An automatic detection system for nuclear power plant dampers based on big data

Abstract

The present invention discloses an automatic detection system for nuclear power plant dampers based on big data, including a disassembly module for disassembling and transferring the damper to be detected and fixedly installed near the main equipment of the nuclear power plant to realize further detection work, a fixing module for fixing and supporting the outer wall of the shell of the damper, a stimulation detection module for subjecting the damper to corresponding intensity stimulation conditions to further detect the corresponding shock absorption performance of the damper, a calibration module for monitoring the clamping stability of the damper by the fixing module to further ensure the accuracy of the detection result of the detection module, and a displacement driving module for driving the fixing module to move to the target damper to realize the fixed clamping of the damper by the fixing module. The present invention can solve the problems of large workload in the prior art, errors caused by inconsistent parameter indicators during the detection process, and low reference degree of the corresponding detection results.

Description

Technical Field

[0001] The present invention belongs to the technical field of damper detection, and in particular relates to an automatic detection system for nuclear power plant dampers based on big data. Background Art

[0002] The hydraulic damper for nuclear power plants is a vibration-resistant support device that is sensitive to speed or acceleration and is used to protect the key equipment or pipelines being supported. The damper does not work on the slow movement caused by the normal thermal expansion of the equipment or pipeline. When subjected to sudden loads (earthquakes or sudden pressure changes), the damper becomes a rigid connection to limit the displacement, thereby achieving the purpose of vibration-resistant support. Large-tonnage dampers are used for vibration-resistant support of steam generators, cooling main pumps, etc. in nuclear power plants. The hydraulic damper used in nuclear power plants is an important equipment of nuclear safety level 1. The hydraulic oil and non-metallic parts used have strong radiation resistance and can be used in the nuclear island. Generally, large-span nuclear power plants will install dampers for earthquake resistance. The oil damper is used for many years, and the internal fastening device will become loose, resulting in oil leakage of the damper, which reduces the normal performance of the damper. Severe oil loss will cause the damper to fail. Under earthquake conditions, it will vibrate violently due to external excitation, and even cause the working system of the nuclear power plant to collapse and cause radiation leakage. The existing technology mainly relies on manual detection for the detection of nuclear power plant dampers, and can only qualitatively judge the amount of oil leakage of the damper, with low work efficiency.

[0003] Existing technologies include JP2017003450A, KR1020010013440A, JP2015175829A and CN105628403B. For example, a damper fault detection method in the prior art includes obtaining the vibration signal of the damper as a whole under the excitation condition; performing signal extraction processing on the vibration signal corresponding to the excitation condition to extract the fault characteristic signal; classifying and predicting the fault characteristic signal to output the fault type corresponding to the excitation condition. However, the damper detection system in the prior art is mainly for small dampers and is not suitable for large hydraulic dampers commonly used in nuclear power plants. At the same time, the damper automation intelligence level of the prior art is low, the detection takes a long time and requires a lot of manpower to disassemble and install the damper. Summary of the invention

[0004] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide an automatic detection system for nuclear power plant dampers based on big data, which can solve the problems in the prior art such as large workload, errors caused by inconsistent parameter indicators during the detection process and low reference degree of corresponding detection results.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] An automatic detection system for nuclear power plant dampers based on big data, including a disassembly module for disassembling and transferring a damper to be detected and fixedly installed near the main equipment of the nuclear power plant to realize further detection, a fixing module for fixing and supporting the outer wall of the damper shell, a stimulation detection module for subjecting the damper to corresponding intensity stimulation conditions to further detect the corresponding shock absorbing performance of the damper, a calibration module for monitoring the clamping stability of the damper by the fixing module to further ensure the accuracy of the detection result of the detection module, and a displacement driving module for driving the fixing module to displace to the target damper to realize the fixed clamping of the damper by the fixing module.

[0007] The disassembly module includes an identification module for locating and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for adapting and fixing the nuts of the bolts and further rotating and driving them in different directions to further loosen and tighten the bolts.

[0008] The stimulation detection module includes a thrust device that applies a force of a predetermined intensity to the damper, a displacement sensor that detects the displacement speed of the active end of the damper, and a processor that collects and further analyzes the data during the detection experiment.

[0009] The calibration module includes pressure sensors evenly arranged on the contact end of the clamping block 2 and the damper, a clamping surface arranged on each clamping block 2 to clamp the damper and strengthen the fixation of the fixing module through negative pressure adsorption, and a clamping device that fixes the displacement driving module to the relative area of ​​the ground for work.

[0010] The adsorption component includes an adsorption plate 1 embedded in the clamping block 2, air circulation holes arranged on the top of the adsorption plate 1, a conduit 3 made of opaque material corresponding to the air flow holes of each adsorption plate 1 for air transportation, and a negative pressure regulating chamber connected to the conduit 3 and generating negative pressure.

[0011] The fixing module includes at least two clamping units for clamping different areas of the damper housing respectively, wherein each clamping unit includes a plate-shaped support seat 7, a first fixing block arranged on the first end face of the support seat 7, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, a first rotating rod 9 that movably passes through the first fixing block and the second fixing block and is arranged perpendicular to the first fixing block, a second rotating rod 10 that movably passes through the first fixing block and the second fixing block and is arranged parallel to the first rotating rod 9, a clamping block 2 that movably sleeves on the ends of the first rotating rod 9 and the second rotating rod 10, a first driving mechanism that drives the first rotating rod 9 to rotate, and a second driving mechanism that drives the first rotating rod 9 to rotate.

[0012] The automatic detection system also includes a control device which is electrically connected to each electrical device in the system to further achieve coordinated operation of each module of the system.

[0013] The processor includes a data collection unit for collecting test parameters and a calculation unit for analyzing and processing the parameters collected by the collection unit to obtain the performance index of the damper, wherein the collection unit collects the thrust value N corresponding to the thrust device in each detection test, the pin head displacement velocity V detected by the displacement sensor at the test end of the damper, and the average value P of the clamping force values ​​on the outer wall of the damper housing detected by all the pressure sensors, wherein C is the performance index of the damper, and the calculation unit includes a calculation method for the numerical value collected by each collection unit for each detection experiment: C=(N^m1+V^m2+P^m3)k, wherein C1, C2, C3...Cn are obtained by performing n experiments on the same damper with the thrust device under corresponding excitation conditions of different intensities, wherein n is a natural number, m1 is a parameter related to the priority of the thrust value and the performance index, m2 is a parameter related to the priority of the displacement velocity and the performance index, m3 is a parameter related to the priority of the clamping force value and the performance index, and k is a correlation coefficient value obtained by repeated experimental training.

