Underwater split pin replacement equipment and split pin locking device for nuclear power plants

Abstract

The present invention relates to an underwater cotter pin replacement device and a cotter pin locking device for a nuclear power plant. The cotter pin locking device is used to tighten the cotter pin with a nut, and includes a locking assembly and a clamping assembly; the locking assembly includes a locking head and a first driving assembly, the locking head is used to fix the nut and is rotatably installed, the first driving assembly is connected to the locking head to drive the locking head to rotate; the clamping assembly includes a chuck and a second driving assembly, the chuck is used to fix the cotter pin and is rotatably installed, the second driving assembly is connected to the chuck to drive the locking head to rotate; the chuck is located directly below the locking head. Since the present invention uses the locking assembly and the clamping assembly to tighten the cotter pin assembly, the whole process can be carried out underwater, and there is no need for personnel to enter underwater for replacement, the cost is low, and the influence of radiation on personnel is eliminated from the source.

Description

Technical Field

[0001] The invention relates to the field of nuclear power plant maintenance, and more specifically to underwater cotter pin replacement equipment and a cotter pin locking device for a nuclear power plant. Background Art

[0002] like Figures 1 to 3 As shown, the cotter pin assembly 100 of the control rod guide cylinder of the nuclear power plant internal component in the related art includes a cotter pin 101, a nut 102, a locking pin 103 and a locking block 104. The cotter pin 101 is vertically arranged during assembly, and is provided with notches at the top and bottom thereof, and can be threadedly connected with the nut 102, and the nut 102 contains a hexagonal nut. The locking pin 103 can be installed on the nut 102 in a direction perpendicular to the axial direction of the nut 102, and when the nut 102 rotates, the locking pin 103 will rotate with the nut 102. The bottom of the locking block 104 is provided with a protrusion, which can be matched with the notch at the top of the cotter pin 101. When the locking block 104 does not rotate relative to each other, the cotter pin 101 cannot rotate relative to each other. When the various components of the cotter pin assembly 100 are in the assembled position, they can be fixed by welding the locking pin 103 and the locking block 104, and there is no relative rotation between the cotter pin 101 and the nut 102.

[0003] When the cotter pin assembly 100 is damaged and needs to be replaced, it needs to be done underwater because it has radiation, and a hoist is needed to lift the tools such as the tooling required for installation to the hot chamber, so the replacement cost is high; and the replacement risk is high, which may cause personnel to be exposed to radiation. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an improved underwater cotter pin replacement device and a cotter pin locking device for a nuclear power plant.

[0005] The technical solution adopted by the present invention to solve its technical problem is: constructing a cotter pin locking device for tightening the cotter pin and the nut, including a locking assembly and a clamping assembly; the locking assembly includes a locking head and a first driving assembly, the locking head is used to fix the nut and is rotatably installed, and the first driving assembly is connected to the locking head to drive the locking head to rotate; the clamping assembly includes a chuck and a second driving assembly, the chuck is used to fix the cotter pin and is rotatably installed, and the second driving assembly is connected to the chuck to drive the locking head to rotate; the chuck is located directly below the locking head.

[0006] In some embodiments, the first drive assembly includes a locking head tightening device and a first torque drive motor connected to the locking head tightening device; the first torque drive motor is used to drive the locking head tightening device to rotate, and the locking head is connected to one end of the locking head tightening device.

[0007] In some embodiments, the locking head tightening device includes a fan-shaped gear plate, the gear plate includes a fan-shaped gear plate body and saw teeth arranged on the arc of the gear plate body, and the first torque drive motor includes a driving gear; the driving gear is meshed with the saw teeth.

[0008] In some embodiments, the locking head is coaxially connected to the gear plate.

[0009] In some embodiments, the gear plate includes at least two arc-shaped guide grooves formed on the gear plate body, and the guide grooves are coaxial with the gear plate.

[0010] In some embodiments, the locking head tightening device includes a guide wheel group, the guide wheel group includes at least two groups of guide wheels, and the guide wheel group cooperates with the guide groove; the axes of the two groups of guide wheels are coplanar with the axis of the gear plate.

