Fuel assembly multifunctional inspection device for inspection basket

Abstract

The invention discloses a multifunctional fuel assembly inspection device for an inspection basket. The multifunctional fuel assembly inspection device comprises a hoisting and mounting module, a vertical moving module, a horizontal moving module, an inspection module and a foreign matter grabbing and video inspection module. According to the multifunctional fuel assembly inspection device for the inspection basket, the hoisting installation module is in butt joint with the inspection basket, relative positioning of the multifunctional inspection device and the inspection basket is achieved, different inspections are conducted on a fuel assembly placed in the inspection basket through the inspection module, and the inspection module can be connected with the horizontal moving module; and meanwhile, through adjustment of the vertical moving module and the horizontal moving module, inspection of different positions of the fuel assembly placed in the inspection basket by the inspection module can be completed, and the function of grabbing foreign matters in the fuel assembly is achieved through the foreign matter grabbing and video inspection module. The multifunctional inspection device is complete in module, convenient to replace and efficient to install, and has important significance on guaranteeing all-around inspection and safe operation of the fuel assembly.

Description

Technical Field

[0001] The invention relates to the field of fuel assembly poolside inspection, and in particular to a fuel assembly multifunctional inspection device for an inspection basket. Background Art

[0002] During the operation of nuclear fuel assemblies, due to long-term exposure to complex and changeable environments such as high temperature, high pressure, and high radiation, the fuel assemblies as a whole may deform and twist, the length and diameter of the fuel rods may swell due to radiation, and the outer surfaces of the cladding tubes, guide tubes, and racks are prone to corrosion and form oxide films. In extreme cases, when the strips are damaged or foreign matter exists inside the fuel assembly, it is necessary to conduct a status inspection and foreign matter inspection inside the assembly. Therefore, when a newly developed fuel assembly enters the in-pile test or when unexpected changes occur during the operation of a mature commercial fuel assembly, a multifunctional inspection of the fuel assembly is required.

[0003] The multifunctional inspection device for fuel assemblies is generally placed above the racks in the spent pool or temporarily installed on the fuel elevator, and the relative movement between the fuel assembly and the multifunctional inspection device is used to realize the multifunctional inspection of the fuel assembly. However, during the above placement inspection, the crane of the spent pool will always be occupied, resulting in insufficient utilization of the crane. Some nuclear power plants have inspection baskets in the spent fuel pool to solve this problem. The multifunctional inspection device for fuel assemblies described in the present invention is developed based on the inspection basket installed in the spent pool.

[0004] At present, there are some multifunctional inspection devices for fuel assemblies in service at home and abroad. When there are many inspection requirements and tight construction schedules, the efficiency of inspection is required to be improved, especially when the multifunctional inspection device for fuel assemblies needs to be frequently discharged to replace modules or faulty parts, the installation interface between the inspection device and the inspection basket and the design layout of the functional modules become increasingly important.

[0005] The disadvantages and shortcomings of the existing multifunctional fuel assembly inspection device are:

[0006] 1. The functional modules are not integrated enough and are scattered on multiple inspection devices. When used on site, the equipment replacement time is long and the inspection efficiency is low;

[0007] 2. Some inspection functions are missing, making it impossible to carry out tasks such as rod gap inspection, foreign matter capture, and internal video inspection of fuel assemblies. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a multifunctional fuel assembly inspection device for inspecting a basket.

[0009] The technical solution adopted by the present invention to solve the technical problem is: constructing a multifunctional fuel assembly inspection device for an inspection basket, which includes a lifting and installation module, a vertical movement module, a horizontal movement module, an inspection module, and a foreign matter grabbing and video inspection module;

[0010] The lifting and installation module is used to dock with the inspection basket;

[0011] The vertical movement module is connected to the lifting and installation module and can be lifted and moved along the axial direction of the inspection basket;

[0012] The horizontal moving module is connected to the vertical moving module and can move horizontally along the horizontal direction of the inspection basket;

[0013] The inspection module is connected to the horizontal movement module and is used to inspect the fuel assembly placed in the inspection basket;

[0014] The foreign matter grabbing and video inspection module is connected to the horizontal movement module and is used to grab foreign matter inside the fuel assembly and perform video inspection.

[0015] In some embodiments, the hoisting installation module includes a hoisting frame vertical beam, a hoisting frame horizontal beam, a hoisting connection frame, and a guide positioning column;

[0016] The hoisting frame cross beam is fixedly connected to the upper end of the hoisting frame vertical beam, and a sling is provided on the hoisting frame cross beam;

[0017] The guide positioning column is connected to the vertical beam of the lifting frame through the lifting connecting frame, and the guide positioning column is used to match and connect with the guide cylinder of the inspection basket.

[0018] In some embodiments, the hoisting installation module further includes a docking assembly, the docking assembly including a hoisting connection plate fixedly connected to the vertical beam of the hoisting frame, a plurality of docking guide rails provided on the hoisting connection plate, and a docking rack provided on the hoisting connection plate;

[0019] The docking guide rail is docked with the positioning guide rail of the inspection basket, and the docking rack is docked with the positioning rack of the inspection basket.

[0020] In some embodiments, the lifting and installation module also includes a plurality of levels arranged on the vertical beams of the lifting frame and a plurality of cameras arranged on the lifting connecting plate.

[0021] In some embodiments, the vertical movement module includes a mounting base and two sets of roller assemblies;

[0022] The two groups of roller assemblies are separately arranged on both sides of the mounting base, and each group of roller assemblies includes a roller connecting plate fixedly connected to the mounting base, a roller mounting plate fixedly connected to the roller connecting plate, and a plurality of movable connecting rollers mounted on the roller mounting plate, and the movable connecting rollers are matched and connected with the docking guide rail.

[0023] In some embodiments, the vertical movement module further includes a lifting motor assembly, the lifting motor assembly including a lifting drive motor mounted on the mounting base and a lifting drive gear connected to an output end of the lifting drive motor, the lifting drive gear being meshed and connected to the docking rack;

[0024] A liquid level sensor is arranged on the mounting base.

[0025] In some embodiments, the horizontal movement module includes an X-axis movement assembly, and the X-axis movement assembly includes an X-axis guide rail fixedly connected to the mounting base, an X-axis slider movably connected to the X-axis guide rail, an X-axis movement plate fixedly connected to the X-axis slider, and an X-axis drive motor installed on the mounting base and used to drive the X-axis movement plate to move;

[0026] An X-axis limit switch is arranged on the mounting base.

[0027] In some embodiments, the horizontal movement module further includes a Y-axis movement assembly, the Y-axis movement assembly including a Y-axis base plate fixedly connected to the X-axis movement plate, a Y-axis guide rail fixedly connected to the Y-axis base plate, a Y-axis slider movably connected to the Y-axis guide rail, a Y-axis movement plate fixedly connected to the Y-axis slider, and a Y-axis drive motor installed on the Y-axis base plate and used to drive the Y-axis movement plate to move;

[0028] The Y-axis bottom plate is provided with a Y-axis limit switch.

[0029] In some embodiments, the inspection module includes a rod diameter measuring device, and the rod diameter measuring device includes a detection support frame, a measurement adjustment component, a rod diameter detection component, a center positioning component, and a measurement limit component;

[0030] The detection support frame is used to be mounted on the Y-axis moving plate;

[0031] The measuring and adjusting component is used to adjust the position of the rod diameter detecting component;

[0032] The rod diameter detection assembly is used to measure the rod diameter of the fuel rod of the fuel assembly;

[0033] The center positioning component is used for positioning the measurement and adjustment component;

[0034] The measurement limit assembly is used to limit the movement of the rod diameter detection assembly when the rod diameter detection assembly is measuring.

[0035] In some embodiments, the measurement and adjustment assembly includes an adjustment fixing frame fixedly connected to the detection support frame, a measurement guide shaft fixedly connected to the adjustment fixing frame, an adjustment connecting piece movably connected to the measurement guide shaft and movable on the adjustment fixing frame, and an adjustment rod transmission-connected to the adjustment connecting piece, wherein the adjustment rod is used to adjust the position of the adjustment connecting piece relative to the adjustment fixing frame.

[0036] In some embodiments, the rod diameter detection assembly includes a detection fixing frame fixedly connected to the adjustment connecting member and a detection mounting frame movably connected to the detection fixing frame.

