Robot for detecting cotter pin of control rod guide tube and locating method

A cotter pin and guide cylinder technology, which is applied in nuclear reactor monitoring, reactors, nuclear power generation, etc., can solve the problems of difficulty in observing and locating the end face of cotter pins, and achieve the effects of repeatability, precise positioning, and overcoming the influence of visual space

Active Publication Date: 2018-02-23
CGNPC INSPECTION TECH +3
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  • Claims
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Problems solved by technology

Moreover, the end of the cotter pin is recessed into the bottom surface of the upper grid plate by 37.75m

Method used

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  • Robot for detecting cotter pin of control rod guide tube and locating method
  • Robot for detecting cotter pin of control rod guide tube and locating method
  • Robot for detecting cotter pin of control rod guide tube and locating method

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Embodiment Construction

[0027] The present invention will be described in detail below in conjunction with the embodiments shown in the drawings:

[0028] Such as figure 2 As shown, the cotter pin detection robot of the control rod guide cylinder includes a vehicle body 1, a vertical lifting mechanism, a probe assembly, a video positioning mechanism, and a three-degree-of-freedom positioning mechanism installed on the vehicle body 1. The three-degree-of-freedom positioning mechanism includes θ-axis drive mechanism, Y-axis drive mechanism mounted on the vehicle body 1, and X-axis drive mechanism mounted on the Y-axis drive mechanism, the vertical lifting mechanism is mounted on the X-axis drive mechanism, so The θ-axis driving mechanism is installed on the vertical lifting mechanism, the probe assembly is installed on the θ-axis driving mechanism, and the driving direction of the X-axis driving mechanism is perpendicular to the Y-axis driving direction and both are perpendicular to the vehicle. The uppe...

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Abstract

The invention discloses a robot for detecting a cotter pin of a control rod guide tube and a locating method. The robot comprises a vehicle body, a vertical lifting mechanism, a probe component, a video locating mechanism and a three-degree-of-freedom locating mechanism; the three-degree-of-freedom locating mechanism comprises a theta-axis drive mechanism, a Y-axis drive mechanism and an X-axis drive mechanism, the vertical lifting mechanism is installed on the X-axis drive mechanism, the theta-axis drive mechanism is installed on the vertical lifting mechanism, the probe component is installed on the theta-axis drive mechanism, the drive direction of the X-axis drive mechanism and the drive direction of the Y-axis drive mechanism are mutually vertical and are both parallel with the upperend face of the vehicle body, the theta-axis drive mechanism drives the probe component to rotate, and the vertical lifting mechanism is vertical to the upper end face of the vehicle body. The robot overcomes the influence of the limited visual space, realizes accurate locating, provides certain flexibility, and can self-adapt to the locating error and the installation error, and the constant contact pressure between the cotter pin and a probe chip is favorable for the repeatability of the ultrasonic examination.

Description

Technical field [0001] The invention relates to the field of nuclear power equipment detection, in particular to a cotter pin detection robot and a positioning method for a control rod guide cylinder. Background technique [0002] The cotter pin of the control rod guide tube is located in the internal components of the upper reactor of the nuclear power plant. Its function is to provide positioning and lateral support for the control rod guide tube. It is an important factor influencing whether the control rod can fall as required during power adjustment and emergency shutdown of nuclear power plants. . Cotter pin failures have occurred many times in foreign nuclear power plants. The consequences are reflected in two aspects. One is the misalignment of the control rod guide tube, which affects the fall time of the control rod, and the other is that the broken cotter pin component enters the primary loop of the nuclear power plant as a foreign body to circulate , It will damage o...

Claims

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Application Information

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IPC IPC(8): G21C17/10
CPCG21C17/10Y02E30/30
Inventor 马超马官兵许俊龙朱传雨王韦强汤建帮曾晨明汪双印吴健荣高建民陈怀东李明林戈洪茂成张鹏飞
Owner CGNPC INSPECTION TECH
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