[0011] In some embodiments, the first drive assembly further includes a first torque sensor, which is connected to the first torque drive motor; the first torque sensor is used to sense the torque output by the first torque drive motor.

[0012] In some embodiments, the second drive assembly includes a second torque drive motor, the second torque drive motor is connected to the chuck, and the second torque drive motor is used to drive the chuck to rotate.

[0013] In some embodiments, the second drive assembly includes an electric push cylinder connected to the bottom of the chuck, and the electric push cylinder is used to push the chuck upward to facilitate the connection between the cotter pin and the nut.

[0014] In some embodiments, the chuck includes a plurality of jaws and a protrusion located at the center of the plurality of jaws, the protrusion cooperates with the notch at the lower end of the cotter pin, and the plurality of jaws can be closed and opened relative to the protrusion.

[0015] In some embodiments, the chuck includes a servo motor, a gear set matched with the servo motor, a ball screw connected to the gear set, and a transmission gear matched with the ball screw; the transmission gear is connected to the clamping jaw.

[0016] In some embodiments, the second torque drive motor includes a servo motor and an encoder matched with the servo motor, and the encoder makes the notch at the bottom of the cotter pin face an angle of 90° or 180°.

[0017] A nuclear power plant underwater cotter pin replacement device is also constructed, which includes the cotter pin locking device described in any of the above items and also includes a three-coordinate platform, and the cotter pin locking device is installed on the three-coordinate platform.

[0018] In some embodiments, the three-coordinate platform includes a base and a first movable platform movably mounted on the base, and the first movable platform can move relative to the base along the Y direction.

[0019] In some embodiments, the three-coordinate platform includes a second mobile platform movably mounted on the first mobile platform, and the second mobile platform can move relative to the first mobile platform along the Z direction.

[0020] In some embodiments, the underwater cotter pin replacement device of a nuclear power plant includes a robotic arm, and the robotic arm is installed on the second mobile platform.

[0021] In some embodiments, the three-coordinate platform includes a third mobile platform movably mounted on the second mobile platform, the third mobile platform can move relative to the second mobile platform along the X direction, and the cotter pin locking device is mounted on the third mobile platform.

[0022] In some embodiments, the three-coordinate platform includes a second sub-platform installed on the second mobile platform, the second sub-platform includes a second sub-platform body and a fourth fixed slide rail, a fourth movable slide rail, a third screw rod and a third servo motor connected to the third screw rod installed on the second sub-platform body along the X direction; the nuclear power plant underwater cotter pin replacement equipment also includes a locking pin introduction device, and the locking pin introduction device is installed on the fourth movable slide rail.

[0023] The implementation of the present invention has at least the following beneficial effects: since the present invention adopts the method of cooperating the locking assembly and the clamping assembly to tighten the cotter pin assembly, the whole process can be carried out underwater, and there is no need for personnel to enter underwater for replacement, the cost is low and the influence of radiation on personnel is eliminated from the source. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0025] Figure 1 is a schematic diagram of the three-dimensional structure of the split pin assembly in some embodiments of the present invention in an assembled state;

[0026] Figure 2 yes Figure 1 A cross-sectional view of the split pin assembly in an assembled state;

[0027] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the split pin assembly in an exploded state;

[0028] Figure 4 is a front view of an underwater cotter pin replacement device for a nuclear power plant in some embodiments of the present invention;

[0029] Figure 5 yes Figure 4 A schematic diagram of the three-dimensional structure of the underwater cotter pin replacement equipment of the nuclear power plant shown in another direction;

[0030] Figure 6 yes Figure 4 A schematic diagram of the three-dimensional structure of the underwater cotter pin replacement equipment of the nuclear power plant shown in another direction;

[0031] Figure 7 yes Figure 4 A three-dimensional structural schematic diagram of the underwater cotter pin replacement equipment of a nuclear power plant shown in another direction;

[0032] Figure 8 yes Figure 4 The three-dimensional structure diagram of the three-coordinate platform shown;

[0033] Fig. 9 yes Figure 4 A schematic diagram of the three-dimensional structure of the three-coordinate platform in another direction is shown;