[0014] The calculation unit includes a method for further analyzing and processing the performance index C calculated by the same damper to obtain the damping performance of the damper:

[0015] When max(Co)∈A, e1=1, when When e1=0;

[0016] When min(Ci)∈A, e2=1, when When e2=0;

[0017] Further, e = e1 + e2;

[0018] Among them, max(Co) represents the maximum value of the performance index obtained by conducting n detection tests on the same damper, min(Ci) represents the minimum value of the performance index obtained by conducting n detection tests on the same damper, e is the measurement and evaluation index, when e is 1, the damper detection result is unqualified, and when e is 2, the damper detection result is qualified.

[0019] Beneficial effects of the present invention:

[0020] 1. By automatically disassembling the large hydraulic dampers used in nuclear power plants and transferring them to the corresponding testing platform for testing, the testing efficiency of large hydraulic dampers is improved and the labor intensity of operators is reduced.

[0021] 2. Use a predetermined fixing force to fix the damper to reduce the error of the damper during the detection process and ensure the accuracy of the test data.

[0022] 3. The damper is tested under different intensity excitation conditions to obtain the corresponding working performance index of the damper, thereby improving the accuracy of the detection of the damper. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a modular schematic diagram of the automatic detection system of the present invention.

[0024] Figure 2 It is a modular schematic diagram of the displacement driving module of the present invention.

[0025] Figure 3 It is a flowchart diagram of the processor of the present invention.

[0026] Figure 4 It is a schematic diagram of the structure of the adsorption component of the present invention.

[0027] Figure 5 It is a schematic structural diagram of the clamping unit of the present invention.

[0028] Description of the accompanying drawings: 1-adsorption plate; 2-clamping block; 3-conduit; 4-sealed box; 5-vacuum generating device; 6-ventilation pipe; 7-support seat; 8-extension block; 9-first rotating rod; 10-second rotating rod. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0030] Embodiment 1:

[0031] This embodiment constructs an automatic testing system for automatically disassembling the damper and transferring it to a testing platform for testing;

[0032] An automatic detection system for nuclear power plant dampers based on big data, comprising a disassembly module for disassembling and transferring the damper to be detected and fixedly installed near the main equipment of the nuclear power plant to realize further detection, a fixing module for fixing and supporting the outer wall of the shell of the damper, a stimulation detection module for subjecting the damper to corresponding intensity stimulation conditions to further detect the corresponding shock absorption performance of the damper, a calibration module for monitoring the clamping stability of the damper by the fixing module to further ensure the accuracy of the detection result of the detection module, and a displacement driving module for driving the fixing module to displace to the target damper so as to realize the directional fixed clamping of the damper by the fixing module. The disassembly module comprises An identification module for positioning and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for adapting and fixing the nuts of the bolts and further rotating and driving them in different directions to further loosen and tighten the bolts. The fixing module includes at least two clamping units that clamp different areas of the housing of the damper respectively, wherein each of the clamping units includes a plate-shaped support seat 7, a first fixing block arranged on the first end face of the support seat 7, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, and a first rotating rod that movably passes through the first fixing block and the second fixing block and is arranged perpendicular to the first fixing block. 9, a second rotating rod 10 that movably passes through the first fixed block and the second fixed block and is arranged in parallel with the first rotating rod 9, a clamping block 2 that is movably sleeved on the ends of the first rotating rod 9 and the second rotating rod 10, a first driving mechanism that drives the first rotating rod 9 to rotate, and a second driving mechanism that drives the first rotating rod 9 to rotate, the stimulation detection module includes a thrust device that applies a force to the damper with a predetermined intensity, a displacement sensor that detects the displacement speed of the movable end of the damper, and a processor that collects and further analyzes data during the detection experiment of the damper, the calibration module includes a pressure sensor that is evenly laid on the contact end of the clamping block 2 and the damper, and a pressure sensor that is set The clamping surface of each clamping block 2 clamps the damper and strengthens the fixing module to the shell by negative pressure adsorption, and the clamping device fixes the displacement driving module to the relative area of ​​the ground for work. The displacement driving module includes a first extension block respectively arranged at one end of the length direction of the support seat 7, a second extension block arranged at the other end of the length direction of the support seat 7, a first support arm fixedly connected to the first extension block, a second support arm fixedly connected to the second extension block, a base table for fixing the first support arm and the second support arm, and a driving device for driving the base table to move relative to the ground to realize the fixed module to clamp and fix the damper in a directional manner.The adsorption component includes an adsorption plate 1 embedded in the clamping block 2, an air circulation hole arranged on the top of the adsorption plate 1, a conduit 3 of opaque material corresponding to the air flow hole of each adsorption plate 1 for air flow transportation, and a negative pressure regulating chamber connected to the conduit 3 and generating negative pressure. The automatic detection system also includes a control device that further realizes the coordinated operation of each module of the system by being electrically connected to each electrical device in the system. On the other hand, the present invention provides a computer-readable storage medium, which includes a control method program of the automatic detection system. When the control method program of the automatic detection system is executed by the control device, the steps of the control driving method of the automatic detection system are realized;

