A split-petal integral fully synchronous bolt tightening and stretching mechanism

Abstract

A split-flap integral fully synchronous bolt twisting and stretching mechanism belongs to the technical field of twisting and stretching of bolts for pressure vessels of nuclear power reactors. The scheme is as follows: it includes a bolt adapter, a C-type bracket, a B-type bracket, an A-type bracket, a plurality of bolt storage racks, bolts, a robot for twisting bolts, a split-flap fully synchronous bolt stretching machine for bolt stretching, bolt elongation measurement and main nut twisting, and a control console. A C-type bracket, or a B-type bracket, or an A-type bracket is respectively arranged on each bolt storage rack. Each C-type bracket, B-type bracket, and A-type bracket are provided with a plurality of bolts. A bolt adapter is respectively connected to each bolt. The control console is connected to the twisting split-flap fully synchronous bolt stretching machine. Beneficial effect: The present invention adopts a split-flap mechanism to install an integral fully synchronous bolt twisting and stretching mechanism. Because of its small size and light weight, it is more convenient and quick to install, saves time and effort, and is particularly suitable for occasions where the installation space is limited.

Description

Technical Field

[0001] The invention belongs to the technical field of screwing and stretching of nuclear power reactor pressure vessel bolts, and in particular relates to a split-type integral full-synchronous bolt screwing and stretching mechanism. Background Art

[0002] At present, the single-body bolt tightening and stretching mechanism and the integral bolt tightening and stretching mechanism are used in the tightening and stretching of the bolts of the nuclear power reactor pressure vessel. However, the current nuclear power reactor pressure vessel bolt tightening and stretching mechanism has the following problems:

[0003] The single-body bolt twisting and stretching mechanism needs to be installed repeatedly during use, and the bolts need to be twisted and stretched one by one. The installation and use will take a long time, waste manpower and material resources, and it is also impossible to ensure that all bolts are evenly stressed during stretching.

[0004] The integral bolt twisting and stretching mechanism needs to be hoisted by a heavy-duty bridge crane due to its large size and weight. The difficulty in correcting the position makes the installation time-consuming and laborious. In addition, the integral bolt twisting and stretching mechanism cannot be used in some nuclear power reactor types due to space constraints. Summary of the invention

[0005] In order to solve the above-mentioned problems existing in the prior art, the present invention provides a convenient, fast, time-saving and labor-saving split-petal integrated fully synchronous bolt twisting and stretching mechanism. The mechanism adopts a split-petal mechanism to be installed to form an integral fully synchronous bolt twisting and stretching mechanism. Due to its small size and light weight, it is more convenient, fast, time-saving and labor-saving during installation, and is particularly suitable for occasions where installation space is limited.

[0006] The technical solution is as follows:

[0007] A split-flap integral fully synchronous bolt tightening and stretching mechanism comprises: a bolt adapter, a C-type bracket, a B-type bracket, an A-type bracket, a plurality of bolt storage racks, bolts, a robot for tightening bolts, a split-flap fully synchronous bolt stretching machine for bolt stretching, bolt elongation measurement and main nut tightening, and a control console. Each of the bolt storage racks is respectively provided with the C-type bracket, or the B-type bracket, or the A-type bracket, each of the C-type bracket, the B-type bracket, and the A-type bracket is provided with a plurality of the bolts, each of the bolts is respectively connected with the bolt adapter, and the control console is connected to the split-flap fully synchronous bolt stretching machine.

[0008] Furthermore, a transmission shaft hook entrance is provided in the bolt adapter, and a threaded section B and a main bolt adapter through hole are sequentially provided above the transmission shaft hook entrance, and two ends of the transmission shaft hook rotation stop pin are respectively connected to the threaded section B and the main bolt adapter through hole.

[0009] Furthermore, a plurality of bolt chuck devices c are provided above the C-shaped bracket, a robot walking track c is provided on the C-shaped bracket, and guide column matching holes c are provided on both sides of the C-shaped bracket.

[0010] Furthermore, a plurality of bolt chuck devices b and guide columns b are provided above the b-type bracket, a robot walking track b is provided on the b-type bracket, and a guide column matching hole b is provided on one side of the b-type bracket.

[0011] Furthermore, a plurality of bolt chuck devices a and guide columns a are provided above the a-type bracket, a robot walking track a and a positioning guide column storage device are provided on the a-type bracket, and a level is provided below the a-type bracket.