[0037] In some embodiments, the rod diameter detection assembly further includes a first pivot rod, a second pivot rod, a first connecting arm, a second connecting arm, a detection rotation axis, a detection displacement sensor, a first detection finger, and a second detection finger;

[0038] The first pivot rod is movably connected to the detection mounting frame, and the second pivot rod is movably connected to the detection mounting frame;

[0039] The detection rotating shaft is fixedly connected to the detection mounting frame, the first connecting arm is movably connected to the detection rotating shaft, the second connecting arm is movably connected to the detection rotating shaft, and the first connecting arm corresponds to the second connecting arm and is separately arranged;

[0040] The detection displacement sensor is fixedly connected to the first connecting arm;

[0041] The first detection finger is fixedly connected to the first connecting arm, the second detection finger is fixedly connected to the second connecting arm, and the first detection finger and the second detection finger are used together to abut against the outer wall of the fuel rod bundle of the fuel assembly.

[0042] In some embodiments, the rod diameter detection assembly further includes a first detection connecting frame, a second detection connecting frame, a first groove wheel, a second groove wheel, a first groove wheel shaft, and a second groove wheel shaft;

[0043] The first detection connecting frame is fixedly connected to the first pivot rod, and the first detection connecting frame is connected to the first connecting arm via a first detection positioning shaft;

[0044] The second detection connecting frame is fixedly connected to the second pivot rod, and the second detection connecting frame is connected to the second connecting arm via a second detection positioning shaft;

[0045] The first groove wheel shaft is respectively connected to the upper end of the first detection connecting frame and the upper end of the second detection connecting frame, and the first groove wheel is movably connected to the first groove wheel shaft;

[0046] The second groove wheel shaft is respectively connected to the lower end of the first detection connecting frame and the lower end of the second detection connecting frame, and the second groove wheel is movably connected to the second groove wheel shaft;

[0047] The first groove wheel and the second groove wheel are arranged correspondingly, and the first groove wheel and the second groove wheel are used together to clamp into the fuel rod bundle of the fuel assembly.

[0048] In some embodiments, a first detection tension spring is provided between the first detection connection frame and the first connection arm, a second detection tension spring is provided between the second detection connection frame and the second connection arm, and a third detection tension spring is provided between the first connection arm and the second connection arm;

[0049] A detection tightening adjustment piece is fixedly mounted on the second connecting arm, and a detection tightening adjustment hole corresponding to the detection tightening adjustment piece is opened on the first connecting arm.

[0050] In some embodiments, the center positioning assembly includes a detection fixing seat fixedly connected to the first connecting arm, a detection positioning roller fixedly connected to the detection fixing seat, and a center positioning roller frame fixedly connected to the adjustment fixing frame;

[0051] A detection positioning groove for accommodating the detection positioning roller is provided at the center of the center positioning roller frame;

[0052] The central positioning roller frame is also provided with a positioning rolling pulley, and the detection mounting frame abuts against the positioning rolling pulley.

[0053] In some embodiments, a detection retaining portion is provided on a side of the detection mounting frame close to the detection fixing frame, the detection retaining portion is provided with a first rotation retaining hole, the detection fixing frame is provided with a detection limiting portion, the detection limiting portion is provided with a second rotation retaining hole, and the first rotation retaining hole and the second rotation retaining hole are coaxially arranged;

[0054] The measuring limit assembly includes a detection limit shaft, which is installed in the first rotation retaining hole and the second rotation retaining hole at the same time, the detection limit shaft is fixedly connected to the detection retaining part, and the detection limit shaft is movably connected to the detection limit part.

[0055] In some embodiments, the measurement limit assembly further includes an elastic blade, a first limit screw, a second limit screw, a limit bracket, a first set screw, and a second set screw;

[0056] A limit slot is formed at the end of the detection limit shaft, the elastic blade is installed in the limit slot and fixedly connected to the detection limit shaft, the first limit screw and the second limit screw are both fixedly connected to the detection limit portion, a limit accommodating space is formed between the first limit screw and the second limit screw, and one end of the elastic blade away from the detection limit shaft is accommodated in the limit accommodating space;

[0057] The limiting bracket is fixedly connected to the detection fixing frame, the first set screw and the second set screw are both installed on the limiting bracket, and a limiting accommodation space for limiting the detection fixing part is formed between the first set screw and the second set screw.

[0058] In some embodiments, the inspection module includes a deformation measurement component, and the deformation measurement component includes a deformation measurement base, a deformation measurement housing, a deformation measurement drive motor, a measurement synchronous belt transmission system, a deformation measurement lead screw, and a deformation measurement slider;

[0059] The deformation measuring base is used to be installed on the Y-axis moving plate, the deformation measuring shell is fixedly connected to the deformation measuring base, the deformation measuring drive motor is fixedly installed in the deformation measuring shell, the output end of the deformation measuring drive motor is transmission-connected to the deformation measuring screw through a measuring synchronous belt transmission system, and the deformation measuring slider is transmission-connected to the deformation measuring screw.

[0060] In some embodiments, the deformation measurement assembly further includes a phased array laser camera, a deformation measurement light beam, a scanning camera, and a deformation measurement limit switch;

[0061] The phase array laser camera is fixedly connected to the deformation measurement slider, the deformation measurement light beam and the scanning camera are both fixedly connected to the deformation measurement housing, and the deformation measurement light beam and the scanning camera are arranged along the vertical direction of the deformation measurement housing;

[0062] The deformation measurement limit switch is fixedly connected to the deformation measurement housing.

[0063] In some embodiments, the foreign body grabbing and video inspection module includes a grabbing positioning seat, a grabbing fixing seat, a grabbing lifting driver, a grabbing lifting transmission mechanism, a grabbing screw and a grabbing slider;

[0064] The grabbing and positioning seat is used to be installed on the Y-axis moving plate, the grabbing and fixing seat is fixedly connected to the grabbing and positioning seat, the grabbing and lifting driver is fixedly connected to the grabbing and fixing seat, the output end of the grabbing and lifting driver is transmission connected to the grabbing screw rod through the grabbing and lifting transmission mechanism, and the grabbing slider is transmission connected to the grabbing screw rod.

[0065] In some embodiments, the foreign body grasping and video inspection module further includes a grasping slide, a grasping mounting seat, a grasping action driver, and a grasping connector;

[0066] The grabbing slide is fixedly connected to the grabbing slider, the grabbing mounting seat is fixedly connected to the grabbing slide, the grabbing action driver is installed on the grabbing mounting seat and the output end of the grabbing action driver is connected to the grabbing connecting piece, and the grabbing mounting seat is provided with a grabbing limit groove for positioning the grabbing connecting piece.

[0067] In some embodiments, the foreign body grabbing and video inspection module further includes a grabbing and traction driver, a grabbing and traction member, a movable clamping jaw, and a fixed clamping jaw;

[0068] The grabbing and traction driver is installed on the grabbing and traction mounting seat, and the output end of the grabbing and traction driver is connected to the grabbing and traction member, and the grabbing and traction member is installed in the grabbing connection member and is movably connected to the grabbing connection member;

[0069] The movable clamp is connected to one end of the grabbing and traction member away from the grabbing and traction driver, and the movable clamp is hinged to the grabbing connection member;

[0070] The fixed clamping jaw is fixedly connected to an end of the grabbing connecting member away from the grabbing action driver, and the fixed clamping jaw is arranged correspondingly to the movable clamping jaw.

[0071] In some embodiments, the foreign body grasping and video inspection module further includes a grasping and resetting member, a fiber optic imaging bundle, and a reflector;

[0072] One end of the grabbing and resetting member is fixedly connected to the movable clamping claw, and the other end of the grabbing and resetting member is fixedly connected to the grabbing connecting member;

[0073] The optical fiber imaging bundle is fixedly mounted on the grabbing connection piece, and a grabbing protrusion is provided at one end of the grabbing connection piece away from the grabbing and traction driver, and the grabbing protrusion is located on a side of the fixed clamping claw away from the grabbing and traction piece;

[0074] The reflector is fixedly mounted on the grabbing protrusion, and the reflector is arranged corresponding to the optical fiber imaging bundle.

