is installed on base 301 upper portion, and X is to the guide rail 303 and install in base 301 lower part, and slip table 304 is installed on X is to guide rail 303, and Y is to guide rail 309 and install on slip table 304, and connecting rod supporting platform 305 is installed on Y is to guide rail 309, and connecting rod 401 top is connected on connecting rod supporting platform 305, and X is to guide rail 303 and Y to guide rail 309 configuration motor 306 and dog 308, and digital display 307 is used for showing X and Y to the displacement.
Base 301: an integral bearing structural member;
lifting lug 302: a plurality of the lifting devices are arranged, and stress points are provided for the transfer of a crane;
x-guide rail 303: the X-direction displacement mechanism is arranged on the base 301 through bolts and provides X-direction displacement motion for the sliding table 304;
the sliding table 304: are arranged on the two X-direction guide rails 303, and are provided with Y-direction guide rails 309 for providing Y-direction displacement motion for the connecting rod supporting platform 305;
connecting rod support platform 305: supporting the connecting rod assembly 400;
digital display 307: displacement in the direction X, Y of the connecting stick is shown;
the stop block 308: protection;
y-guide rail 309: providing a Y-directional displacement motion for the connecting rod support platform 305.
2) Connecting rod assembly
The connecting rod assembly 400 is composed of a connecting rod 401, and a connecting rod operating handle 402, as shown in fig. 8.
Connecting rod 401: the supporting function is realized; the connecting rod 401 is mounted on the connecting rod support platform 305 by a connecting rod operating handle 402.
Connecting-rod operating handle 402: in the process of installing the tie rod assembly 400 and the stacking positioning device 300, the angle position of the tie rod assembly 400 relative to the stacking positioning device 300 is adjusted to ensure that the neck of the irradiation monitoring tube 100 is clamped at the opening of the grabbing assembly 600.
3) Counterweight assembly
The weight assembly 500 is composed of a connection interface 501, a weight block 502, and an adjusting nut 503, as shown in fig. 9. The balancing weight 502 is installed in the bottom of the connecting rod 401 of the connecting rod assembly 400 through the connecting interface 501, the balancing weight 502 and the grabbing assembly 600 are located on two opposite sides of the connecting rod 401, and the horizontal balancing weight position is adjusted on two sides of the balancing weight 502 through the adjusting nut 503.
The connection interface 501: for connecting with the bottom of the connecting rod 401;
weight block 502: the counterweight function;
the adjusting nut 503: for adjusting the position of the weight 503 relative to the connecting rod 401, thereby achieving mechanical balance with the grasping assembly 600.
4) Grabbing component
The main structure of the grasping assembly 600 is shown in fig. 10. The support block 640 of the grasping assembly 600 is provided with an opening for positioning and operating the irradiation supervisor tube 100. The jacking assembly 610 mainly comprises a jacking cylinder 611, a jacking plate 612 and the like, and the guide mechanism 630 mainly comprises a guide post 631, a sliding plate 632, a limit post 633 and the like. The rotating assembly 620 mainly includes a swing cylinder 621, a link mechanism 622, and the like, as shown in fig. 11.
Supporting block 640: provides integral support for the structure associated with the grasping assembly 600 and is rigidly connected to the connecting rod assembly 400. The supporting block 640 is connected with the bottom end of the connecting rod 401 through the connecting plate 650, and the top end of the connecting rod 401 is connected to the stacking positioning device 300.
The jacking cylinder 611: the plurality of jacking cylinders 611 are rigidly connected with the supporting blocks 640, push rods of the jacking cylinders 611 act on the jacking plates 612, force is transmitted to the sliding plates 632, and the force acts on the lower end faces of the large shoulders 102 of the irradiation monitoring pipes 100 through openings of the sliding plates 632, so that the irradiation monitoring pipes 100 are separated from the lower positioning blocks 220 in the vertical direction.
Jacking plate 612: between the supporting block 640 and the sliding plate 632, the horizontal direction is restricted by a spacing column 633, and the push rod of the jacking cylinder 611 is connected with the jacking plate 612.
The guide posts 631: a plurality of sliding members are provided and rigidly connected to the lifting plate 612 to limit the horizontal movement of the sliding member 632 and provide a guide for the rotation of the sliding member 632. The guiding post 631 is vertically installed on the lifting plate 612, an arc-shaped hole is opened on the sliding plate 632, and the guiding post 631 is located in the arc-shaped hole.