[0012] Furthermore, the robot includes: a control cabinet, a servo motor, a weight compensation cylinder, an upper end plate, a verticality correction device, a linear bearing, a torque sensor, a verticality detection device, a bolt connection device, a cylinder brake, a precision guide column, a support column, a walking device, a chuck control device, a positioning device, a support plate, an annular base, and a torque detection device. The walking device is installed below the annular base, the support column is installed above the annular base, the control cabinet is installed above the support column, the precision guide column is installed above the annular base, the upper end plate is installed above the precision guide column, and the support plate can move up and down through the linear bearing The servo motor is connected to the verticality correction device, the weight compensation cylinder is installed on the upper end plate, the torque sensor is built into the support plate, the verticality detection device is built into the support plate, the bolt connection device is installed on the verticality correction device, the cylinder brake is installed on the precision guide column, the chuck control device and the positioning device are installed under the annular base, the torque detection device is installed on the verticality correction device, and when screwing is performed, the bolt adapter is connected to the bolt connection device.

[0013] Furthermore, the verticality correction execution device includes: an upper fixed plate, a linear slide rail A, a middle fixed plate, a lower fixed plate, a spring, and a linear guide rail B. A plurality of springs are arranged below the lower fixed plate, and a linear guide rail B, a middle fixed plate, a linear slide rail A, and an upper fixed plate are arranged in sequence above the lower fixed plate.

[0014] Furthermore, the bolt connection device includes: a fixed end of a motor coupling, a compression spring, external teeth at the top of a telescopic rod, internal teeth of a fixed plug, a threaded section A, and a transmission shaft hook. The threaded section A is arranged inside the fixed end of the motor coupling, the internal teeth of the fixed plug are arranged on the threaded section A, the external teeth at the top of the telescopic rod are arranged on the transmission shaft hook, the transmission shaft hook is embedded and connected with the fixed end of the motor coupling, and the compression spring is arranged between the transmission shaft hook and the fixed end of the motor coupling.

[0015] Furthermore, the torque detection device includes a distance sensor and a force sensor; and also includes a cable device, and the cable device is installed on the annular base.

[0016] Furthermore, the screwing split-petal fully synchronous bolt tensioning machine includes: a control cabinet, an elongation measuring system, a quick-clamping stretching nut, a hydraulic cylinder assembly, a main nut screwing mechanism, and a split-petal main ring. Several hydraulic cylinder assemblies and main nut screwing mechanisms are installed on the split-petal main ring, and the control cabinet, elongation measuring system, and quick-clamping stretching nut are installed on the hydraulic cylinder assembly.

[0017] The beneficial effects of the present invention are:

[0018] Compared with the existing nuclear power reactor pressure vessel bolt tightening and stretching mechanism, the split-petal type integral full-synchronous bolt tightening and stretching mechanism of the present invention has the following beneficial effects:

[0019] 1. Since the present invention adopts a split-petal mechanism to install an integral fully synchronous bolt twisting and stretching mechanism, it is more convenient and quick to install due to its small size and light weight, saving time and effort, and is particularly suitable for occasions with limited installation space.

[0020] 2. Since the present invention forms an integral fully synchronous bolt tightening and stretching mechanism after installation, multiple robots tighten the bolts at the same time, and all the bolts are stretched synchronously as a whole, which greatly saves the time for tightening and stretching the bolts, especially in nuclear power plants, which will greatly reduce the radiation exposure of workers.

[0021] 3. Since the present invention basically realizes automatic operation, there is no need for workers to operate manually on site all the time, which greatly reduces the radiation dose of workers in nuclear power plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of the present invention;

[0023] Figure 2 yes Figure 1 A schematic diagram of the structure of the middle bolt adapter;

[0024] Figure 3 yes Figure 1 Structural schematic diagram of the middle bolt storage rack;

[0025] Figure 4 It is a schematic diagram of the structure of type A bracket;

[0026] Figure 5 It is a schematic diagram of the structure of the type B bracket;

[0027] Figure 6 It is a schematic diagram of the structure of the C-type bracket;

[0028] Figure 7 yes Figure 1 Schematic diagram of the robot structure;

[0029] Figure 8 yes Figure 1 Structural schematic diagram of a center-split fully synchronous bolt tensioning machine;

[0030] Fig. 9 yes Figure 1 The structural diagram of the central control console;

[0031] Fig.10 It is a schematic diagram of the structure of the verticality correction device;

[0032] Fig.11 It is a schematic diagram of the structure of the bolt connection device;

[0033] Fig.12 is a cross-sectional view of a bolt adapter;