[0075] The implementation of the present invention has the following beneficial effects: the multifunctional inspection device for fuel assemblies of the inspection basket is docked with the inspection basket through the lifting installation module, so that the relative positioning of the multifunctional inspection device and the inspection basket is realized, and the fuel assemblies placed in the inspection basket are inspected differently through the inspection module, and the inspection module can be connected with the horizontal moving module, and at the same time, through the adjustment of the vertical moving module and the horizontal moving module, the inspection module can complete the inspection of different positions of the fuel assemblies placed in the inspection basket, and the foreign matter grabbing and video inspection modules can realize the internal foreign matter grabbing function and video inspection function of the fuel assembly. The multifunctional inspection device has complete modules, convenient replacement, and efficient installation, which is of great significance to ensure the all-round inspection and safe operation of the fuel assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0077] Figure 1 is a schematic diagram of the overall structure of a multifunctional fuel assembly inspection device for inspecting a basket in some embodiments of the present invention;

[0078] Figure 2 is a schematic diagram of the structure of an inspection basket in some embodiments of the present invention;

[0079] Figure 3 is a schematic structural diagram of a lifting and installation module in some embodiments of the present invention;

[0080] Figure 4 is a schematic structural diagram of a vertical moving module and an X-axis moving assembly in some embodiments of the present invention;

[0081] Figure 5 yes Figure 4 A schematic diagram of the structure in another direction;

[0082] Figure 6 is a schematic diagram of the structure of a Y-axis moving assembly in some embodiments of the present invention;

[0083] Figure 7 is a schematic structural diagram of a rod diameter measuring device in some embodiments of the present invention;

[0084] Figure 8 yes Figure 7 A schematic diagram of the structure in another direction;

[0085] Fig. 9is a first partial structural schematic diagram of a rod diameter measuring device in some embodiments of the present invention;

[0086] Fig.10 yes Fig. 9 A schematic diagram of the structure in another direction;

[0087] Fig.11 is a second partial structural schematic diagram of a rod diameter measuring device in some embodiments of the present invention;

[0088] Fig.12 is a third partial structural schematic diagram of a rod diameter measuring device in some embodiments of the present invention;

[0089] Fig.13 is a fourth partial structural schematic diagram of a rod diameter measuring device in some embodiments of the present invention;

[0090] Fig.14 is a schematic diagram of the structure of a deformation measurement assembly in some embodiments of the present invention;

[0091] Fig.15 is a schematic diagram of the structure of a foreign body capture and video inspection module in some embodiments of the present invention;

[0092] Fig.16 It is a partial structural diagram of a foreign body grasping and video inspection module in some embodiments of the present invention. DETAILED DESCRIPTION

[0093] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings, are constructed and operated in a specific direction, and are only for the convenience of describing the present technical solution, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation to the present invention.

[0094] It should also be noted that, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intermediate elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", "third", etc. can explicitly or implicitly include one or more of the features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0095] See also Figures 1 to 16 , is a multifunctional fuel assembly inspection device for inspecting a basket in some embodiments of the present invention, such as Figure 1 As shown, it includes a hoisting and installation module 1, a vertical movement module 2, a horizontal movement module 3, an inspection module 4, and a foreign body grabbing and video inspection module 5. The hoisting and installation module 1 is used to dock with the inspection basket 6, the vertical movement module 2 is connected to the hoisting and installation module 1, and can be lifted and moved along the axial direction of the inspection basket 6; the horizontal movement module 3 is connected to the vertical movement module 2, and can be moved horizontally along the horizontal direction of the inspection basket 6; the inspection module 4 is connected to the horizontal movement module 3, and is used to inspect the fuel assembly placed in the inspection basket 6; the foreign body grabbing and video inspection module 5 is connected to the horizontal movement module 3, and is used to grab the internal foreign bodies of the fuel assembly and perform video inspection.

[0096] It can be understood that the multifunctional inspection device for fuel assemblies of the inspection basket is connected to the inspection basket through the lifting installation module, so that the relative positioning of the multifunctional inspection device and the inspection basket 6 is realized, and different inspections are performed on the fuel assemblies placed in the inspection basket 6 through the inspection module 4. The inspection module 4 can be connected to the horizontal movement module 3. At the same time, through the adjustment of the vertical movement module 2 and the horizontal movement module 3, the inspection module can complete the inspection of different positions of the fuel assemblies placed in the inspection basket 6, and the foreign matter grabbing and video inspection module 5 can also realize the internal foreign matter grabbing function and video inspection function of the fuel assembly. The multifunctional inspection device has complete modules, convenient replacement, and efficient installation, which is of great significance to ensure the all-round inspection and safe operation of the fuel assembly.

[0097] like Figure 3As shown, the hoisting and installation module 1 includes a hoisting frame vertical beam 11, a hoisting frame cross beam 12, a hoisting connection frame 13 and a guide positioning column 14. The hoisting frame cross beam 12 is fixedly connected to the upper end of the hoisting frame vertical beam 11, and a sling 121 is provided on the hoisting frame cross beam 12. The guide positioning column 14 is connected to the hoisting frame vertical beam 11 through the hoisting connection frame 13, and the guide positioning column 14 is used to match and connect with the guide cylinder of the inspection basket 6. Specifically, the hoisting frame vertical beam 11 is arranged along the axial direction of the inspection basket 6, and the hoisting frame vertical beam 11 and the hoisting frame cross beam 12 are formed by welding of stainless steel square tubes. The number of the slings 121 can be multiple, which can be connected to the sling of the on-site crane, and the distance of each sling 121 is determined according to the mass distribution of the carrier system. The guide positioning column 14 is specifically cylindrical, matching the guide cylinder arranged on-site for the inspection basket 6, and is used for guiding and centering before the docking is completed during the descent of the hoisting and installation module 1.

[0098] like Figure 2 and Figure 3 As shown, the hoisting installation module 1 also includes a docking assembly 15, which includes a hoisting connection plate 151 fixedly connected to the hoisting frame vertical beam 11, a plurality of docking guide rails 152 arranged on the hoisting connection plate 151, and a docking rack 153 arranged on the hoisting connection plate 151, the docking guide rail 152 docks with the positioning guide rail 61 of the inspection basket 6, and the docking rack 153 docks with the positioning rack 62 of the inspection basket 6. In addition, the inspection basket 6 is composed of a cylinder, a positioning guide rail 61, a positioning rack 62 and a rotating table, the fuel assembly is placed on the rotating table, and the circumferential rotation of the fuel assembly is achieved by the motor and transmission mechanism above the inspection basket 6. The positioning guide rail 61 is matched with the docking guide rail 152, the positioning rack 62 is matched with the docking rack 153, the positioning guide rail 61 is used to dock with the docking guide rail 152, and the positioning rack 62 is used to dock with the docking rack 153. The arrangement of the docking assembly 15 facilitates the multifunctional inspection device to be conveniently docked with the inspection basket 6. Specifically, the docking guide rail 152 is a cylindrical guide rail, and the number of the docking guide rails 152 is four. The arrangement of the docking guide rail 152 and the docking rack 153 is consistent with the arrangement of the positioning guide rail 61 and the positioning rack 62 of the on-site inspection basket 6.

[0099] The working principle of the lifting and installation module 1 is as follows: the sling 121 is connected to the lifting device of the on-site crane, and the lifting and installation module 1 is lifted from the storage area to the top of the inspection basket 6 at the pool side by the lifting device, and slowly dropped to the top of the guide cylinder of the inspection basket 6. At this time, the horizontal condition of the lifting and installation module 1 is observed. If it is uneven, the sling 121 is adjusted to the level of the lifting and installation module 1. Then it is slowly lowered, the guide positioning column 14 is inserted into the guide cylinder, and the lifting and installation module 1 is further lowered. When the horizontality is adjusted in place and the centering is good, the docking guide rail 152 is docked with the positioning guide rail 61 of the inspection basket 6, and the docking rack 153 is docked with the positioning rack 62 of the inspection basket 6. The vertical moving module 2 continues to descend until it can move axially on the positioning guide rail 61. When the vertical moving module 2 can move axially on the positioning guide rail 61, the lifting and installation module 1 can be lifted out of the inspection basket 6 area by the crane and put back into the storage area.

[0100] In addition, the hoisting and installation module 1 also includes a plurality of levels arranged on the vertical beam 11 of the hoisting frame and a plurality of cameras arranged on the hoisting connection plate 151. It can be understood that equipment hoisting and poolside installation is a high-risk operation. If you are not careful, the inspection basket 6 system and the multifunctional inspection device at the poolside will be damaged, and there is also a risk of collision damage and foreign matter. In addition, the personnel stand by the pool, wearing a safety belt, and it is difficult for the personnel to observe the alignment of the hoisting and installation module 1 and the inspection basket 6. Therefore, in order to improve the safety and stability of hoisting, a plurality of levels are designed and installed on the vertical beam 11 of the hoisting frame, so that the hoisting operator can intuitively judge the horizontal situation of the hoisting and installation module 1 and adjust it quickly. The number of the levels is preferably three. Specifically, a plurality of cameras are installed diagonally on the hoisting connection plate 151. The camera can introduce the signal to the display screen for convenient observation by the personnel, so that the hoisting operator can intuitively judge the alignment situation, which greatly improves the efficiency of hoisting and the accuracy of installation.