[0034] Fig.10 yes Figure 4 A schematic diagram of the three-dimensional structure of the split pin locking device in an assembled state;

[0035] Fig.11 yes Figure 4 A schematic diagram of the three-dimensional structure of the split pin locking device in a disassembled state;

[0036] Fig.12 yes Figure 4 A front view of the split pin locking device in an assembled state;

[0037] Fig.13 yes Figure 4 A cross-sectional view of the split pin locking device in an exploded state;

[0038] Fig.14 yes Figure 4 A three-dimensional structural schematic diagram of the locking pin introduction mechanism in an assembled state;

[0039] Fig.15 yes Figure 4 A cross-sectional view of the locking pin introduction mechanism in an assembled state;

[0040] Fig.16 yes Figure 4 The shown cross-sectional view is of the locking pin ejector cylinder in the exploded state. DETAILED DESCRIPTION

[0041] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0042] Figures 4 to 7 The invention shows an underwater split pin replacement device 1 for a nuclear power plant in some embodiments of the present invention, which can be used to replace a split pin assembly 100 (such as a split pin assembly 100) of a control rod guide cylinder of a nuclear power plant internal component underwater. Figures 1 to 3 As shown). In some embodiments, the underwater cotter pin replacement device 1 of a nuclear power plant may include a three-coordinate platform 10, a cotter pin locking device 20, a mechanical arm 30, a locking pin introduction device 40, a welding tool 50, an underwater camera 60, and a control system (not shown). In some embodiments, the three-coordinate platform 10 can realize movement on the three-coordinate axes of X, Y, and Z, and is used to move components connected to the three-coordinate platform 10 in three directions. The cotter pin locking device 20 is installed on the three-coordinate platform 10, and can be moved to the position where the cotter pin assembly 100 is set under the drive of the three-coordinate platform 10, and the cotter pin assembly 100 is tightened. The cotter pin locking device 20 can be used to remove damaged or install new cotter pin assemblies 100 for internal components of a nuclear power plant underwater, so as to achieve the purpose of overhauling the nuclear power plant reactor, and no manual operation is required, which reduces the operation risk and makes the nuclear power plant reactor safer to a certain extent.

[0043] One end of the mechanical arm 30 is mounted on the three-coordinate platform 10, and the other end can be moved to the working position under the control of the control system. It can be used to clamp or adsorb components such as the cotter pin 101. The locking pin introduction device 40 is mounted on the three-coordinate platform 10 and is located above the cotter pin locking device 20. It can be used to introduce the locking pin 103 into the cotter pin assembly 100 to prevent relative rotation between the cotter pin assemblies 100. The welding tool 50 is mounted on the three-coordinate platform 10, and it can be used to weld and fix the assembled cotter pin assembly 100. The control system can be used to control the three-coordinate platform 10, the cotter pin locking device 20, the mechanical arm 30 and other components, so that the underwater cotter pin replacement equipment 1 of the nuclear power plant can disassemble and replace the cotter pin assembly 100. The underwater camera 60 has a waterproof function and can be used to observe the installation status of the cotter pin assembly 100 underwater to determine whether it is installed in place.

[0044] Read also Figure 8 and Fig. 9In some embodiments, the three-coordinate platform 10 may include a base 11, a first mobile platform 12, a second mobile platform 13, and a third mobile platform 14. The first mobile platform 12 is mounted on the base 11 in parallel, and can move back and forth in the Y direction relative to the base 11, so as to realize the movement of the components mounted on the first mobile platform 12 in the Y direction. The second mobile platform 13 is mounted on the first mobile platform 12, and can move back and forth in the Z direction relative to the first mobile platform 12, so as to realize the movement of the components mounted on the second mobile platform 13 in the Y and Z directions relative to the base 11. The third mobile platform 14 is mounted on the second mobile platform 13, and can move back and forth in the X direction relative to the second mobile platform 13, so as to realize the movement of the components mounted on the third mobile platform 14 in the three directions of X, Y, and Z relative to the base 11.