[0034] The reference numerals in the figure are as follows: 1-bolt adapter, 2-c-type bracket, 3-b-type bracket, 4-a-type bracket, 5-bolt storage rack, 6-bolt, 7-robot, 8-split-type fully synchronous bolt tensioning machine, 9-control console, 10- Guide column a, 11-bolt chuck device a, 12-level meter, 13-positioning guide column storage device, 14-robot walking track a, 15-guide column matching hole b, 16-control cabinet, 17-servo motor, 18-weight compensation cylinder, 19-upper end plate, 20-distance sensor, 21-force sensor, 22-verticality correction device, 23-linear bearing, 24-torque sensor, 25-verticality detection sensor, 26-bolt connection device, 27-cylinder brake, 28-precision guide column, 29-support column, 30-cable device, 31-walking device, 32-chuck control device, 33-positioning device, 34-control cabinet, 35-elongation measurement system, 36-quick clamping type stretching nut, 37-hydraulic cylinder assembly, 38-main nut screwing mechanism, 39-petal main ring, 40-support plate, 41-annular base, 42-bolt chuck device b, 43-guide column b, 44-robot walking track b, 45-bolt chuck device c, 46-robot walking track c, 47-guide column matching hole c, 48-upper fixed plate, 49-linear slide rail A, 50-middle fixed plate, 51-lower fixed plate, 52-spring, 53-linear guide rail B, 54-motor coupling fixed end, 55-compression spring, 56-external teeth at the top of the telescopic rod, 57-internal teeth of the fixed plug, 58-threaded segment A, 59-transmission shaft hook, 60-transmission shaft hook rotation stop pin, 61-transmission shaft hook entrance, 62-main bolt adapter through hole, 63-threaded segment B. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-12 The split-type integral fully synchronous bolt tightening and stretching mechanism is further explained.

[0036] Example 1

[0037] A split-flap integral fully synchronous bolt tightening and stretching mechanism comprises: a bolt adapter 1, a C-type bracket 2, a B-type bracket 3, an A-type bracket 4, a plurality of bolt storage racks 5, bolts 6, a robot 7 for tightening bolts, a split-flap fully synchronous bolt stretching machine 8 for bolt stretching, bolt elongation measurement and main nut tightening, and a control console 9. Each of the bolt storage racks 5 is respectively provided with the C-type bracket 2, or the B-type bracket 3, or the A-type bracket 4. Each of the C-type bracket 2, the B-type bracket 3, and the A-type bracket 4 is provided with a plurality of the bolts 6. Each of the bolts 6 is respectively connected to the bolt adapter 1. The control console 9 is connected to the split-flap fully synchronous bolt stretching machine 8.

[0038] Furthermore, a transmission shaft hook inlet 61 is provided in the bolt adapter, and a threaded section B63 and a main bolt adapter through hole 62 are provided above the transmission shaft hook inlet 61 in sequence, and two ends of the transmission shaft hook rotation stop pin 60 are respectively connected to the threaded section B63 and the main bolt adapter through hole 62.

[0039] Furthermore, a plurality of bolt chuck devices c45 are provided above the C-shaped bracket 2, a robot walking track c46 is provided on the C-shaped bracket 2, and guide column matching holes c47 are provided on both sides of the C-shaped bracket 2.

[0040] Furthermore, a plurality of bolt chuck devices b42 and guide columns b43 are provided above the b-type bracket 3, a robot walking track b44 is provided on the b-type bracket 3, and a guide column matching hole b15 is provided on one side of the b-type bracket 3.

[0041] Furthermore, a plurality of bolt chuck devices a11 and guide columns a10 are provided above the a-type bracket 4, a robot walking track a14 and a positioning guide column storage device 13 are provided on the a-type bracket 4, and a level 12 is provided below the a-type bracket 4.

[0042] Furthermore, the robot 7 includes: a control cabinet 16, a servo motor 17, a weight compensation cylinder 18, an upper end plate 19, a verticality correction device 22, a linear bearing 23, a torque sensor 24, a verticality detection device 25, a bolt connection device 26, a cylinder brake 27, a precision guide column 28, a support column 29, a walking device 31, a chuck control device 32, a positioning device 33, a support plate 40, an annular base 41, and a torque detection device. The walking device 31 is installed below the annular base 41, and the support column 29 is installed on the annular base 41. The control cabinet 16 is installed above the support column 29, the precision guide column 28 is installed above the annular base 41, the upper end plate 19 is installed above the precision guide column 28, the support plate 40 is installed on the precision guide column 28 so as to be movably mounted up and down through the linear bearing 23, the verticality correction device 22 is arranged on the support plate 40, the servo motor 17 is connected to the verticality correction device 22, the weight compensation cylinder 18 is installed on the upper end plate 19, the torque sensor 20 is built in the support plate 40, the verticality detection device 25 is built in the support plate 40, the bolt connection device 26 is installed on the verticality correction device 22, the cylinder brake 27 is installed on the precision guide column 28, the chuck control device 32 and the positioning device 33 are installed below the annular base 41, the torque detection device is installed on the verticality correction device 22, and when screwing is performed, the bolt adapter 1 is connected to the bolt connection device 26.