[0033] The fixing module includes at least two clamping units for clamping different areas of the housing of the damper, each of which includes a plate-shaped support seat 7, a first fixing block arranged on a first end face of the support seat 7, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, a first rotating rod 9 that movably passes through the first fixing block and the second fixing block and is arranged perpendicular to the first fixing block, a second rotating rod 10 that movably passes through the first fixing block and the second fixing block and is arranged parallel to the first rotating rod 9, a clamping block 2 that movably sleeves on the ends of the first rotating rod 9 and the second rotating rod 10, a first driving mechanism that drives the first rotating rod 9 to rotate, and a first driving mechanism that drives the first rotating rod 9 to rotate. The second driving mechanism for rotating the movable rod 9 and the clamping surface arranged on each of the clamping blocks 2 for clamping the damper strengthen the fixed adsorption member of the fixed module through negative pressure adsorption, wherein the clamping block 2 includes a first clamping block 2 arranged at one end of the first rotating rod 9, a second clamping block 2 fixedly arranged at the other end of the first rotating rod 9, a third clamping block 2 fixedly arranged at one end of the second rotating rod 10, and a fourth clamping block 2 fixedly arranged at the second rotating rod 10, wherein the first clamping block 2 and the third clamping block 2 are located on the same side of the length direction of the fixed plate, and one end of the first rotating rod 9 is extended to be provided with a first An extension rod, the other end of the second rotating rod 10 is extended with a second extension rod with a diameter smaller than the second rotating rod 10 and coaxially arranged with the second rotating rod 10, the first driving mechanism includes a first fixing piece with an internal opening cavity cooperating with the first extension rod and riveted to one end of the first rotating rod 9 through a corresponding fixing element, a first linear motor fixedly connected to one end of the first fixing piece through a rotatable coupling, the second driving mechanism includes a second fixing piece with an internal opening cavity cooperating with the second extension rod and riveted to the other end of the second rotating rod 10 through a bolt, and a second linear motor fixedly connected to the other end of the second fixing piece through a rotatable coupling, The first linear motor and the second linear motor are respectively installed on the support seat 7 through corresponding mounting seats, and then the first driving mechanism and the second driving mechanism respectively drive the first rotating shaft and the second rotating shaft to drive the clamping block 2 to fix and support the damper housing, and at the same time, the clamping force of the fixing plate on the housing is realized by driving the first rotating shaft and / or the second rotating shaft to rotate. The disassembly module includes an identification module for positioning and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for adapting and fixing the nuts of the bolts and further rotating and driving them in different directions to further loosen and tighten the bolts.The disassembly module also includes a first mechanical arm whose top end is fixed to the fixing mechanism and whose bottom end is fixed to the base platform, and a second mechanical arm whose top end is fixed to the tensioning mechanism and whose bottom end is also fixed to the base platform, wherein the mechanical arm is a CNC intelligent mechanical arm in the prior art, and the recognition module includes a camera for image acquisition, a fixing bracket for fixing the camera to the upper end of the base platform to photograph and identify the bolts of the damper, a first processing unit connected to the camera and receiving the picture information taken by the camera to further analyze, process and identify the position information of the damper bolts, and further generate corresponding displacement drive instructions for the first mechanical arm and the second mechanical arm according to the signal detected by the first processing unit, wherein the fixed frame is the prior art and will not be repeated here, the first processing unit and the second processing unit are single-chip microcomputers in the prior art, and the first processing unit stores a software program pre-installed with data analysis and processing of the picture information, stores corresponding parameter information of the corresponding fixing bolts of the damper obtained by the software program, and compares the picture information processed by the software program with the corresponding parameter information of the fixing bolts, and further generates displacement drive instructions for the first mechanical arm and the second mechanical arm according to the information. The matching result determines the comparison unit of the bolt in the image information, the second processing unit is configured to adjust the parameters based on the relative installation positions of the camera device and the fixing mechanism and the tensioning mechanism and generate the first mechanical arm and the second mechanical arm to drive the displacement to the corresponding position of the bolt according to the bolt position information obtained by the first processing unit, and further realize the displacement driving instructions for the disassembly module to perform directional disassembly and / or tightening of the bolt, the displacement driving module includes a first extension block respectively arranged at one end of the length direction of the support seat 7, a second extension block arranged at the other end of the length direction of the support seat 7, a first support arm fixedly connected to the first extension block, a second support arm fixedly connected to the second extension block, a base platform for fixing the first support arm and the second support arm, and a driving device for driving the base platform to move relative to the ground to realize the fixed module to clamp and fix the damper in a directional manner, wherein the first support arm and the second support arm are CNC mechanical arms with lifting and displacement functions in the prior art; wherein the first support arm and the second support arm are CNC mechanical arms with lifting and displacement functions in the prior art;,

[0034] The fixing mechanism is a clamping device fixedly installed at the front end of the first mechanical arm and fixing and clamping the screw. The clamping device is a clamping device of the prior art and is not described here. The bolt includes a nut and a screw that cooperate and lock with each other, wherein the tightening mechanism includes a fixing cap that is adapted and fixed to the nut and a rotating motor whose power output end is fixed to the central axis of the fixing cap by welding, clamping and / or bolting, and a corresponding fixed mounting seat that fixes one end of the rotating device to the top of the second mechanical arm. The fixing cap is a metal cavity with at least one opening, and the fixing cap is configured to extend from its opening to the inner wall of the cavity to match the shape of the outer wall of the nut, and then during the process of the automatic detection system detecting the damper used in the main equipment of the nuclear power plant, through the driving device The base platform is driven to be transferred to the vicinity of the target damper to be detected and the working position of the base platform is further fixed by a clamping device, wherein the driving device is an intelligent RGV and / or AGV vehicle that can be further automatically displaced and driven to the target damper according to pre-set path information, and the clamping device is a braking device for clamping and controlling the displacement of the intelligent vehicle in the prior art. The recognition module further photographs and identifies the damper to obtain the position of the damper fixing bolt, and the control device further controls the fixing module to clamp the outer wall of the damper. The control device further controls the first and second robotic arms to transfer to the position of the target bolt according to the instruction information of the second processing unit to loosen the bolts accordingly and then fix the damper on the fixing module for detection testing.

[0035] Embodiment 2:

[0036] This embodiment constructs an automatic detection system of a calibration module for calibrating detection conditions and thus ensuring the accuracy of the detection of the damper;

