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

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...

AI Technical Summary

Problems solved by technology

Moreover, the end of the cotter pin is recessed into the bottom surface of the upper grid plate by 37.75mm, which brings great difficulty to the observation and positioning of the end surface of the cotter pin.

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