[0043] Furthermore, the verticality correction execution device 22 includes: an upper fixed plate 48, a linear slide rail A49, a middle fixed plate 50, a lower fixed plate 51, a spring 52, and a linear guide rail B53. A plurality of springs 52 are arranged below the lower fixed plate 51, and a linear guide rail B53, a middle fixed plate 50, a linear slide rail A49, and an upper fixed plate 48 are arranged in sequence above the lower fixed plate 51.

[0044] Furthermore, the bolt connection device 26 includes: a motor coupling fixed end 54, a compression spring 55, external teeth 56 at the top of the telescopic rod, internal teeth 57 of a fixed plug, a threaded section A58, and a transmission shaft hook 59. The threaded section A58 is arranged inside the motor coupling fixed end 54, the fixed plug internal teeth 57 are arranged on the threaded section A58, the external teeth 56 at the top of the telescopic rod are arranged on the transmission shaft hook 59, the transmission shaft hook 59 is embedded and connected with the motor coupling fixed end 54, and the compression spring 55 is arranged between the transmission shaft hook 59 and the motor coupling fixed end 54.

[0045] Furthermore, the torque detection device includes a distance sensor 20 and a force sensor 21 ; and also includes a cable device 30 , and the cable device 30 is installed on the annular base 41 .

[0046] The annular base 41 is used to fix and support the entire bolt tightening mechanism;

[0047] The walking device is used to control the robot to move along the walking track of the bottom bracket;

[0048] The support column 29 is used to support the control cabinet 16 and fix it on the annular base 41;

[0049] The precision guide pillars 28 are used to support and fix the upper end plate 19 and provide motion guidance for the weight compensation system of the mechanism;

[0050] The upper end plate 19 is used to fix the weight compensation cylinder 18 and part of the sensor;

[0051] The positioning device 33 is used to fix the bolt tightening mechanism when the corresponding bolt hole is detected, and after being fixed, it becomes the anti-torque device of the whole mechanism;

[0052] The weight compensation cylinder 18 monitors the value fed back in real time by the force sensor 21. The control system uses the weight compensation cylinder 18 to maintain the minimum weight of the bolt when the bolt is tightened or loosened in the threaded hole, that is, the weight compensation of the bolt. Weight compensation is also a very important factor in reducing the resistance torque. The control system of the bolt tightening device can self-adjust and correct the weight of the compensation bolt at different stages of tightening or loosening, especially when the bolt is in the early stage of entering the threaded hole, or when the resistance torque of the bolt changes.

[0053] The control cabinet 16 is used to install the driver and controller for controlling the robot;

[0054] The cable device 30, the cable is connected from the control cabinet 16 to the cable retractor connection joint of the robot control cabinet, the cable retractor can fix the cable on the A-type bracket 4 and retract and release the cable as the robot 7 walks, to prevent the cable from being disordered;

[0055] The support plate 40 is used to fix the servo motor 17, the bolt connection device 26, the verticality detection device 25, the verticality correction device 22, and the torque detection device, and is guided by the weight compensation mechanism cylinder to move up and down along the precision guide column 28 through the four linear bearings 23;

[0056] The linear bearing 23 is used to connect the support plate 40 and the precision guide column 28;

[0057] In the event of a loss of air source pressure, the cylinder brake 27 will automatically lock the bolt bracket position;

[0058] The chuck control device 32 is used to tighten or loosen the main bolt;

[0059] The servo motor 17 is a controller installed in the control cabinet 16. The speed and torque of the servo motor 17 are controlled by the driver of the robot control cabinet and the bolt is directly driven to rotate. The servo motor 17 is installed on the verticality correction device 22.

[0060] The bolt connection device 26 is used to quickly connect the screwing mechanism of the robot to the bolt;

[0061] The verticality detection device 25 is used to detect the verticality of the device and feed back to the control cabinet 16;

[0062] The verticality correction device 22 enables the screwing device to automatically perform position correction to ensure that the bolt remains vertical when tightening or loosening. The verticality of the bolt is very important in the initial stage of screwing the bolt, because when only a small part of the bolt thread is screwed into the threaded hole of the reactor, due to the small number of threaded connections, even if all the threads are screwed in, the bolt and the threaded hole cannot be completely consistent with the bolt screwing device. If it is not controlled, the tilted position of the threaded connection can produce burrs or metal chips and greatly increase the resistance torque. If the bolt is still tightened when the torque increases, it will cause further damage to the thread. A device that can self-correct verticality can reduce damage to the bolts and the reactor vessel holes;

[0063] The torque detection device is used to detect the torque of the screwing bolt and feed it back to the control cabinet 16 to assist in controlling the servo motor 17;

[0064] The bolt adapter 1 is screwed to the top of the bolt and is used to quickly connect to and screw the bolt connection device. Compared with the previous threaded or pneumatic connection methods, the bolt adapter and the bolt connection device of the present invention do not need to be connected to an additional air source or screwed with additional threads, which can ensure that the equipment can quickly, accurately and damage-free connect the bolts.

