Nuclear power station pipeline weld inner wall grinding robot

Abstract

The invention discloses a nuclear power station pipeline weld inner wall grinding robot, which comprises a sealing unit, a grinding unit, a driving unit, and an electric element unit. The sealing unitcomprises a first round table and a rubber sealing plate arranged on the first round table; the grinding unit comprises a rotary holder and a grinding device arranged on the rotary holder; the driving unit is used for driving the grinding unit to enter and exit a pipeline; and the sealing unit, the grinding unit, the driving unit and the electric element unit are connected in a bending way. Compared with the prior art, the nuclear power station pipeline weld inner wall grinding robot provided by the invention has the following advantages that multiple functions of automatic grinding, polishing, cleaning and nondestructive testing of a steel-made pipeline weld inner wall are realized, the problem that the steel-made pipeline weld inner wall cannot be ground is solved, a turning and climbing problem of the robot on the pipeline inner wall is solved, the problem of weld stress concentration is solved, a heat fatigue effect is eliminated, the weld quality is ensured, and the weld potential quality hazard is eliminated.

Description

technical field [0001] The invention belongs to the technical field of nuclear power, and more specifically, the invention relates to a grinding robot for the inner wall of the welding seam of a nuclear power plant pipeline. Background technique [0002] The primary circuit system of a nuclear power plant is an important process system for transporting nuclear reactor coolant. It mainly transports the coolant used to cool the reactor core and implements the reactivity control of the reactor. Its pressure boundary is the third defense barrier of the nuclear power plant safety system. Once the integrity fails, it will cause a reactor coolant loss of water accident (LOCA accident) and lead to the leakage of radioactive medium in the primary circuit, thus causing a nuclear safety accident. Therefore, it becomes particularly important to protect the integrity of the pressure boundary of the primary circuit of the reactor. [0003] The integrity of the pressure boundary of the pr...

AI Technical Summary

Problems solved by technology

However, in the prior art, the grinding and polishing of the inner wall of the pipe weld can only be carried out manually

[0005] The method of manual grinding and polishing of the inner wall of the weld in the prior art still has the following defects: 1) manual grinding is used, because the grinding operation area cannot be isolated, so the debris and dust generated during the grinding process will contaminate the inside of the pipeline, thereby increasing the pipeline Internal cleaning is difficult; 2) The debris and dust generated after manual grinding will affect the non-destructive testing effect after welding, and there are quality risks; 3) For steel pipes with small inner diameters, manual grinding of the inner wall of the weld cannot be used , polishing, most of the process pipes in nuclear power plants have an inner diameter of less than 500mm, and it is difficult to manually grind and polish the inner wall of the pipe weld; The pipes in the factory are welded piece by piece through the prefabricated sections of the pipeline through on-site welds, so the distance between the nozzle and the on-site weld is usually long, and there are elbows, elbows, etc. between the nozzle and the on-site weld. Turning parts cannot manually grind the inner wall of the weld; 5) most of the existing robots can only perform observation and inspection operations inside the pipeline, and cannot perform weld grinding, polishing and other operations

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