[0037] An automatic detection system for nuclear power plant dampers based on big data, comprising a disassembly module for disassembling and transferring the damper to be detected and fixedly installed near the main equipment of the nuclear power plant to realize further detection, a fixing module for fixing and supporting the outer wall of the shell of the damper, a stimulation detection module for subjecting the damper to corresponding intensity stimulation conditions to further detect the corresponding shock absorption performance of the damper, a calibration module for monitoring the clamping stability of the damper by the fixing module to further ensure the accuracy of the detection result of the detection module, and a displacement driving module for driving the fixing module to displace to the target damper so as to realize the directional fixed clamping of the damper by the fixing module. The disassembly module comprises An identification module for positioning and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for adapting and fixing the nuts of the bolts and further rotating and driving them in different directions to further loosen and tighten the bolts. The fixing module includes at least two clamping units that clamp different areas of the housing of the damper respectively, wherein each of the clamping units includes a plate-shaped support seat 7, a first fixing block arranged on the first end face of the support seat 7, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, and a first rotating rod that movably passes through the first fixing block and the second fixing block and is arranged perpendicular to the first fixing block. 9, a second rotating rod 10 that movably passes through the first fixed block and the second fixed block and is arranged in parallel with the first rotating rod 9, a clamping block 2 that is movably sleeved on the ends of the first rotating rod 9 and the second rotating rod 10, a first driving mechanism that drives the first rotating rod 9 to rotate, and a second driving mechanism that drives the first rotating rod 9 to rotate, the stimulation detection module includes a thrust device that applies a force to the damper with a predetermined intensity, a displacement sensor that detects the displacement speed of the movable end of the damper, and a processor that collects and further analyzes data during the detection experiment of the damper, the calibration module includes a pressure sensor that is evenly laid on the contact end of the clamping block 2 and the damper, and a pressure sensor that is set The clamping surface of each clamping block 2 clamps the damper and strengthens the fixing module to the shell by negative pressure adsorption, and the clamping device fixes the displacement driving module to the relative area of ​​the ground for work. The displacement driving module includes a first extension block respectively arranged at one end of the length direction of the support seat 7, a second extension block arranged at the other end of the length direction of the support seat 7, a first support arm fixedly connected to the first extension block, a second support arm fixedly connected to the second extension block, a base table for fixing the first support arm and the second support arm, and a driving device for driving the base table to move relative to the ground to realize the fixed module to clamp and fix the damper in a directional manner.The adsorption component includes an adsorption plate 1 embedded in the clamping block 2, an air circulation hole arranged on the top of the adsorption plate 1, a conduit 3 of opaque material corresponding to the air flow hole of each adsorption plate 1 for air flow transportation, and a negative pressure regulating chamber connected to the conduit 3 and generating negative pressure. The automatic detection system also includes a control device that further realizes the coordinated operation of each module of the system by being electrically connected to each electrical device in the system. On the other hand, the present invention provides a computer-readable storage medium, which includes a control method program of the automatic detection system. When the control method program of the automatic detection system is executed by the control device, the steps of the control driving method of the automatic detection system are realized;

[0038] The fixing module includes at least two clamping units for clamping different areas of the housing of the damper, each of which includes a plate-shaped support seat 7, a first fixing block arranged on a first end face of the support seat 7, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, a first rotating rod 9 that movably passes through the first fixing block and the second fixing block and is arranged perpendicular to the first fixing block, a second rotating rod 10 that movably passes through the first fixing block and the second fixing block and is arranged parallel to the first rotating rod 9, a clamping block 2 that movably sleeves on the ends of the first rotating rod 9 and the second rotating rod 10, a first driving mechanism that drives the first rotating rod 9 to rotate, and a first driving mechanism that drives the first rotating rod 9 to rotate. The second driving mechanism for rotating the movable rod 9 and the clamping surface arranged on each of the clamping blocks 2 for clamping the damper strengthen the fixed adsorption member of the fixed module through negative pressure adsorption, wherein the clamping block 2 includes a first clamping block 2 arranged at one end of the first rotating rod 9, a second clamping block 2 fixedly arranged at the other end of the first rotating rod 9, a third clamping block 2 fixedly arranged at one end of the second rotating rod 10, and a fourth clamping block 2 fixedly arranged at the second rotating rod 10, wherein the first clamping block 2 and the third clamping block 2 are located on the same side of the length direction of the fixed plate, and one end of the first rotating rod 9 is extended to be provided with a first An extension rod, the other end of the second rotating rod 10 is extended with a second extension rod with a diameter smaller than the second rotating rod 10 and coaxially arranged with the second rotating rod 10, the first driving mechanism includes a first fixing piece with an internal opening cavity cooperating with the first extension rod and riveted to one end of the first rotating rod 9 through a corresponding fixing element, a first linear motor fixedly connected to one end of the first fixing piece through a rotatable coupling, the second driving mechanism includes a second fixing piece with an internal opening cavity cooperating with the second extension rod and riveted to the other end of the second rotating rod 10 through a bolt, and a second linear motor fixedly connected to the other end of the second fixing piece through a rotatable coupling, The first linear motor and the second linear motor are respectively installed on the support seat 7 through corresponding mounting seats, and then the first driving mechanism and the second driving mechanism respectively drive the first rotating shaft and the second rotating shaft to drive the clamping block 2 to fix and support the damper housing, and at the same time, the clamping force of the fixing plate on the housing is realized by driving the first rotating shaft and / or the second rotating shaft to rotate. The disassembly module includes an identification module for positioning and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for adapting and fixing the nuts of the bolts and further rotating and driving them in different directions to further loosen and tighten the bolts.The disassembly module also includes a first mechanical arm whose top end is fixed to the fixing mechanism and whose bottom end is fixed to the base platform, and a second mechanical arm whose top end is fixed to the tensioning mechanism and whose bottom end is also fixed to the base platform, wherein the mechanical arm is a CNC intelligent mechanical arm in the prior art, and the recognition module includes a camera for image acquisition, a fixing bracket for fixing the camera to the upper end of the base platform to photograph and identify the bolts of the damper, a first processing unit connected to the camera and receiving the image information photographed by the camera to further analyze and process the position information of the damper bolts, and further generating corresponding displacement drive instructions for the first mechanical arm and the second mechanical arm according to the signal detected by the first processing unit, wherein the fixed frame is the prior art and will not be repeated here, the first processing unit and the second processing unit are single-chip microcomputers in the prior art, and the first processing unit stores a software program pre-installed with data analysis and processing of the image information, stores corresponding parameter information of the corresponding fixing bolts of the damper obtained by the software program, and generates corresponding displacement drive instructions for the software program. The image information processed by the software is compared with the corresponding parameter information of the fixing bolt, and the comparison unit of the bolt in the image information is further determined according to the information matching result. The second processing unit is configured to adjust the parameters based on the relative installation positions of the camera device and the fixing mechanism and the tensioning mechanism, and generate the first mechanical arm and the second mechanical arm to drive the displacement to the corresponding position of the bolt according to the bolt position information obtained by the first processing unit, and further realize the displacement driving instructions for the disassembly module to perform directional disassembly and / or tightening of the bolt. The displacement driving module includes a first extension block respectively arranged at one end of the length direction of the support seat 7, a second extension block arranged at the other end of the length direction of the support seat 7, a first support arm fixedly connected to the first extension block, a second support arm fixedly connected to the second extension block, a base for fixing the first support arm and the second support arm, and a driving device for driving the base to move relative to the ground to realize the directional clamping and fixing of the damper by the fixing module;