[0065] Furthermore, the screwing split-petal fully synchronous bolt tensioning machine 8 includes: a control cabinet 34, an elongation measuring system 35, a quick-clamping stretching nut 36, a hydraulic cylinder assembly 37, a main nut screwing mechanism 38, and a split-petal main ring 39. Several hydraulic cylinder assemblies 37 and main nut screwing mechanisms 38 are installed on the split-petal main ring 39, and the control cabinet 34, the elongation measuring system 35, and the quick-clamping stretching nut 36 are installed on the hydraulic cylinder assembly 37.

[0066] The installation, use and disassembly process of the present invention is as follows:

[0067] 1. Closing the cover of nuclear power reactor pressure vessel:

[0068] 1) All equipment is transported to the work site, the control console 9 is placed on the upper part of the platform, and the remaining devices are divided into 3 groups and placed at the corresponding positions of the top cover by hoisting equipment (the bolts are fixed on the bracket by chucks before hoisting into the work area), and the three groups of equipment are operated synchronously;

[0069] 2) Each set of equipment includes 1 robot 7, 4 bolt storage racks 5 (corresponding to 1 a-type bracket 4, 2 b-type brackets 3, and 1 c-type bracket 2, respectively), 16 bolts 6 fixed on the brackets (bolt adapter 1 is on the upper end of the main bolt), 1 set of power communication cables, 3 split-type full-synchronous bolt tensioners 8, and 1 set of oil pipes;

[0070] 3) Each group proceeds synchronously, hoisting the A-type bracket 4 with loading bolts to the corresponding position of the top cover flange;

[0071] 4) Each group proceeds synchronously, lifting the robot 7 to the walking track of the A-type bracket 4;

[0072] 5) Each group proceeds synchronously, hoisting the first b-type bracket 3 loaded with bolts to the side of the a-type bracket 4, and at the same time connecting the power communication cable of the robot 7 to the control console 9, and starting the control console 9 to control the robot 7 to start tightening the bolts of the a-type bracket 4;

[0073] 6) Each group proceeds synchronously, hoisting the second b-type bracket 3 loaded with bolts to the side of the first b-type bracket 3, while the robot 7 screws the bolts of the first b-type bracket 3;

[0074] 7) Each group proceeds synchronously, hoisting the C-type bracket 2 with the loading bolts to between the second B-type bracket 3 and the next group of A-type brackets 4, while the robot 7 screws the bolts of the second B-type bracket 3;

[0075] 8) Each group proceeds synchronously, and the robot 7 screws the bolts of the C-shaped bracket 2;

[0076] 9) Each group proceeds synchronously, and after all bolts are tightened, the robot 7 returns to the A-type bracket 4 and disassembles the C-type bracket 2 without bolts at the same time;

[0077] 10) Each group proceeds synchronously, the robot 7 returns to the a-type bracket 4, and simultaneously removes the second b-type bracket 3 without bolts;

[0078] 11) Each group proceeds synchronously, removing the cables from the robot 7 to the console 9, and at the same time removing the first b-type bracket 3 without bolts;

[0079] 12) Each group proceeds synchronously to disassemble the robot 7;

[0080] 13) Each group proceeds simultaneously to dismantle the boltless A-type bracket 4;

[0081] 14) Each group proceeds synchronously, hoisting a split-flap fully synchronous bolt tensioning machine 8 to the corresponding position of the top cover flange;

[0082] 15) Each group proceeds synchronously, hoisting the remaining split-flap fully synchronous bolt tensioning machines 8 to the corresponding position of the top cover flange;

[0083] 16) Each group is carried out synchronously, connecting the oil pipe and power communication cable between the split-type fully synchronous bolt tensioning machine 8 and the control console 9;

[0084] 17) Start the control console 9 to control all the split-flap fully synchronous bolt tensioning machines 8 to complete the work of bolt tensioning and screwing the main nut;

[0085] 18) Remove the oil pipe and power communication cables between the split-type fully synchronous bolt tensioning machine 8 and the control console 9;

[0086] 19) Each group proceeds synchronously to dismantle and hoist a split-flap fully synchronous bolt tensioning machine 8;

[0087] 20) Each group proceeds synchronously to dismantle and hoist the remaining split-flap fully synchronous bolt tensioning machine 8;

[0088] 21) After all equipment has been dismantled, remove all equipment from the work site one by one.