[0101] like Figure 4 and Figure 5 As shown, the vertical moving module 2 includes a mounting base 21 and two groups of roller assemblies 22, the two groups of roller assemblies 22 are separately arranged on both sides of the mounting base 21, each group of roller assemblies 22 includes a roller connecting plate 221 fixedly connected to the mounting base 21, a roller mounting plate 222 fixedly connected to the roller connecting plate 221, and a plurality of movable connecting rollers 223 mounted on the roller mounting plate 222, and the movable connecting rollers 223 are matched and connected with the docking guide rail 152. It can be understood that the vertical moving module 2 is a component for realizing the lifting function of the multifunctional inspection device, the two groups of roller assemblies 22 are arranged symmetrically with respect to the mounting base 21, the movable connecting rollers 223 are matched and connected with the docking guide rail 152, and are also matched and connected with the positioning guide rail 61 of the inspection basket 6, so that the vertical moving module 2 can be lifted and moved along the axial direction of the inspection basket 6.

[0102] Furthermore, the vertical moving module 2 also includes a lifting motor assembly 23, which includes a lifting drive motor 232 installed on the mounting base 21 and a lifting drive gear 233 connected to the output end of the lifting drive motor 232, and the lifting drive gear 233 is meshed and connected with the docking rack 153. The lifting drive motor 232 can be used to drive the inspection module 4 to move up and down along the axial direction of the inspection basket 6. A liquid level sensor 211 is provided on the mounting base 21, and the liquid level sensor 211 can timely sense whether there is water in the lifting drive motor 232 to facilitate rapid response and disposal.

[0103] like Figure 4 and Figure 5 As shown, the horizontal moving module 3 includes an X-axis moving assembly 31, and the X-axis moving assembly 31 includes an X-axis guide rail 311 fixedly connected to the mounting base 21, an X-axis slider 313 movably connected to the X-axis guide rail 311, an X-axis moving plate 314 fixedly connected to the X-axis slider 313, and an X-axis driving motor 315 installed on the mounting base 21 and used to drive the X-axis moving plate 314 to move. It can be understood that the X-axis moving assembly 31 is an execution module for realizing the movement of the inspection module 4 along the left and right directions of the inspection surface of the fuel assembly. According to the inspection requirements, it is sometimes necessary to place the inspection components such as the oxide film thickness measuring blade probe on the leftmost or rightmost side of the inspection surface. In order to save installation space, the X-axis driving motor 315 is installed below the X-axis moving plate 314, and the function of the X-axis driving motor 315 driving the X-axis moving plate 314 to move can be realized through the synchronous belt structure and the screw rod structure. The X-axis driving motor 315 can be used to drive the inspection module 4 to move horizontally along the left and right directions of the inspection basket 6. An X-axis limit switch 316 is disposed on the mounting base 21 to provide a position protection function.

[0104] like Figure 6As shown, the horizontal moving module 3 also includes a Y-axis moving assembly 32, which includes a Y-axis bottom plate 321 fixedly connected to the X-axis moving plate 314, a Y-axis guide rail 322 fixedly connected to the Y-axis bottom plate 321, a Y-axis slider 323 movably connected to the Y-axis guide rail 322, a Y-axis moving plate 324 fixedly connected to the Y-axis slider 323, and a Y-axis driving motor 325 installed on the Y-axis bottom plate 321 and used to drive the Y-axis moving plate 324 to move. It can be understood that the Y-axis moving assembly 32 is an execution module for realizing the movement of the inspection module 4 along the front and rear directions of the fuel assembly inspection surface. According to the inspection requirements, it is sometimes necessary to place the inspection components, such as the oxide film thickness measuring blade probe, at the farthest end of the inspection surface. The function of the Y-axis driving motor 325 driving the Y-axis moving plate 324 to move can be realized through the synchronous belt structure and the screw rod structure, and the Y-axis driving motor 325 can be used to drive the inspection module 4 to move horizontally along the front and rear directions of the inspection basket 6. A Y-axis limit switch 326 is provided on the Y-axis bottom plate 321 to provide a position protection function. The Y-axis moving plate 324 can be used as a common base for connecting the inspection module 4 and the foreign body grabbing and video inspection module 5.

[0105] Among them, the inspection module 4 is a functional module for implementing fuel assembly deformation, oxide film measurement, characteristic quantity measurement, internal inspection and foreign matter disposal, and mainly includes the following inspection functions: 1. Fuel assembly size and deformation measurement; 2. Fuel assembly strip and rod surface oxide film thickness measurement; 3. Grid width and rod diameter measurement; 4. Fuel assembly internal video inspection. The inspection module 4 can be installed on the Y-axis moving plate 324 as needed, and the overall moving range is determined according to the moving range of the vertical moving module 2 and the horizontal moving module 3 and the moving distance required by the inspection module 4.

[0106] like Figures 8 to 12 As shown, the inspection module 4 includes a rod diameter measuring device 41, which includes a detection support frame 411, a measurement adjustment component 412, a rod diameter detection component 413, a center positioning component 416, and a measurement limit component 417. The detection support frame 411 is used to be installed on the Y-axis moving plate 324, the measurement adjustment component 412 is used to adjust the position of the rod diameter detection component 413, the rod diameter detection component 413 is used to measure the rod diameter of the fuel rod of the fuel assembly, the center positioning component 416 is used to position the measurement adjustment component 412, and the measurement limit component 417 is used to limit the movement of the rod diameter detection component 413 when the rod diameter detection component 413 is measuring. The rod diameter measuring device 41 can realize the function of measuring the rod diameter of the fuel rod of the fuel assembly.

[0107] like Figure 8As shown, the measurement adjustment assembly 412 includes an adjustment fixing frame 4121 fixedly connected to the detection support frame 411, a measurement guide shaft 4122 fixedly connected to the adjustment fixing frame 4121, an adjustment connecting member 4123 movably connected to the measurement guide shaft 4122 and movable on the adjustment fixing frame 4121, and an adjustment rod 4124 transmission-connected to the adjustment connecting member 4123, and the adjustment rod 4124 is used to adjust the position of the adjustment connecting member 4123 relative to the adjustment fixing frame 4121. It can be understood that the number of the measurement guide shafts 4122 is two, and the adjustment connecting member 4123 is movably connected to the two measurement guide shafts 4122. By adjusting the adjustment rod 4124, the position of the adjustment connecting member 4123 relative to the adjustment fixing frame 4121 can be adjusted, and the position of the rod diameter detection assembly 413 relative to the detection support frame 411 is also adjusted.

[0108] In addition, the rod diameter detection assembly 413 includes a detection fixing frame 4131 fixedly connected to the adjustment connecting member 4123 and a detection mounting frame 4132 movably connected to the detection fixing frame 4131. Fig. 9 and Fig.11 As shown, the rod diameter detection assembly 413 further includes a first pivot rod 4134, a second pivot rod 4135, a first connecting arm 4136, a second connecting arm 4137, a detection rotation shaft 4138, a detection displacement sensor 4139, a first detection finger 4140, and a second detection finger 4141. The first pivot rod 4134 is movably connected to the detection mounting frame 4132, and the second pivot rod 4135 is movably connected to the detection mounting frame 4132. The detection rotation shaft 4138 is fixedly connected to the detection mounting frame 4132, the first connecting arm 4136 is movably connected to the detection rotation shaft 4138, the second connecting arm 4137 is movably connected to the detection rotation shaft 4138, and the first connecting arm 4136 and the second connecting arm 4137 are corresponding and separated. The detection displacement sensor 4139 is fixedly connected to the first connecting arm 4136. In addition, the first detection finger 4140 is fixedly connected to the first connecting arm 4136, and the second detection finger 4141 is fixedly connected to the second connecting arm 4137. The first detection finger 4140 and the second detection finger 4141 are used together to abut against the outer wall of the fuel rod bundle of the fuel assembly.