[0039] The fixing mechanism is a clamping device fixedly installed at the front end of the first mechanical arm and fixing and clamping the screw. The clamping device is a clamping device of the prior art and is not described here. The bolt includes a nut and a screw that cooperate and lock with each other, wherein the tightening mechanism includes a fixing cap that is adapted and fixed to the nut and a rotating motor whose power output end is fixed to the central axis of the fixing cap by welding, clamping and / or bolting, and a corresponding fixed mounting seat that fixes one end of the rotating device to the top of the second mechanical arm. The fixing cap is a metal hollow cavity with at least one opening, and the fixing cap is configured to extend from its opening to the inner wall of the cavity to match the shape of the outer wall of the nut. Furthermore, during the process of the automatic detection system detecting the dampers used in the main equipment of the nuclear power plant, the base platform is driven by the driving device to be transferred to the vicinity of the target damper to be detected and further clamped by the clamping device. The tightening device fixes the working position of the base platform, wherein the driving device is an intelligent RGV and / or AGV trolley that can be further automatically displaced and driven to the target damper according to the preset path information, and the clamping device is a brake device for clamping and controlling the displacement of the intelligent trolley in the prior art. The recognition module further photographs and identifies the damper to obtain the position of the damper fixing bolt, and then the control device clamps the outer wall of the damper by controlling the fixing module. Further, the control device controls the first mechanical arm and the second mechanical arm to transfer to the position of the target bolt with the instruction information of the second processing unit to loosen the bolt accordingly, and then fix the damper on the fixing module for detection test. After the detection of the detection module is completed, the control device controls the fixing module and the disassembly module to tighten and install the corresponding fixing bolts of the damper;

[0040] The adsorption component includes an adsorption plate 1 embedded in the clamping block 2, an air circulation hole arranged on the top of the adsorption plate 1, a conduit 3 of opaque material corresponding to the air flow hole of each adsorption plate 1 for air transportation, and a negative pressure regulating chamber connected to the conduit 3 and generating a corresponding negative pressure. The adsorption end is the end of the adsorption plate 1 that contacts the damper, the adsorption plate 1 is partially embedded in the fixed plate and the adsorption plate 1 includes a body with an elastic structure embedded in the fixed plate and a thin film layer connected to the edge of the body near the adsorption end, the thin film layer is in contact with the shell, and the air The flow hole is connected to the negative pressure regulating chamber through the conduit 3, and the negative pressure chamber includes a closed box body 4, a vent pipe 6 arranged on the closed box body 4, a vacuum generating device 5 connected to the box body through the vent pipe 6 to drive the box body to generate a vacuum inside the box body and thus adjust the negative pressure inside the box body, and a plurality of air ducts extending outward in a tubular shape and connected to each of the conduits 3 to generate a negative pressure in the cavity of the adsorption disk 1 and thus generate an adsorption force on the shell, wherein an electromagnetic valve for controlling the connection of the air duct is arranged in the air duct, and at least two monitoring valves for monitoring the connection between the conduits 3 and the air duct are evenly laid on the outside of the air duct. The airtightness monitoring sensor is a photosensor arranged at the connection between the airway and the catheter 3. The photosensor monitors the light transmission signal at the connection between the airway and the catheter 3. When the monitoring value of the photosensor exceeds the light signal intensity threshold, it is judged that the airtightness of the connection between the airway and the catheter 3 at its location is unqualified. The light signal intensity threshold is the light signal value with the lowest intensity corresponding to the unqualified airtightness of the connection between the airway and the catheter 3 obtained by a technician in this field through a large number of repeated tests. At the same time, the control device receives the monitoring information of the monitoring sensor and generates a signal when the monitoring value of the photosensor exceeds the light signal intensity threshold. When the air tightness between the connecting channel and the conduit 3 at the position where the sensor monitors is abnormal, the control device further controls the electromagnetic valve of the corresponding air guide channel with the air tightness abnormality to be closed, thereby effectively realizing the synchronous and effective control of the negative pressure chamber over the multiple adsorption disks 1, avoiding the air tightness failure in the adsorption component, thereby reducing the stability and uniformity of the clamping force of the fixing module on the damper, and further affecting the detection result of the detection module. The fixing module is configured to clamp the damper with a predetermined clamping force, and the clamping force of the control device and the clamping block 2 on the damper is detected by the pressure sensor of the clamping block 2.

[0041] Embodiment three:

[0042] This embodiment constructs an automatic detection system capable of detecting the damper under a predetermined intensity excitation condition and then detecting the damper performance;

[0043] An automatic detection system for nuclear power plant dampers based on big data, comprising a disassembly module for disassembling and transferring the damper to be detected and fixedly installed near the main equipment of the nuclear power plant to realize further detection, a fixing module for fixing and supporting the outer wall of the shell of the damper, a stimulation detection module for subjecting the damper to corresponding intensity stimulation conditions to further detect the corresponding shock absorption performance of the damper, a calibration module for monitoring the clamping stability of the damper by the fixing module to further ensure the accuracy of the detection result of the detection module, and a displacement driving module for driving the fixing module to displace to the target damper so as to realize the directional fixed clamping of the damper by the fixing module. The disassembly module comprises An identification module for positioning and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for adapting and fixing the nuts of the bolts and further rotating and driving them in different directions to further loosen and tighten the bolts. The fixing module includes at least two clamping units that clamp different areas of the housing of the damper respectively, wherein each of the clamping units includes a plate-shaped support seat 7, a first fixing block arranged on the first end face of the support seat 7, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, and a first rotating rod that movably passes through the first fixing block and the second fixing block and is arranged perpendicular to the first fixing block. 9, a second rotating rod 10 that movably passes through the first fixed block and the second fixed block and is arranged in parallel with the first rotating rod 9, a clamping block 2 that is movably sleeved on the ends of the first rotating rod 9 and the second rotating rod 10, a first driving mechanism that drives the first rotating rod 9 to rotate, and a second driving mechanism that drives the first rotating rod 9 to rotate, the stimulation detection module includes a thrust device that applies a force to the damper with a predetermined intensity, a displacement sensor that detects the displacement speed of the movable end of the damper, and a processor that collects and further analyzes data during the detection experiment of the damper, the calibration module includes a pressure sensor that is evenly laid on the contact end of the clamping block 2 and the damper, and a pressure sensor that is set The clamping surface of each clamping block 2 clamps the damper and strengthens the fixing module to the shell by negative pressure adsorption, and the clamping device fixes the displacement driving module to the relative area of ​​the ground for work. The displacement driving module includes a first extension block respectively arranged at one end of the length direction of the support seat 7, a second extension block arranged at the other end of the length direction of the support seat 7, a first support arm fixedly connected to the first extension block, a second support arm fixedly connected to the second extension block, a base table for fixing the first support arm and the second support arm, and a driving device for driving the base table to move relative to the ground to realize the fixed module to clamp and fix the damper in a directional manner.The adsorption component includes an adsorption plate 1 embedded in the clamping block 2, an air circulation hole arranged on the top of the adsorption plate 1, a conduit 3 of opaque material corresponding to the air flow hole of each adsorption plate 1 for air flow transportation, and a negative pressure regulating chamber connected to the conduit 3 and generating negative pressure. The automatic detection system also includes a control device that further realizes the coordinated operation of each module of the system by being electrically connected to each electrical device in the system. On the other hand, the present invention provides a computer-readable storage medium, which includes a control method program of the automatic detection system. When the control method program of the automatic detection system is executed by the control device, the steps of the control driving method of the automatic detection system are realized;