[0089] 2. Opening the cover of nuclear power reactor pressure vessel:

[0090] 1) All equipment is transported to the work site, the control console 9 is placed on the upper part of the platform, and the remaining devices are divided into 3 groups and placed at the corresponding positions of the top cover by hoisting equipment, and the three groups of equipment are operated synchronously;

[0091] 2) Each set of equipment contains 1 robot 7, 4 bolt storage racks 5 (corresponding to 1 type A bracket, 2 type B brackets, and 1 type C bracket) (the brackets are not loaded with bolts), 1 set of power communication cables, 3 split-flap fully synchronous bolt tensioning machines 8, and 1 set of oil pipes;

[0092] 3) Each group proceeds synchronously, hoisting a split-flap fully synchronous bolt tensioning machine 8 to the corresponding position of the top cover flange;

[0093] 4) Each group proceeds synchronously, hoisting the remaining split-flap fully synchronous bolt tensioning machines 8 to the corresponding position of the top cover flange;

[0094] 5) Each group is carried out synchronously, connecting the oil pipe and power communication cable between the split-type fully synchronous bolt tensioning machine 8 and the control console 9;

[0095] 6) Start the control console 9 to control all the split-flap fully synchronous bolt tensioning machines 8 to complete the work of bolt tensioning and screwing the main nut;

[0096] 7) Remove the oil pipe and power communication cables between the split-type fully synchronous bolt tensioning machine 8 and the control console 9;

[0097] 8) Each group proceeds synchronously, disassembling and hoisting a split-flap fully synchronous bolt tensioning machine 8;

[0098] 9) Each group proceeds synchronously to dismantle and hoist the remaining split-flap fully synchronous bolt tensioning machine 8;

[0099] 10) Each group proceeds synchronously to hoist the boltless A-type bracket 4 to the corresponding position of the top cover flange;

[0100] 11) Each group proceeds synchronously, lifting the robot 7 to the walking track of the A-type bracket 4;

[0101] 12) Each group proceeds synchronously, hoisting the first boltless B-type bracket 3 to the side of the A-type bracket 4, and connecting the power communication cable from the robot 7 to the console 9, and starting the console 9 to control the robot 7 to start unscrewing the bolts under the A-type bracket 4, while the bracket chuck device fixes the unscrewed bolts;

[0102] 13) Each group proceeds synchronously, hoisting the second boltless B-type bracket 3 next to the first B-type bracket 3, while the robot unscrews the bolts under the first B-type bracket 3, and the bracket chuck device fixes the unscrewed bolts;

[0103] 14) Each group proceeds synchronously, hoisting the boltless C-type bracket 2 between the second B-type bracket 3 and the next group of A-type brackets 4, while the robot 7 unscrews the bolts under the second B-type 3 bracket, and the bracket chuck device fixes the unscrewed bolts;

[0104] 15) Each group proceeds synchronously, and the robot 7 unscrews the bolts under the C-shaped bracket 2;

[0105] 16) Each group proceeds synchronously, the robot 7 unscrews all the bolts, returns to the a-type bracket 4, and disassembles the c-type bracket 2 loaded with bolts at the same time;

[0106] 17) Each group proceeds synchronously, the robot 7 returns to the a-type bracket 4, and simultaneously removes the second b-type bracket 3 loaded with bolts;

[0107] 18) Each group proceeds synchronously, removing the cable from the robot 7 to the console 9, and at the same time removing the first b-type bracket 3 loaded with bolts;

[0108] 19) Each group proceeds synchronously to disassemble robot 7;

[0109] 20) Each group proceeds synchronously to dismantle the A-type bracket 4 loaded with bolts;

[0110] 21) After all equipment has been dismantled, remove all equipment from the work site one by one.

[0111] Example 2

[0112] A split-flap integral fully synchronous bolt twisting and stretching mechanism comprises a control console 9, a split-flap fully synchronous bolt stretching machine 8, a robot 7, an A-type bracket 4, a B-type bracket 3, a C-type bracket 2, a bolt storage rack 5, and a bolt adapter 1.

[0113] The bolt adapter 1 has A pieces, which are respectively threadedly connected with the A bolts to be screwed. The bolt adapter 1 is designed with a unique quick connection mechanism, which enables the robot to quickly screw the connection bolts.