[0109] It can be understood that the first pivot rod 4134 and the second pivot rod 4135 are both hollow shafts, and the first pivot rod 4134 and the second pivot rod 4135 can be respectively installed in the holes on both sides of the detection mounting frame 4132 through bearing matching. The detection rotating shaft 4138 can be fixedly connected to the detection mounting frame 4132 through bolts, and the number of the detection rotating shaft 4138 is preferably two, and the first connecting arm 4136 and the second connecting arm 4137 can be installed on the detection rotating shaft 4138 through a ball bushing, so that the first connecting arm 4136 and the second connecting arm 4137 can slide on the detection rotating shaft 4138. The first detection finger 4140 is fixedly connected to the first connecting arm 4136, and the second detection finger 4141 is fixedly connected to the second connecting arm 4137. The first detection finger 4140 and the second detection finger 4141 are rigidly parallel. The first detection finger 4140 and the second detection finger 4141 are used together to abut against the outer wall of the fuel rod bundle of the fuel assembly, and can track the change in the diameter of the fuel rod when the inspection module 4 moves up and down. The detection displacement sensor 4139 is fixedly connected to the first connecting arm 4136, and the second connecting arm 4137 is also provided with a sensing element corresponding to the detection displacement sensor 4139. When the distance between the first detection finger 4140 and the second detection finger 4141 changes with the change in the diameter of the fuel rod, the detection displacement sensor 4139 will sense the change in diameter, thereby measuring the rod diameter of the fuel rod at different heights. The detection displacement sensor 4139 can convert the diameter change of the fuel rod into a voltage change, and then digitize the converted voltage signal and store it in a computer, and convert the voltage value into a measurement value by using the coefficient defined when calibrating a representative standard rod under the same measurement conditions.

[0110] For example Fig. 9 and Fig.11As shown, the rod diameter detection assembly 413 also includes a first detection connection frame 4142, a second detection connection frame 4143, a first groove wheel 4144, a second groove wheel 4145, a first groove wheel shaft 4146 and a second groove wheel shaft 4147. The first detection connection frame 4142 is fixedly connected to the first pivot rod 4134, and the first detection connection frame 4142 is connected to the first connecting arm 4136 through the first detection positioning shaft 4148, the second detection connection frame 4143 is fixedly connected to the second pivot rod 4135, and the second detection connection frame 4143 is connected to the second connecting arm 4137 through the second detection positioning shaft 4149, and the first detection connection frame 4142 and the second detection connection frame 4143 are roughly V-shaped. In addition, the first groove wheel shaft 4146 is respectively connected to the upper end of the first detection connecting frame 4142 and the upper end of the second detection connecting frame 4143, the first groove wheel 4144 is movably connected to the first groove wheel shaft 4146, the second groove wheel shaft 4147 is respectively connected to the lower end of the first detection connecting frame 4142 and the lower end of the second detection connecting frame 4143, the second groove wheel 4145 is movably connected to the second groove wheel shaft 4147, the first groove wheel 4144 and the second groove wheel 4145 are correspondingly arranged, and the first groove wheel 4144 and the second groove wheel 4145 are used together to be inserted into the fuel rod bundle of the fuel assembly, so as to provide a positioning function for the first detection finger 4140 and the second detection finger 4141 to measure the diameter of the fuel rod. The first groove wheel 4144 can move relative to the first groove wheel shaft 4146, and the second groove wheel 4145 can move relative to the second groove wheel shaft 4147, and the position can be adaptively adjusted according to the shape of the fuel rod bundle. The first detection finger 4140 and the second detection finger 4141 are both located between the first groove wheel 4144 and the second groove wheel 4145 .

[0111] like Figure 7 and Fig. 9 As shown, a first detection tension spring 4150 is provided between the first detection connection frame 4142 and the first connection arm 4136, and a second detection tension spring 4151 is provided between the second detection connection frame 4143 and the second connection arm 4137. The first detection tension spring 4150 and the second detection tension spring 4151 are provided along the translation direction of the detection mounting frame 4132, and the first detection tension spring 4150 and the second detection tension spring 4151 provide a reset function for the first groove wheel 4144 and the second groove wheel 4145. A third detection tension spring 4152 is provided between the first connection arm 4136 and the second connection arm 4137, and the third detection tension spring 4152 can ensure that the first detection finger 4140 and the second detection finger 4141 can always be in close contact with the fuel rod.

[0112] like Fig. 9As shown, a detection tightening adjustment member 4153 is fixedly mounted on the second connecting arm 4137, and a detection tightening adjustment hole 4154 corresponding to the detection tightening adjustment member 4153 is opened on the first connecting arm 4136. It can be understood that since the parallelism of the initial positions of the first connecting arm 4136 and the second connecting arm 4137 is crucial to the accuracy of the measurement result, it is necessary to calibrate the parallelism of the first connecting arm 4136 and the second connecting arm 4137 before the measurement work begins, the detection tightening adjustment member 4153 is fixedly mounted on the second connecting arm 4137, and the detection tightening adjustment hole 4154 of the same size as the detection tightening adjustment member 4153 is machined on the first connecting arm 4136. When the detection tightening adjustment member 4153 can smoothly pass through the detection tightening adjustment hole 4154, the first connecting arm 4136 is parallel to the second connecting arm 4137. Therefore, the first connecting arm 4136 can be made parallel to the second connecting arm 4137 by adjusting the detection tightening adjustment member 4153.

[0113] like Fig.10 and Fig.12 As shown, the center positioning assembly 416 includes a detection fixing seat 4161 fixedly connected to the first connecting arm 4136, a detection positioning roller 4162 fixedly connected to the detection fixing seat 4161, and a center positioning roller frame 4163 fixedly connected to the adjustment fixing frame 4121. A detection positioning groove 4155 for accommodating the detection positioning roller 4162 is provided at the center position of the center positioning roller frame 4163. It can be understood that the detection positioning groove 4155 is roughly trapezoidal. During the installation process, when the rod diameter detection assembly 413 is adjusted relative to the adjustment fixing frame 4121, the detection positioning roller 4162 is located in the detection positioning groove 4155, and the detection positioning roller 4162 is close to the small opening end of the trapezoidal detection positioning groove 4155. At this time, the rod diameter detection assembly 413 is in a central position relative to the center positioning roller frame 4163.

[0114] In addition, a positioning rolling pulley 4164 is also provided on the center positioning roller frame 4163, and the detection mounting frame 4132 is abutted against the positioning rolling pulley 4164, which can facilitate the movement of the detection mounting frame 4132 relative to the center positioning roller frame 4163.

[0115] like Figure 8 , Fig.11 and Fig.13As shown, a detection fixing portion 4156 is provided on one side of the detection mounting frame 4132 close to the detection fixing frame 4131, and a first rotation fixing hole 4158 is provided on the detection fixing frame 4131. A detection limiting portion 4157 is provided on the detection fixing frame 4131, and a second rotation fixing hole 4159 is provided on the detection limiting portion 4157. The first rotation fixing hole 4158 and the second rotation fixing hole 4159 are coaxially arranged, and the measurement limit assembly 417 includes a detection limiting shaft 4171, and the detection limiting shaft 4171 is installed in the first rotation fixing hole 4158 and the second rotation fixing hole 4159 at the same time. The detection limiting shaft 4171 is fixedly connected to the detection fixing portion 4156, and the detection limiting shaft 4171 is movably connected to the detection limiting portion 4157. The detection limit shaft 4171 and the detection retaining portion 4156 can be connected via a positioning pin to provide a stable fixing effect so that there is no relative movement between the detection limit shaft 4171 and the detection retaining portion 4156 .

[0116] The measuring limit assembly 417 further includes an elastic blade 4172, a first limit screw 4173, a second limit screw 4174, a limit bracket 4175, a first set screw 4176 and a second set screw 4177. A limit slot 4178 is provided at the end of the detection limit shaft 4171, the elastic blade 4172 is installed in the limit slot 4178 and is fixedly connected to the detection limit shaft 4171, the first limit screw 4173 and the second limit screw 4174 are both fixedly connected to the detection limit portion 4157, a limit accommodation space is formed between the first limit screw 4173 and the second limit screw 4174, and one end of the elastic blade 4172 away from the detection limit shaft 4171 is accommodated in the limit accommodation space. The limiting slot 4178 is arranged along the radial direction thereof, and the width of the limiting slot 4178 is consistent with the width of the elastic blade 4172. When the detection limiting shaft 4171 is installed, the limiting slot 4178 is in a vertical position, and the first limiting screw 4173 and the second limiting screw 4174 are arranged symmetrically. The elastic blade 4172 is inserted into the limiting slot 4178 and between the first set screw 4176 and the second set screw 4177. Since the first groove wheel 4144 and the second groove wheel 4145 are inserted into the fuel rod bundle, when the vertical fuel rod bundle is tilted, the detection mounting frame 4132 and the components arranged thereon will also tilt and rotate accordingly. When the detection mounting frame 4132 rotates, under the rebound force of the elastic blade 4172, the detection mounting frame 4132 has the tendency and ability to restore to its original state. In addition, the diameter of the end of the detection limit shaft 4171 having a limit through slot 4178 is larger than the diameter of the second rotation retaining hole 4159 so as to limit the horizontal movement distance of the detection mounting bracket 4132 .