Sliding plate 532: a plurality of groups of arc-shaped holes are formed, and the irradiation monitoring tube 100 is rotated by a certain angle (90 degrees) under the action of the rotating component 620 and is 'embraced' in the circumferential direction; the transfer force acts on the lower end face of the large shoulder 102 of the irradiation monitoring tube 100.
Limiting columns 633: a plurality of supporting blocks 640 are arranged and rigidly connected with the lifting plate 612 for limiting. The limiting post 633 is vertically arranged on the supporting block 640, and the limiting post 633 slides to pass through the jacking plate 612 to limit vertical movement.
The swing cylinder 621: rigidly connected to the lifting plate 612, and the output swing link thereof is connected to the link mechanism 622. The rotating motion output actuator is preferably a swinging cylinder 621 (underwater radiation environment, motor may be affected by radiation, and oil leakage pollution of hydraulic cylinder). The main body of the swing cylinder 621 is mounted on the top 612 plate, and the output shaft of the swing cylinder 621 is connected to the sliding plate 632 through the link mechanism 622.
Link mechanism 622: one end is connected with the output swing rod, and the other end is connected with the sliding plate 632 for transmitting motion.
3. Description of control system
The main functions of the electric control system are as follows: controlling the movement and the logic process state of the cross sliding table of the on-pile positioning device 300; controlling the execution actions of the jacking cylinder 611 and the swinging cylinder 621; providing system protection functions.
The overall architecture of the control system is shown in fig. 12, and the control devices are connected through an industrial ethernet.
1) Control system principle
Firstly, positioning
When the irradiation monitoring pipe 100 is disassembled, the underwater camera 700 is aligned to the large shaft shoulder 102 of the irradiation monitoring pipe 100, real-time video images are provided for an operator through the hard disk video recorder and the display, the operator manually controls the operation panel, and the on-pile positioning device 300 is controlled to move along the X or Y direction through the Programmable Logic Controller (PLC), so that the position of the lower grabbing component 600 is changed to be close to the irradiation monitoring pipe 100.
The digital display 307 of the on-stack positioning device 300 displays X, Y direction displacement in real time, and the stop 308 at the end of the guide rail of the on-stack positioning device 300 can protect the displacement.
The Z-direction distance between the opening of grasping assembly 600 and large shoulder 102 of irradiation monitoring tube 100 is a constant value, determined by mechanical structure.
② control of air cylinder
After positioning, an operator controls the electromagnetic switch reversing valve of the swing cylinder 621 to open through the operation panel and the PLC, so as to realize the rotation of the sliding plate 632 to "hold" the irradiation monitoring tube 100. The underwater camera 700 monitors the in-position condition.
After the irradiation monitoring pipe 100 is held, an operator controls the opening of the electromagnetic switch check valve of the jacking cylinder 611 through the operation panel and the PLC to realize the Z-axis rotation of the irradiation monitoring pipe 100 so as to separate from the lower fixing block 220. The underwater camera 700 monitors the in-position condition.
2) Control mode
X, Y displacement control mode is divided into manual control mode and automatic control mode.
Manual control mode: as shown in fig. 13, the jog in the X-direction and the Y-direction of the on-stack positioning device 300 is controlled by buttons on the operation panel, respectively.
An automatic control mode: as shown in fig. 13, the on-stack positioning device 300 automatically executes a movement after activation in accordance with the amount of movement of the manual input X, Y.
3) Operation process
The operational flow operational procedure is shown in fig. 14. The following steps are carried out:
1) mounting the on-stack positioning device 300;
2) the installation connecting rod assembly 400 and the grabbing assembly 600 with the lower part composed of a jacking assembly 610, a rotating assembly 620 and a guiding mechanism 630;
3) adjusting the connecting rod operating handle 402 for coarse directional positioning;
4) performing position coarse positioning through the underwater camera 700;
5) starting an electromagnetic switch of the swing cylinder 621;
6) the underwater camera 700 monitors the in-place situation;
7) starting an electromagnetic switch of the jacking cylinder 611;
8) the underwater camera 700 monitors the in-place situation;
9) completing the grabbing action;
10) withdrawing the irradiation monitoring pipe 100 and moving the irradiation monitoring pipe to a shielding container;
11) starting an electromagnetic switch of a swing cylinder 621 for reversing;
12) releasing the irradiation supervisor 100 into the shielded container;
13) closing the electromagnetic switches of the jacking cylinder 611 and the swinging cylinder 621 in sequence;
14) the gripping device is withdrawn.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The utility model provides a cantilever type irradiation supervise pipe grabbing device which characterized in that: the radiation monitoring device comprises a jacking assembly, a rotating assembly, a guide mechanism and a supporting block, wherein the jacking assembly comprises a jacking cylinder, the guide mechanism comprises a sliding plate, the supporting block and the sliding plate are provided with horizontal openings for accommodating radiation monitoring tubes, the rotating assembly is connected with the sliding plate, and the sliding plate is driven to rotate to seal the horizontal openings; the jacking cylinder body is arranged on the supporting block, and the pushing force of a pushing rod of the jacking cylinder acts on a large shaft shoulder of the irradiation monitoring pipe.