[0044] The fixing module includes at least two clamping units for clamping different areas of the housing of the damper, each of which includes a plate-shaped support seat 7, a first fixing block arranged on a first end face of the support seat 7, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, a first rotating rod 9 that movably passes through the first fixing block and the second fixing block and is arranged perpendicular to the first fixing block, a second rotating rod 10 that movably passes through the first fixing block and the second fixing block and is arranged parallel to the first rotating rod 9, a clamping block 2 that movably sleeves on the ends of the first rotating rod 9 and the second rotating rod 10, a first driving mechanism that drives the first rotating rod 9 to rotate, and a first driving mechanism that drives the first rotating rod 9 to rotate. The second driving mechanism for rotating the movable rod 9 and the clamping surface arranged on each of the clamping blocks 2 for clamping the damper strengthen the fixed adsorption member of the fixed module through negative pressure adsorption, wherein the clamping block 2 includes a first clamping block 2 arranged at one end of the first rotating rod 9, a second clamping block 2 fixedly arranged at the other end of the first rotating rod 9, a third clamping block 2 fixedly arranged at one end of the second rotating rod 10, and a fourth clamping block 2 fixedly arranged at the second rotating rod 10, wherein the first clamping block 2 and the third clamping block 2 are located on the same side of the length direction of the fixed plate, and one end of the first rotating rod 9 is extended to be provided with a first An extension rod, the other end of the second rotating rod 10 is extended with a second extension rod with a diameter smaller than the second rotating rod 10 and coaxially arranged with the second rotating rod 10, the first driving mechanism includes a first fixing piece with an internal opening cavity cooperating with the first extension rod and riveted to one end of the first rotating rod 9 through a corresponding fixing element, a first linear motor fixedly connected to one end of the first fixing piece through a rotatable coupling, the second driving mechanism includes a second fixing piece with an internal opening cavity cooperating with the second extension rod and riveted to the other end of the second rotating rod 10 through a bolt, and a second linear motor fixedly connected to the other end of the second fixing piece through a rotatable coupling, The first linear motor and the second linear motor are respectively installed on the support seat 7 through corresponding mounting seats, and then the first driving mechanism and the second driving mechanism respectively drive the first rotating shaft and the second rotating shaft to drive the clamping block 2 to fix and support the damper housing, and at the same time, the clamping force of the fixing plate on the housing is realized by driving the first rotating shaft and / or the second rotating shaft to rotate. The disassembly module includes an identification module for positioning and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for adapting and fixing the nuts of the bolts and further rotating and driving them in different directions to further loosen and tighten the bolts.The disassembly module also includes a first mechanical arm whose top end is fixed to the fixing mechanism and whose bottom end is fixed to the base platform, and a second mechanical arm whose top end is fixed to the tensioning mechanism and whose bottom end is also fixed to the base platform, wherein the mechanical arm is a CNC intelligent mechanical arm in the prior art, and the recognition module includes a camera for image acquisition, a fixing bracket for fixing the camera to the upper end of the base platform to photograph and identify the bolts of the damper, a first processing unit connected to the camera and receiving the image information photographed by the camera to further analyze and process the position information of the damper bolts, and further generating corresponding displacement drive instructions for the first mechanical arm and the second mechanical arm according to the signal detected by the first processing unit, wherein the fixed frame is the prior art and will not be repeated here, the first processing unit and the second processing unit are single-chip microcomputers in the prior art, and the first processing unit stores a software program pre-installed with data analysis and processing of the image information, stores corresponding parameter information of the corresponding fixing bolts of the damper obtained by the software program, and generates corresponding displacement drive instructions for the software program. The image information processed by the software is compared with the corresponding parameter information of the fixing bolt, and the comparison unit of the bolt in the image information is further determined according to the information matching result. The second processing unit is configured to adjust the parameters based on the relative installation positions of the camera device and the fixing mechanism and the tensioning mechanism, and generate the first mechanical arm and the second mechanical arm to drive the displacement to the corresponding position of the bolt according to the bolt position information obtained by the first processing unit, and further realize the displacement driving instructions for the disassembly module to perform directional disassembly and / or tightening of the bolt. The displacement driving module includes a first extension block respectively arranged at one end of the length direction of the support seat 7, a second extension block arranged at the other end of the length direction of the support seat 7, a first support arm fixedly connected to the first extension block, a second support arm fixedly connected to the second extension block, a base for fixing the first support arm and the second support arm, and a driving device for driving the base to move relative to the ground to realize the directional clamping and fixing of the damper by the fixing module;

[0045] The fixing mechanism is a clamping device fixedly installed at the front end of the first mechanical arm and fixing and clamping the screw. The clamping device is a clamping device of the prior art and is not described here. The bolt includes a nut and a screw that cooperate and lock with each other, wherein the tightening mechanism includes a fixing cap that is adapted and fixed to the nut and a rotating motor whose power output end is fixed to the central axis of the fixing cap by welding, clamping and / or bolting, and a corresponding fixed mounting seat that fixes one end of the rotating device to the top of the second mechanical arm. The fixing cap is a metal hollow cavity with at least one opening, and the fixing cap is configured to extend from its opening to the inner wall of the cavity to match the shape of the outer wall of the nut. Furthermore, during the process of the automatic detection system detecting the dampers used in the main equipment of the nuclear power plant, the base platform is driven by the driving device to be transferred to the vicinity of the target damper to be detected and further clamped by the clamping device. The tightening device fixes the working position of the base platform, wherein the driving device is an intelligent RGV and / or AGV trolley that can be further automatically displaced and driven to the target damper according to the preset path information, and the clamping device is a brake device for clamping and controlling the displacement of the intelligent trolley in the prior art. The recognition module further photographs and identifies the damper to obtain the position of the damper fixing bolt, and then the control device clamps the outer wall of the damper by controlling the fixing module. Further, the control device controls the first mechanical arm and the second mechanical arm to transfer to the position of the target bolt with the instruction information of the second processing unit to loosen the bolt accordingly, and then fix the damper on the fixing module for detection test. After the detection of the detection module is completed, the control device controls the fixing module and the disassembly module to tighten and install the corresponding fixing bolts of the damper;