[0117] The limiting bracket 4175 is fixedly connected to the detection fixing bracket 4131, and the first set screw 4176 and the second set screw 4177 are both installed on the limiting bracket 4175. The first set screw 4176 and the second set screw 4177 form a limiting accommodation space for limiting the detection fixing portion 4156. The shortest distance between the first set screw 4176 and the second set screw 4177 is the maximum range of rotation of the detection mounting bracket 4132.

[0118] like Fig.14 As shown, the inspection module 4 includes a deformation measurement assembly 42, which is specifically used to measure the length change of the fuel assembly and the gap between the fuel rod bundles. The deformation measurement assembly 42 includes a deformation measurement base 421, a deformation measurement housing 422, a deformation measurement drive motor 423, a measurement synchronous belt transmission system 424, a deformation measurement screw rod 425, and a deformation measurement slider 426. The deformation measurement base 421 is used to be installed on the Y-axis moving plate 324, the deformation measurement housing 422 is fixedly connected to the deformation measurement base 421, the deformation measurement drive motor 423 is fixedly installed in the deformation measurement housing 422, the output end of the deformation measurement drive motor 423 is transmission-connected to the deformation measurement screw rod 425 through the measurement synchronous belt transmission system 424, and the deformation measurement slider 426 is transmission-connected to the deformation measurement screw rod 425. The deformation measurement component 42 also includes a phased array laser camera 427, a deformation measurement light beam 428, a scanning camera 429 and a deformation measurement limit switch 430. The phased array laser camera 427 is fixedly connected to the deformation measurement slider 426. The deformation measurement light beam 428 and the scanning camera 429 are both fixedly connected to the deformation measurement housing 422. The deformation measurement light beam 428 and the scanning camera 429 are arranged along the vertical direction of the deformation measurement housing 422. The deformation measurement limit switch 430 is fixedly connected to the deformation measurement housing 422.

[0119] It can be understood that the deformation measurement light beam 428 is specifically an LED light beam, and the deformation measurement light beam 428 provides light source for the scanning camera 429. The deformation measurement drive motor 423 can drive the phase array laser camera 427 to move left and right, and realize the travel limit or reversal under the induction of the deformation measurement limit switch 430, so as to realize the phase array laser camera 427 to scan the width direction of the fuel assembly. When measuring the change in the length of the fuel assembly, the phase array laser camera 427 can be located directly below the scanning camera 429, and the deformation measurement light beam 428 is used for illumination. When the vertical moving module 2 is used for lifting, the fuel assembly is photographed at different heights, and the photographed pictures are spliced ​​to complete the measurement of the length and other information of the fuel assembly. When measuring the rod bundle gap at a specified height, after calibration, the laser line array camera is used to move and scan from left to right to measure the rod bundle gap.

[0120] like Fig.15 and Fig.16 As shown, the foreign body grabbing and video inspection module 5 includes a grabbing and positioning seat 501, a grabbing and fixing seat 502, a grabbing and lifting driver 503, a grabbing and lifting transmission mechanism 504, a grabbing screw rod 505 and a grabbing slider 506. The grabbing and positioning seat 501 is used to be installed on the Y-axis moving plate 324, the grabbing and fixing seat 502 is fixedly connected to the grabbing and positioning seat 501, the grabbing and lifting driver 503 is fixedly connected to the grabbing and fixing seat 502, the output end of the grabbing and lifting driver 503 is transmission-connected to the grabbing screw rod 505 through the grabbing and lifting transmission mechanism 504, and the grabbing slider 506 is transmission-connected to the grabbing screw rod 505. It can be understood that the grabbing and lifting driver 503 can drive the grabbing slider 506 to perform lifting motion along the axial direction of the grabbing and fixing seat 502.

[0121] The foreign body grabbing and video inspection module 5 also includes a grabbing slide 507, a grabbing mounting seat 508, a grabbing action driver 509, and a grabbing connection member 510. The grabbing slide 507 is fixedly connected to the grabbing slider 506, the grabbing mounting seat 508 is fixedly connected to the grabbing slide 507, the grabbing action driver 509 is installed on the grabbing mounting seat 508, and the output end of the grabbing action driver 509 is connected to the grabbing connection member 510. The grabbing mounting seat 508 is provided with a grabbing limit groove 511 for positioning the grabbing connection member 510. The grabbing action driver 509 is used to drive the grabbing connection member 510 to rotate, and the grabbing limit groove 511 is specifically arranged along the vertical direction of the grabbing mounting seat 508, which is used to provide positioning and guiding effect for the movement of the grabbing connection member 510.

[0122] The foreign body grabbing and video inspection module 5 also includes a grabbing and traction driver 512, a grabbing and traction member 513, a movable clamp 514 and a fixed clamp 515. The grabbing and traction driver 512 is installed on the grabbing mounting seat 508, and the output end of the grabbing and traction driver 512 is connected to the grabbing and traction member 513, the grabbing and traction member 513 is installed in the grabbing connection member 510 and is movably connected to the grabbing connection member 510, the movable clamp 514 is connected to one end of the grabbing and traction member 513 away from the grabbing and traction driver 512, and the movable clamp 514 is hinged to the grabbing connection member 510, and the fixed clamp 515 is fixedly connected to one end of the grabbing and traction member 510 away from the grabbing action driver 509, and the fixed clamp 515 and the movable clamp 514 are arranged correspondingly. It can be understood that since the movable jaw 514 is hinged to the grabbing connection member 510, the grabbing and traction driver 512 can pull the grabbing and traction member 513 to make the movable jaw 514 rotate relative to the grabbing connection member 510, thereby changing the distance between the movable jaw 514 and the fixed jaw 515 to achieve the function of grabbing foreign objects.

[0123] In addition, the foreign body grabbing and video inspection module 5 also includes a grabbing reset member 516, an optical fiber imaging bundle 517 and a reflector 518. One end of the grabbing reset member 516 is fixedly connected to the movable clamp 514, and the other end of the grabbing reset member 516 is fixedly connected to the grabbing connecting member 510. The optical fiber imaging bundle 517 is fixedly installed on the grabbing connecting member 510. The grabbing connecting member 510 is provided with a grabbing protrusion 519 at one end away from the grabbing traction driver 512. The grabbing protrusion 519 is located on the side of the fixed clamp 515 away from the grabbing traction member 513. The reflector 518 is fixedly installed on the grabbing protrusion 519, and the reflector 518 is arranged corresponding to the optical fiber imaging bundle 517. It can be understood that the grabbing reset member 516 can be a spring for resetting the movable clamp 514. When the grabbing and traction driver 512 no longer applies torque to the grabbing and traction member 513, the grabbing reset member 516 restores the movable clamp 514 to its initial position. The optical fiber imaging bundle 517 acquires inspection images and grab images through the reflector 518 to achieve the function of internal video inspection. The grabbing protrusion 519 is specifically in the shape of a hook. The grabbing protrusion 519 can be abutted against the wall in the fuel assembly, and the grabbing action driver 509 is used to drive the grabbing connector 510 to move, so that the grabbing protrusion 519 is moved out of the fuel assembly after being pushed and pulled.

[0124] When conducting internal inspection of the fuel assembly, the height of the grab slide 507 can be adjusted and the grab connector 510 can be kept in a horizontal position for internal video inspection. When grabbing foreign objects inside the fuel assembly, the inclination angle of the grab connector 510 can be adjusted according to the location and type of the foreign objects, and the position of the movable clamp 514 can be adjusted to grab the foreign objects.

[0125] The present invention integrates and supplements the functions of fuel assembly size and deformation measurement, internal video inspection of fuel assembly, and foreign body capture inside fuel assembly. The original installation interface form is replaced with a unified public installation interface. The present invention has the advantages of complete inspection modules 4, convenient replacement, more efficient equipment installation, reduced replacement times, and equipment removal under emergency conditions.