2. The cantilevered irradiation supervisor tube grasping device of claim 1, wherein: the jacking assembly further comprises a jacking plate, and a jacking cylinder push rod is connected with the jacking plate.
3. The cantilevered irradiation supervisor tube grasping device of claim 2, wherein: the guide mechanism also comprises a guide post and a limiting post, the guide post is vertically arranged on the jacking plate, an arc-shaped hole is formed in the sliding plate, and the guide post is positioned in the arc-shaped hole; the limiting column is vertically installed on the supporting block and penetrates through the jacking plate in a sliding mode to limit vertical movement.
4. The cantilevered irradiation supervisor tube grasping device of claim 3, wherein: the rotating assembly comprises a swing cylinder and a connecting rod mechanism, the main body of the swing cylinder is arranged on the jacking plate, and the output shaft of the swing cylinder is connected with the sliding plate through the connecting rod mechanism.
5. The cantilevered irradiation supervisor tube grasping device of claim 4, wherein: still including piling positioner, connecting rod subassembly and connecting plate, the connecting rod subassembly includes the connecting rod, and the supporting shoe passes through the connecting plate to be connected with the connecting rod bottom, and the connecting rod top is connected on piling positioner.
6. The cantilevered irradiation supervisor tube grasping device of claim 5, wherein: pile up positioner and include the base, the lug, X is to the guide rail, the slip table, connecting rod supporting platform, including a motor, an end cap, a controller, and a cover plate, digital display, the dog, Y is to the guide rail, the lug is installed on base upper portion, X is installed in the base lower part to the guide rail, the slip table is installed on X is to the guide rail, Y is to installing on the slip table to the guide rail, connecting rod supporting platform installs on Y is to the guide rail, the connecting rod top is connected on connecting rod supporting platform, X is to guide rail and Y to guide rail configuration motor and dog, digital display is used for showing X to and Y to the displacement.
7. The cantilevered irradiation supervisor tube grasping device of claim 6, wherein: the connecting rod assembly further comprises a connecting rod operating handle, and the connecting rod is installed on the connecting rod supporting platform through the connecting rod operating handle.
8. The cantilevered irradiation supervisor tube grasping device of claim 7, wherein: still include the counter weight subassembly, the counter weight subassembly is including connecting interface, balancing weight and adjusting nut, and the balancing weight passes through connecting interface and installs in the connecting rod bottom of connecting rod subassembly, and the balancing weight is located the relative both sides of connecting rod with the subassembly of snatching that comprises jacking subassembly, rotating assembly and guiding mechanism, and adjusting nut adjustment level counter weight position is passed through to the balancing weight both sides.
9. The cantilevered irradiation supervisor tube grasping device of claim 8, wherein: the underwater camera is opposite to the grabbing component and is in signal connection with the control system.
10. The method of operating the cantilevered irradiation supervisor tube grasping device of claim 9, wherein the following steps are performed:
1) installing an on-pile positioning device;
2) the installation connecting rod component and the grabbing component with the lower part consisting of a jacking component, a rotating component and a guiding mechanism;
3) adjusting an operating handle of the connecting rod to perform directional coarse positioning;
4) carrying out position coarse positioning through an underwater camera;
5) starting an electromagnetic switch of the swing cylinder;
6) monitoring the in-place condition by an underwater camera;
7) starting an electromagnetic switch of the jacking cylinder;
8) monitoring the in-place condition by an underwater camera;
9) completing the grabbing action;
10) the irradiation monitoring tube is withdrawn and moved to the shielding container;
11) starting an electromagnetic switch of a swing cylinder to carry out reversing;
12) releasing the irradiation monitoring tube to the shielding container;
13) closing the electromagnetic switches of the jacking cylinder and the swing cylinder in sequence;
14) the gripping device is withdrawn.
CN202210734696.5A 2022-06-27 2022-06-27 Cantilever type irradiation monitoring pipe grabbing device and working method Active CN115050494B (en)

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