[0046] The adsorption component includes an adsorption plate 1 embedded in the clamping block 2, an air circulation hole arranged on the top of the adsorption plate 1, a conduit 3 of opaque material corresponding to the air flow hole of each adsorption plate 1 for air transportation, and a negative pressure regulating chamber connected to the conduit 3 and generating a corresponding negative pressure. The adsorption end is the end of the adsorption plate 1 that contacts the damper, the adsorption plate 1 is partially embedded in the fixed plate and the adsorption plate 1 includes a body with an elastic structure embedded in the fixed plate and a thin film layer connected to the edge of the body near the adsorption end, the thin film layer is in contact with the shell, and the air The flow hole is connected to the negative pressure regulating chamber through the conduit 3, and the negative pressure chamber includes a closed box body 4, a vent pipe 6 arranged on the closed box body 4, a vacuum generating device 5 connected to the box body through the vent pipe 6 to drive the box body to generate a vacuum inside the box body and thus adjust the negative pressure inside the box body, and a plurality of air ducts extending outward in a tubular shape and connected to each of the conduits 3 to generate a negative pressure in the cavity of the adsorption disk 1 and thus generate an adsorption force on the shell, wherein an electromagnetic valve for controlling the connection of the air duct is arranged in the air duct, and at least two monitoring valves for monitoring the connection between the conduits 3 and the air duct are evenly laid on the outside of the air duct. The airtightness monitoring sensor is a photosensor arranged at the connection between the airway and the catheter 3. The photosensor monitors the light transmission signal at the connection between the airway and the catheter 3. When the monitoring value of the photosensor exceeds the light signal intensity threshold, it is judged that the airtightness of the connection between the airway and the catheter 3 at its location is unqualified. The light signal intensity threshold is the light signal value with the lowest intensity corresponding to the unqualified airtightness of the connection between the airway and the catheter 3 obtained by a technician in this field through a large number of repeated tests. At the same time, the control device receives the monitoring information of the monitoring sensor and generates a signal when the monitoring value of the photosensor exceeds the light signal intensity threshold. When the air tightness between the connecting channel and the conduit 3 at the position where the sensor monitors is abnormal, the control device further controls the electromagnetic valve of the corresponding air guide channel with air tightness abnormality to close, thereby effectively realizing the synchronous and effective control of the negative pressure chamber on the multiple adsorption disks 1, avoiding the air tightness failure in the adsorption component, thereby reducing the stability and uniformity of the clamping and fixing force of the damper by the fixing module, and further affecting the detection result of the detection module. The fixing module is configured to clamp the damper with a predetermined clamping force, based on the clamping force of the control device and the clamping block 2 on the damper detected by the pressure sensor of the clamping block 2;

[0047] The stimulation detection module includes a thrust device that applies a force to the damper with a predetermined strength, the thrust device includes a lifting device with a lifting function arranged on the base platform, a fixed support fixed to the lifting device, a hydraulic pusher installed on the top of the fixed support, and a plurality of hydraulic rods connecting the fixed support and the base platform through a universal coupling, one end of the hydraulic rod is evenly distributed and installed around the fixed support through a universal coupling, and the other end of the hydraulic rod is evenly installed on the base platform through a universal coupling. When the lifting platform performs a lifting movement, the hydraulic rod is correspondingly synchronously extended and retracted, and the hydraulic rod strengthens the fixing effect of the fixed support on the hydraulic pusher, thereby ensuring the stability of the pin head of one end of the damper with a piston that the hydraulic pusher acts on with a predetermined excitation thrust, and the pin head of one end of the damper with a movable piston that the hydraulic pusher acts on is the test end, and the damper housing is fixed by the fixing module with a predetermined fixing strength, and further the external force simulation load with a preset excitation strength is applied to the test end of the damper through the thrust device;

[0048] The processor includes a data collection unit for collecting test parameters and a calculation unit for analyzing and processing the parameters collected by the collection unit to obtain the performance index of the damper, wherein the collection unit collects the thrust value N corresponding to the thrust device in each detection test, the pin displacement velocity V detected by the displacement sensor at the test end of the damper, and the average value P of the clamping force values ​​on the outer wall of the damper housing detected by all the pressure sensors, wherein C is the performance index of the damper, and A is a set of corresponding values ​​of all performance indicators obtained by technicians in the field after a large number of repeated test training when the corresponding damping performance of the corresponding model of the damper is within the qualified range, wherein the calculation unit includes a calculation method for the values ​​collected by each collection unit for each detection experiment:

[0049] C=(N m1 +V m2 +P m3 )k;

[0050] Wherein, C1, C2, C3...Cn are obtained by conducting n experiments on the same damper with the thrust device under different intensities and corresponding excitation conditions, wherein n is a natural number, m1 is a parameter related to the priority of the thrust value and the performance index, m2 is a parameter related to the priority of the displacement velocity and the performance index, m3 is a parameter related to the priority of the clamping force value and the performance index, and k is a correlation coefficient value obtained by technicians in this field through repeated experimental training;

[0051] The calculation unit further compares the performance index value obtained for the same damper under test with the performance index value range within the qualified range corresponding to the model of the damper under test, i.e., set A, to automatically determine whether the product is qualified. The calculation unit also includes a method for further analyzing the performance index C calculated for the same damper to obtain the damping performance of the damper:

[0052] When max(Co)∈A, e1=1, when When e1=0;

[0053] When min(Ci)∈A, e2=1, when When e2=0;

[0054] Further, e = e1 + e2;

[0055] Wherein max(Co) represents the maximum value of the performance index obtained by performing n detection tests on the same damper, min(Ci) represents the minimum value of the performance index obtained by performing n detection tests on the same damper, e is a measurement evaluation index, when e is 1, the detection result of the damper is unqualified, and when e is 2, the detection result of the damper is qualified, and further the processor generates a test report for the damper;

[0056] The method adopts a large test bench to automatically test the working performance of large hydraulic dampers in nuclear power plants, thereby ensuring the test accuracy of the damping performance of the dampers and improving the accuracy of the test results. The method effectively reduces the difficulty of disassembly and installation of large hydraulic dampers during detection by automatically disassembling the dampers, improves the detection efficiency of large hydraulic dampers, reduces the labor intensity of operators, is suitable for regular automatic detection of dampers in nuclear power plants, and has strong practicality.