[0126] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A multifunctional fuel assembly inspection device for an inspection basket, characterized in that: It comprises a lifting and installation module (1), a vertical movement module (2), a horizontal movement module (3), an inspection module (4), and a foreign body grabbing and video inspection module (5); The lifting and installation module (1) is used to dock with the inspection basket (6); The vertical movement module (2) is connected to the lifting and installation module (1) and can be lifted and moved along the axial direction of the inspection basket (6); The horizontal moving module (3) is connected to the vertical moving module (2) and can move horizontally along the horizontal direction of the inspection basket (6); The inspection module (4) is connected to the horizontal movement module (3) and is used to inspect the fuel assembly placed in the inspection basket (6); The foreign matter grabbing and video inspection module (5) is connected to the horizontal movement module (3) and is used to grab foreign matter inside the fuel assembly and conduct video inspection.

2. The multifunctional fuel assembly inspection device for an inspection basket according to claim 1, characterized in that: The lifting and installation module (1) comprises a lifting frame vertical beam (11), a lifting frame horizontal beam (12), a lifting connection frame (13) and a guide positioning column (14); The hoisting frame cross beam (12) is fixedly connected to the upper end of the hoisting frame vertical beam (11), and a sling (121) is provided on the hoisting frame cross beam (12); The guide positioning column (14) is connected to the lifting frame vertical beam (11) through the lifting connection frame (13), and the guide positioning column (14) is used to match and connect with the guide cylinder of the inspection basket (6).

3. The multifunctional fuel assembly inspection device for an inspection basket according to claim 2, characterized in that: The lifting and installation module (1) further comprises a docking assembly (15), wherein the docking assembly (15) comprises a lifting connection plate (151) fixedly connected to the lifting frame vertical beam (11), a plurality of docking guide rails (152) arranged on the lifting connection plate (151), and a docking rack (153) arranged on the lifting connection plate (151); The docking guide rail (152) docks with the positioning guide rail (61) of the inspection basket (6), and the docking rack (153) docks with the positioning rack (62) of the inspection basket (6).

4. The multifunctional fuel assembly inspection device for an inspection basket according to claim 3, characterized in that: The lifting and installation module (1) further comprises a plurality of level gauges arranged on the lifting frame vertical beam (11) and a plurality of cameras arranged on the lifting connection plate (151).

5. The multifunctional fuel assembly inspection device for an inspection basket according to claim 3, characterized in that: The vertical movement module (2) comprises a mounting base (21) and two sets of roller assemblies (22); The two groups of roller assemblies (22) are separately arranged on both sides of the mounting base (21), and each group of roller assemblies (22) comprises a roller connecting plate (221) fixedly connected to the mounting base (21), a roller mounting plate (222) fixedly connected to the roller connecting plate (221), and a plurality of movable connecting rollers (223) mounted on the roller mounting plate (222), wherein the movable connecting rollers (223) are matched and connected to the docking guide rail (152).

6. The multifunctional fuel assembly inspection device for an inspection basket according to claim 5, characterized in that: The vertical movement module (2) further comprises a lifting motor assembly (23), wherein the lifting motor assembly (23) comprises a lifting drive motor (232) mounted on the mounting base (21) and a lifting drive gear (233) connected to an output end of the lifting drive motor (232), wherein the lifting drive gear (233) is meshedly connected to the docking rack (153); A liquid level sensor (211) is provided on the mounting base (21).

7. The multifunctional fuel assembly inspection device for an inspection basket according to claim 6, characterized in that: The horizontal movement module (3) comprises an X-axis movement assembly (31), wherein the X-axis movement assembly (31) comprises an X-axis guide rail (311) fixedly connected to the mounting base (21), an X-axis slider (313) movably connected to the X-axis guide rail (311), an X-axis movement plate (314) fixedly connected to the X-axis slider (313), and an X-axis drive motor (315) mounted on the mounting base (21) and used for driving the X-axis movement plate (314) to move; An X-axis limit switch (316) is provided on the mounting base (21).

8. The multifunctional fuel assembly inspection device for an inspection basket according to claim 7, characterized in that: The horizontal movement module (3) further comprises a Y-axis movement assembly (32), wherein the Y-axis movement assembly (32) comprises a Y-axis base plate (321) fixedly connected to the X-axis movement plate (314), a Y-axis guide rail (322) fixedly connected to the Y-axis base plate (321), a Y-axis slider (323) movably connected to the Y-axis guide rail (322), a Y-axis movement plate (324) fixedly connected to the Y-axis slider (323), and a Y-axis drive motor (325) mounted on the Y-axis base plate (321) and used for driving the Y-axis movement plate (324) to move; The Y-axis bottom plate (321) is provided with a Y-axis limit switch (326).

9. The multifunctional fuel assembly inspection device for an inspection basket according to claim 8, characterized in that: The inspection module (4) comprises a rod diameter measuring device (41), and the rod diameter measuring device (41) comprises a detection support frame (411), a measurement adjustment component (412), a rod diameter detection component (413), a center positioning component (416), and a measurement limit component (417); The detection support frame (411) is used to be installed on the Y-axis moving plate (324); The measurement adjustment component (412) is used to adjust the position of the rod diameter detection component (413); The rod diameter detection assembly (413) is used to measure the rod diameter of the fuel rod of the fuel assembly; The center positioning component (416) is used for positioning the measurement and adjustment component (412); The measurement limit assembly (417) is used to limit the movement of the rod diameter detection assembly (413) when the rod diameter detection assembly (413) is performing measurement.

10. The multifunctional fuel assembly inspection device for an inspection basket according to claim 9, characterized in that: The measuring and adjusting assembly (412) comprises an adjusting fixed frame (4121) fixedly connected to the detecting support frame (411), a measuring guide shaft (4122) fixedly connected to the adjusting fixed frame (4121), an adjusting connecting piece (4123) movably connected to the measuring guide shaft (4122) and movable on the adjusting fixed frame (4121), and an adjusting rod (4124) drivingly connected to the adjusting connecting piece (4123), wherein the adjusting rod (4124) is used to adjust the position of the adjusting connecting piece (4123) relative to the adjusting fixed frame (4121).

11. The multifunctional fuel assembly inspection device for an inspection basket according to claim 10, characterized in that: The rod diameter detection assembly (413) comprises a detection fixing frame (4131) fixedly connected to the adjustment connecting member (4123) and a detection mounting frame (4132) movably connected to the detection fixing frame (4131).

12. The multifunctional fuel assembly inspection device for an inspection basket according to claim 11, characterized in that: The rod diameter detection assembly (413) further comprises a first pivot rod (4134), a second pivot rod (4135), a first connecting arm (4136), a second connecting arm (4137), a detection rotation axis (4138), a detection displacement sensor (4139), a first detection finger (4140) and a second detection finger (4141); The first pivot rod (4134) is movably connected to the detection mounting frame (4132), and the second pivot rod (4135) is movably connected to the detection mounting frame (4132); The detection rotating shaft (4138) is fixedly connected to the detection mounting frame (4132), the first connecting arm (4136) is movably connected to the detection rotating shaft (4138), the second connecting arm (4137) is movably connected to the detection rotating shaft (4138), and the first connecting arm (4136) and the second connecting arm (4137) are corresponding to each other and are separately arranged; The detection displacement sensor (4139) is fixedly connected to the first connecting arm (4136); The first detection finger (4140) is fixedly connected to the first connecting arm (4136), and the second detection finger (4141) is fixedly connected to the second connecting arm (4137). The first detection finger (4140) and the second detection finger (4141) are used together to abut against the outer wall of the fuel rod bundle of the fuel assembly.

13. The multifunctional fuel assembly inspection device for an inspection basket according to claim 12, characterized in that: The rod diameter detection assembly (413) further comprises a first detection connecting frame (4142), a second detection connecting frame (4143), a first groove wheel (4144), a second groove wheel (4145), a first groove wheel shaft (4146) and a second groove wheel shaft (4147); The first detection connecting frame (4142) is fixedly connected to the first pivot rod (4134), and the first detection connecting frame (4142) is connected to the first connecting arm (4136) via a first detection positioning shaft (4148); The second detection connecting frame (4143) is fixedly connected to the second pivot rod (4135), and the second detection connecting frame (4143) is connected to the second connecting arm (4137) via a second detection positioning shaft (4149); The first groove wheel shaft (4146) is respectively connected to the upper end of the first detection connecting frame (4142) and the upper end of the second detection connecting frame (4143), and the first groove wheel (4144) is movably connected to the first groove wheel shaft (4146); The second groove wheel shaft (4147) is respectively connected to the lower end of the first detection connecting frame (4142) and the lower end of the second detection connecting frame (4143), and the second groove wheel (4145) is movably connected to the second groove wheel shaft (4147); The first groove wheel (4144) and the second groove wheel (4145) are arranged correspondingly, and the first groove wheel (4144) and the second groove wheel (4145) are used together to clamp into the fuel rod bundle of the fuel assembly.