[0114] The bolt storage rack 5 has B pieces, which are used to store A pieces of bolts 6 and assist three types of brackets to take and place the bolts 6. Each bolt storage rack 5 can hold C pieces of bolts 6. The bottom of the bolt storage rack 5 is designed with a protective device for fixing and supporting the bolts to protect the bolts. The upper end of the storage rack is designed as an open support type, which is convenient for the bracket to place and take and place the bolts.

[0115] There are D a-type brackets 4, each of which can be loaded with C bolts 6; C corresponding bolt chuck devices a14 are installed, and the bolt chuck device a14 is a manual / automatic control device; C guide columns a10 are also installed to provide guidance for the installation of other brackets, and at the same time, it is an anti-torque device for the entire equipment; E levels 12 are installed on the frame to provide real-time detection of the horizontality for the lifting work; the lower end of the bracket is directly installed on the flange surface of the top cover of the nuclear power reactor pressure vessel, and the upper end of the bracket is installed with a robot walking track a14 and positioning holes. Since the a-type bracket 4 is the first device installed in each group and needs to be guided and positioned, F positioning guide columns a10 are placed on the outside of the a-type bracket 4. When installing the a-type bracket 4, it is positioned at both ends of the base of the a-type bracket 4 and the fixing device is locked;

[0116] There are G b-type brackets 3, each of which can be loaded with C bolts 6; C corresponding bolt chuck devices b42, F guide columns b43 and E levels are installed, and the b-type bracket 3 does not need to be positioned with a guide column a10 of the a-type bracket 4 when hoisting the b-type bracket 3. The lower end of the bracket is directly mounted on the flange surface of the top cover of the nuclear power reactor pressure vessel, and the upper end of the bracket is installed with a robot walking track b44 and a guide column matching hole b15;

[0117] There are D c-type brackets 2, each c-type bracket 2 can be loaded with C bolts 6; C corresponding bolt chuck devices c45 and E levels are installed, the c-type bracket 2 does not need a guide column and a positioning guide column, and the c-type bracket 2 is positioned by the guide columns of the a-type bracket 4 and the b-type bracket 3 when hoisting the c-type bracket 2. The lower end of the bracket is directly installed on the flange surface of the top cover of the nuclear power reactor pressure vessel, and the upper end of the bracket is installed with a robot walking track c46 and a guide column matching hole c47;

[0118] There are D robots 7, the walking wheels of the robots 7 are in direct contact with the walking tracks of the bottom bracket, and the robots play the role of moving the robots and tightening the bolts;

[0119] There are H split-flap fully synchronous bolt tensioners 8. After the robot has finished tightening the bolts, the robot and three types of empty brackets are removed, and all the split-flap fully synchronous bolt tensioners 8 are installed on the flange surface of the top cover of the power reactor pressure vessel. The control console 9 provides hydraulic power to drive the hydraulic cylinder assembly 37 to lift the quick-clamping tensioning nut. The quick-clamping tensioning nut drives the main bolt to extend. The elongation measuring gauge contacts the main bolt measuring rod, and can monitor the bolt elongation in real time. The data is transmitted to the control console 9 through a signal cable and automatically recorded. The quick-clamping tensioning nut drives the lead screw through a motor to realize the opening and closing of the tensioning nut, and the main nut rotating mechanism moves the main nut to complete the pre-tightening of the main bolt.

[0120] There are E control consoles 9, and the control console of the split-flap integral fully synchronous bolt twisting and stretching mechanism is the control unit of the robot 7 and the split-flap fully synchronous bolt stretching machine 8, providing them with power source and control signals, and providing control buttons and display screens for operators.

[0121] Furthermore, the A is 48.

[0122] Furthermore, the B is 12.

[0123] Furthermore, the C is 4.

[0124] Furthermore, the D is 3.

[0125] Furthermore, the E is 1.

[0126] Furthermore, the F is 2.

[0127] Furthermore, the G is 6.

[0128] Furthermore, the H is 8.