Claims

1. An automatic detection system for nuclear power plant dampers based on big data, characterized in that: The automatic detection system includes a disassembly module for disassembling and transferring the damper to be detected and fixedly installed near the main equipment of the nuclear power plant to realize further detection work, a fixing module for fixing and supporting the outer wall of the shell of the damper, a stimulation detection module for subjecting the damper to corresponding intensity stimulation conditions to further detect the corresponding shock absorption performance of the damper, a calibration module for monitoring the clamping stability of the damper by the fixing module to further ensure the accuracy of the detection result of the detection module, and a displacement driving module for driving the fixing module to displace to the target damper to realize the fixed clamping of the damper by the fixing module; The fixing module comprises at least two clamping units for clamping different areas of the housing of the damper respectively, wherein each of the clamping units comprises a plate-shaped support seat, a first fixing block arranged on a first end face of the support seat, a second fixing block arranged opposite to the first fixing block and fixed on the first end face, a first rotating rod movably passing through the first fixing block and the second fixing block and arranged perpendicularly to the first fixing block, a second rotating rod movably passing through the first fixing block and the second fixing block and arranged parallel to the first rotating rod, clamping blocks movably sleeved on ends of the first rotating rod and the second rotating rod respectively, a first driving mechanism for driving the first rotating rod to rotate, and a second driving mechanism for driving the first rotating rod to rotate; The disassembly module includes an identification module for positioning and identifying the fixing bolts that fix the damper to the corresponding working position, a fixing mechanism for fixing the screws of the bolts, and a loosening mechanism for fitting and fixing the nuts of the bolts and further rotating and driving in different directions to further loosen and tighten the bolts; The stimulation detection module includes a thrust device that applies a force of a predetermined intensity to the damper, a displacement sensor that detects the displacement speed of the active end of the damper, and a processor that collects and further analyzes the data during the detection experiment; The calibration module includes a pressure sensor evenly arranged at the contact end of the clamping block and the damper, an adsorption member arranged on the clamping surface of each clamping block to clamp the damper and strengthen the fixation of the fixing module through negative pressure adsorption, and a clamping device to fix the displacement driving module to the relative area of ​​the ground for operation; The automatic detection system also includes a control device that is electrically connected to each electrical device in the system to further achieve coordinated operation of each module of the system; The processor includes a data collection unit for collecting test parameters and a calculation unit for analyzing and processing the parameters collected by the collection unit to obtain the performance index of the damper, wherein the collection unit collects the thrust value N corresponding to the thrust device in each detection test, the pin head displacement speed V detected by the displacement sensor at the test end of the damper, and the average value P of the clamping force values ​​on the outer wall of the damper housing detected by all the pressure sensors, wherein C is the performance index of the damper, and the calculation unit includes a calculation method for the values ​​collected by the collection unit for each detection experiment: C = (N^m1+V^m2+P^m3) k, Among them, C1, C2, C3...Cn are obtained by conducting n experiments on the same damper with the thrust device under different intensities and corresponding excitation conditions, wherein n is a natural number, m1 is a parameter related to the priority of the thrust value and the performance index, m2 is a parameter related to the priority of the displacement velocity and the performance index, m3 is a parameter related to the priority of the clamping force value and the performance index, and k is a correlation coefficient value obtained by technicians in this field through repeated experimental training; The calculation unit also includes a method for further analyzing and processing the performance index C calculated by the same damper to obtain the damping performance of the damper: When max(Co)∈A, e1=1, when max(Co)∉A, e1=0; When min(Ci)∈A, e2=1, when min(Ci)∉A, e2=0; Further, e=e1+e2; Wherein, max(Co) represents the maximum value of the performance index obtained by performing n detection tests on the same damper, min(Ci) represents the minimum value of the performance index obtained by performing n detection tests on the same damper, e is a measurement evaluation index, when e is 1, the detection result of the damper is unqualified, and when e is 2, the detection result of the damper is qualified; The adsorbent comprises an adsorption plate embedded in the clamping block, an air circulation hole arranged on the top of the adsorption plate, a conduit made of an opaque material correspondingly connected to the air circulation hole of each adsorption plate for air transportation, and a negative pressure regulating chamber connected to the conduit and generating negative pressure; The adsorption end is an end of the adsorption plate (1) that contacts the damper. The adsorption plate (1) is partially embedded in a fixed plate and comprises a body with an elastic structure embedded in the fixed plate and a film layer connected to the body at an edge close to the adsorption end. The film layer contacts the shell. The air circulation hole is connected to the negative pressure regulating chamber through a conduit (3). The negative pressure regulating chamber comprises a sealed box (4), a vent pipe (6) disposed on the sealed box (4), and a vent pipe (6) connected to the box through the vent pipe (6) to drive the box to generate negative pressure. A vacuum generating device (5) for adjusting the negative pressure in the box body by vacuum, a plurality of air ducts extending outward in the shape of tubes and arranged on the box body and connected with each of the conduits (3) to generate negative pressure in the cavity of the adsorption disk (1) and to generate adsorption force on the shell, wherein an electromagnetic valve for controlling the connection of the air duct is arranged in the air duct, and at least two monitoring sensors for monitoring the air tightness of the connection between the conduits (3) and the air duct are evenly arranged outside the air duct, wherein the monitoring sensors are light-sensitive sensors arranged at the connection between the air duct and the conduit (3), and the light-sensitive sensors are arranged at the connection between the air duct and the conduit (3). The light sensor monitors the light transmission signal at the connection between the airway and the catheter (3), and when the light sensor monitoring value exceeds the light signal intensity threshold, it is determined that the air tightness of the connection between the airway and the catheter (3) at the location thereof is unqualified, wherein the light signal intensity threshold is the light signal value with the lowest intensity corresponding to the unqualified air tightness of the connection between the airway and the catheter (3) obtained by a person skilled in the art through a large number of repeated tests, and at the same time, the control device receives the monitoring information of the monitoring sensor and determines the air tightness between the connection between the airway and the catheter (3) at the location where the monitoring sensor is located. The control device further controls the electromagnetic valve of the corresponding air duct with abnormal air tightness to close at all times, thereby effectively realizing the synchronous and effective control of the negative pressure chamber on the multiple adsorption disks (1), avoiding the air tightness failure in the adsorption component, thereby reducing the stability and uniformity of the clamping force of the fixing module on the damper, and further affecting the detection result of the detection module. The fixing module is configured to clamp the damper with a predetermined clamping force, and the clamping force of the control device and the clamping block (2) on the damper is detected based on the pressure sensor of the clamping block (2).

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