14. The multifunctional fuel assembly inspection device for an inspection basket according to claim 13, characterized in that: A first detection tension spring (4150) is provided between the first detection connecting frame (4142) and the first connecting arm (4136), a second detection tension spring (4151) is provided between the second detection connecting frame (4143) and the second connecting arm (4137), and a third detection tension spring (4152) is provided between the first connecting arm (4136) and the second connecting arm (4137); The second connecting arm (4137) is fixedly mounted with a detection tightening adjustment member (4153), and the first connecting arm (4136) is provided with a detection tightening adjustment hole (4154) corresponding to the detection tightening adjustment member (4153).

15. The multifunctional fuel assembly inspection device for an inspection basket according to claim 13, characterized in that: The center positioning assembly (416) comprises a detection fixing seat (4161) fixedly connected to the first connecting arm (4136), a detection positioning roller (4162) fixedly connected to the detection fixing seat (4161), and a center positioning roller frame (4163) fixedly connected to the adjustment fixing frame (4121); The center position of the center positioning roller frame (4163) is provided with a detection positioning groove (4155) for accommodating the detection positioning roller (4162); The central positioning roller frame (4163) is also provided with a positioning rolling pulley (4164), and the detection mounting frame (4132) abuts against the positioning rolling pulley (4164).

16. The multifunctional fuel assembly inspection device for an inspection basket according to claim 13, characterized in that: A detection fixing portion (4156) is provided on one side of the detection mounting frame (4132) close to the detection fixing frame (4131), and a first rotation fixing hole (4158) is provided on the detection fixing frame (4131). A detection limiting portion (4157) is provided on the detection fixing frame (4131), and a second rotation fixing hole (4159) is provided on the detection limiting portion (4157), and the first rotation fixing hole (4158) and the second rotation fixing hole (4159) are coaxially arranged. The measuring limit assembly (417) includes a detection limit shaft (4171), which is installed in the first rotation retaining hole (4158) and the second rotation retaining hole (4159) at the same time. The detection limit shaft (4171) is fixedly connected to the detection retaining part (4156), and the detection limit shaft (4171) is movably connected to the detection limit part (4157).

17. The multifunctional fuel assembly inspection device for an inspection basket according to claim 16, characterized in that: The measuring limit assembly (417) further comprises an elastic blade (4172), a first limit screw (4173), a second limit screw (4174), a limit bracket (4175), a first set screw (4176) and a second set screw (4177); A limiting through slot (4178) is provided at the end of the detection limiting shaft (4171), the elastic blade (4172) is installed in the limiting through slot (4178) and is fixedly connected to the detection limiting shaft (4171), the first limiting screw (4173) and the second limiting screw (4174) are both fixedly connected to the detection limiting portion (4157), a limiting accommodation space is formed between the first limiting screw (4173) and the second limiting screw (4174), and one end of the elastic blade (4172) away from the detection limiting shaft (4171) is accommodated in the limiting accommodation space; The limiting bracket (4175) is fixedly connected to the detection fixing bracket (4131), and the first fastening screw (4176) and the second fastening screw (4177) are both installed on the limiting bracket (4175), and a limiting accommodating space for limiting the detection fixing part (4156) is formed between the first fastening screw (4176) and the second fastening screw (4177).

18. The multifunctional fuel assembly inspection device for an inspection basket according to claim 8, characterized in that: The inspection module (4) comprises a deformation measurement assembly (42), wherein the deformation measurement assembly (42) comprises a deformation measurement base (421), a deformation measurement housing (422), a deformation measurement drive motor (423), a measurement synchronous belt transmission system (424), a deformation measurement lead screw (425), and a deformation measurement slider (426); The deformation measurement base (421) is used to be installed on the Y-axis moving plate (324); the deformation measurement housing (422) is fixedly connected to the deformation measurement base (421); the deformation measurement drive motor (423) is fixedly installed in the deformation measurement housing (422); the output end of the deformation measurement drive motor (423) is transmission-connected to the deformation measurement lead screw (425) through a measurement synchronous belt transmission system (424); and the deformation measurement slider (426) is transmission-connected to the deformation measurement lead screw (425).

19. The multifunctional fuel assembly inspection device for an inspection basket according to claim 18, characterized in that: The deformation measurement component (42) further comprises a phase array laser camera (427), a deformation measurement light beam (428), a scanning camera (429) and a deformation measurement limit switch (430); The phase array laser camera (427) is fixedly connected to the deformation measurement slider (426), the deformation measurement light beam (428) and the scanning camera (429) are both fixedly connected to the deformation measurement housing (422), and the deformation measurement light beam (428) and the scanning camera (429) are arranged along the vertical direction of the deformation measurement housing (422); The deformation measurement limit switch (430) is fixedly connected to the deformation measurement housing (422).

20. The multifunctional fuel assembly inspection device for an inspection basket according to claim 8, characterized in that: The foreign body grabbing and video inspection module (5) comprises a grabbing positioning seat (501), a grabbing fixing seat (502), a grabbing lifting driver (503), a grabbing lifting transmission mechanism (504), a grabbing screw rod (505) and a grabbing slider (506); The grabbing and positioning seat (501) is used to be installed on the Y-axis moving plate (324), the grabbing and fixing seat (502) is fixedly connected to the grabbing and positioning seat (501), the grabbing and lifting driver (503) is fixedly connected to the grabbing and lifting driver (502), the output end of the grabbing and lifting driver (503) is transmission-connected to the grabbing screw rod (505) through the grabbing and lifting transmission mechanism (504), and the grabbing slider (506) is transmission-connected to the grabbing screw rod (505).

21. The multifunctional fuel assembly inspection device for an inspection basket according to claim 20, characterized in that: The foreign body grabbing and video inspection module (5) also includes a grabbing slide (507), a grabbing mounting seat (508), a grabbing action driver (509) and a grabbing connector (510); The grabbing slide (507) is fixedly connected to the grabbing slider (506), the grabbing mounting seat (508) is fixedly connected to the grabbing slide (507), the grabbing action driver (509) is installed on the grabbing mounting seat (508) and the output end of the grabbing action driver (509) is connected to the grabbing connecting piece (510), and the grabbing mounting seat (508) is provided with a grabbing limit groove (511) for positioning the grabbing connecting piece (510).

22. The multifunctional fuel assembly inspection device for an inspection basket according to claim 21, characterized in that: The foreign body grabbing and video inspection module (5) further comprises a grabbing and traction driver (512), a grabbing and traction member (513), a movable clamping claw (514) and a fixed clamping claw (515); The grabbing and traction driver (512) is mounted on the grabbing and traction seat (508), and the output end of the grabbing and traction driver (512) is connected to the grabbing and traction member (513), and the grabbing and traction member (513) is mounted in the grabbing connection member (510) and is movably connected to the grabbing connection member (510); The movable clamp (514) is connected to an end of the grabbing and traction member (513) away from the grabbing and traction driver (512), and the movable clamp (514) is hinged to the grabbing connection member (510); The fixed clamping jaw (515) is fixedly connected to an end of the grabbing connection member (510) away from the grabbing action driver (509), and the fixed clamping jaw (515) is arranged correspondingly to the movable clamping jaw (514).

23. The multifunctional fuel assembly inspection device for an inspection basket according to claim 22, characterized in that: The foreign body grasping and video inspection module (5) further comprises a grasping and resetting member (516), an optical fiber imaging bundle (517) and a reflector (518); One end of the grabbing and resetting member (516) is fixedly connected to the movable clamping claw (514), and the other end of the grabbing and resetting member (516) is fixedly connected to the grabbing connecting member (510); The optical fiber imaging bundle (517) is fixedly mounted on the grabbing connection piece (510); a grabbing protrusion (519) is provided at one end of the grabbing connection piece (510) away from the grabbing and traction driver (512); and the grabbing protrusion (519) is located on a side of the fixed clamping claw (515) away from the grabbing and traction piece (513); The reflector (518) is fixedly mounted on the grabbing protrusion (519), and the reflector (518) is arranged corresponding to the optical fiber imaging bundle (517).

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