[0129] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A split-petal integral fully synchronous bolt tightening and stretching mechanism, characterized in that: include: A bolt adapter (1), a C-type bracket (2), a B-type bracket (3), an A-type bracket (4), a plurality of bolt storage racks (5), bolts (6), a robot (7) for tightening bolts, a split-flap fully synchronous bolt tensioning machine (8) for tightening bolts, measuring bolt elongation, and tightening main nuts, and a control console (9); each of the bolt storage racks (5) is provided with the C-type bracket (2), or the B-type bracket (3), or the A-type bracket (4); each of the C-type bracket (2), the B-type bracket (3), and the A-type bracket (4) is provided with a plurality of bolts (6); each of the bolts (6) is connected to the bolt adapter (1); and the control console (9) is connected to the split-flap fully synchronous bolt tensioning machine (8); A transmission shaft hook inlet (61) is provided in the bolt adapter, a threaded section B (63) and a main bolt adapter through hole (62) are provided above the transmission shaft hook inlet (61) in sequence, and two ends of the transmission shaft hook rotation stop pin (60) are respectively connected to the threaded section B (63) and the main bolt adapter through hole (62); A plurality of bolt chuck devices c (45) are provided above the C-shaped bracket (2), a robot walking track c (46) is provided on the C-shaped bracket (2), and guide column matching holes c (47) are provided on both sides of the C-shaped bracket (2); A plurality of bolt chuck devices b (42) and guide columns b (43) are provided above the b-type bracket (3); a robot walking track b (44) is provided on the b-type bracket (3); and a guide column matching hole b (15) is provided on one side of the b-type bracket (3); A plurality of bolt chuck devices a (11) and guide columns a (10) are provided above the a-type bracket (4), a robot walking track a (14) and a positioning guide column storage device (13) are provided on the a-type bracket (4), and a level meter (12) is provided below the a-type bracket (4); The screwing split-flap fully synchronous bolt tensioning machine (8) comprises: a control cabinet B (34), an elongation measurement system (35), a quick-clamping tensioning nut (36), a hydraulic cylinder assembly (37), a main nut screwing mechanism (38), and a split-flap main ring (39); a plurality of the hydraulic cylinder assemblies (37) and the main nut screwing mechanisms (38) are mounted on the split-flap main ring (39); and the control cabinet B (34), the elongation measurement system (35), and the quick-clamping tensioning nut (36) are mounted on the hydraulic cylinder assembly (37).

2. The split-petal integral fully synchronous bolt tightening and stretching mechanism according to claim 1, characterized in that: The robot (7) comprises: a control cabinet A (16), a servo motor (17), a weight compensation cylinder (18), an upper end plate (19), a verticality correction device (22), a linear bearing (23), a torque sensor (24), a verticality detection device (25), a bolt connection device (26), a cylinder brake (27), a precision guide column (28), a support column (29), a walking device (31), a chuck control device (32), a positioning device (33), a support plate (40), an annular base (41), and a torque detection device, wherein the walking device (31) is installed below the annular base (41), the support column (29) is installed above the annular base (41), the control cabinet A (16) is installed above the support column (29), the precision guide column (28) is installed above the annular base (41), the upper end plate (19) is installed above the precision guide column (28), and the support plate (40) can be moved by the linear bearing (23). The verticality correction device (22) is mounted on the precision guide column (28) so as to be movable up and down. The verticality correction device (22) is arranged on the support plate (40). The servo motor (17) is connected to the verticality correction device (22). The weight compensation cylinder (18) is mounted on the upper end plate (19). The torque detection device comprises a distance sensor (20) and a force sensor (21). The distance sensor (20) is built in the support plate (40). The verticality detection device (25) is built in the support plate (40). The bolt connection device (26) is mounted on the verticality correction device (22). The cylinder brake (27) is mounted on the precision guide column (28). The chuck control device (32) and the positioning device (33) are mounted below the annular base (41). The torque detection device is mounted on the verticality correction device (22). When screwing is performed, the bolt adapter (1) is connected to the bolt connection device (26).

3. The split-petal integral fully synchronous bolt tightening and stretching mechanism according to claim 2, characterized in that: The verticality correction device (22) comprises: an upper fixed plate (48), a linear slide rail A (49), a middle fixed plate (50), a lower fixed plate (51), a spring (52), and a linear guide rail B (53); a plurality of springs (52) are arranged below the lower fixed plate (51); and a linear guide rail B (53), a middle fixed plate (50), a linear slide rail A (49), and an upper fixed plate (48) are arranged in sequence above the lower fixed plate (51).

4. The split-petal integral fully synchronous bolt tightening and stretching mechanism according to claim 2, characterized in that: The bolt connection device (26) comprises: a motor coupling fixed end (54), a compression spring (55), external teeth at the top end of the telescopic rod (56), internal teeth of a fixed plug (57), a threaded section A (58), and a transmission shaft hook (59); the motor coupling fixed end (54) is provided with the threaded section A (58), the fixed plug internal teeth (57) are provided on the threaded section A (58), the external teeth at the top end of the telescopic rod (56) are provided on the transmission shaft hook (59), the transmission shaft hook (59) is embedded and connected with the motor coupling fixed end (54), and the compression spring (55) is provided between the transmission shaft hook (59) and the motor coupling fixed end (54).

5. The split-petal integral fully synchronous bolt tightening and stretching mechanism according to claim 2, characterized in that: It also includes a cable device (30), wherein the cable device (30) is mounted on the annular base (41).

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