[0045] In some embodiments, the base 11 may include a base body 110, a first screw rod 111, a first servo motor 112, and a first fixed slide rail 113. The base body 110 is a rectangular flat plate, which can be used to install the first screw rod 111, the first servo motor 112, and the first fixed slide rail 113. The first servo motor 112 is connected to the first screw rod 111, and can provide power for the components of the first screw rod 111 to move along the first screw rod 111 through a gear set. The first fixed slide rail 113 and the first screw rod 111 are installed on the base body 110 in parallel in the Y direction, so that the first mobile platform 12 installed thereon can move along the Y direction.

[0046] In some embodiments, the first mobile platform 12 may include a first mobile platform body 120, a lifting motor 121, a second fixed slide rail 122, and a first movable slide rail 123. The first mobile platform body 120 is mounted on the first screw rod 111, so that it can move relative to the base 11 in the Y direction. The lifting motor 121 is vertically mounted on the first mobile platform body 120, which can be used to lift the second mobile platform 13 connected to the lifting motor 121. The second fixed slide rail 122 is vertically arranged, which is consistent with the lifting direction of the lifting motor 121. The second fixed slide rail 122 is mounted on the first mobile platform body 120, and can be used to enable the third mobile platform 13 to move relative to the first mobile platform 12 in the Z direction. The first movable slide rail 123 is mounted on the lower surface of the first mobile platform body 120, which can cooperate with the first fixed slide rail 113 on the base 11, so as to realize the movement of the first mobile platform 12 in the Y direction.

[0047] The lifting motor 121 is vertically arranged, and in some embodiments may include a lifting motor seat 1212 and a lifting column 1211 connected to the second mobile platform 13. The lifting motor seat 1212 is connected to the first mobile platform body 120, and can provide power for the extension and retraction of the lifting column 1211. The lifting column 1211 is installed on the lifting motor seat 1212, and can move up and down relative to the lifting motor seat 1212. The upper end of the lifting column 1211 is connected to the second mobile platform 13, so as to realize the movement of the second mobile platform 13 relative to the first mobile platform 12 in the Z direction.

[0048] In some implementations, the second mobile platform 13 may be composed of multiple platforms arranged in parallel, which may include a main platform (not numbered), a first sub-platform 137, and a second sub-platform 138. The main platform is movably mounted on the first mobile platform 12 in the Z direction. The first sub-platform 137 and the second sub-platform 138 are respectively connected to the main platform in parallel up and down, and can be used to install the locking pin introduction device 40, the welding tool 50, and other components that need to be installed.

[0049] In some embodiments, the main platform may include a second movable platform body 130 , a second movable slide rail 131 , a second screw rod 132 , a second servo motor 133 , a third fixed slide rail 134 , a first support column assembly 135 , and a second support column assembly 136 .

[0050] In some embodiments, the second mobile platform body 130 can be an inverted L-shaped plate, which includes a horizontal part and a vertical part. The second movable slide rail 131 is installed on the vertical part of the second mobile platform body 130, which can cooperate with the vertically arranged second fixed slide rail 122, so that the second mobile platform 13 can move along the Z direction. The second screw rod 132 is installed on the horizontal part of the second mobile platform body 130, which can be arranged along the X direction to provide power for the movement of the components connected to the second screw rod 132 along the X direction. The second servo motor 133 is connected to the second screw rod 132, which can provide power for the rotation of the second screw rod 132. The third fixed slide rail 134 is installed on the horizontal part of the second mobile platform body 130 along the X direction, which can cooperate with the second screw rod 132, so that the third mobile platform 14 installed horizontally on the second mobile platform 13 can move along the X direction. In some embodiments, the underwater camera 60 is installed on the lower surface of the horizontal part of the second mobile platform body 130. The first support column assembly 135 may include a plurality of first support columns in some embodiments, and the plurality of first support columns are vertically mounted on the upper surface of the horizontal portion of the second mobile platform body 130, which can be used to connect the second sub-platform 138. Specifically, one end of the plurality of first support columns is connected to the upper surface of the horizontal portion of the second mobile platform body 130, and the other end thereof is connected to the second sub-platform 138. The second support column assembly 136 may include a plurality of second support columns in some embodiments, and the plurality of second support columns are vertically mounted on the lower surface of the horizontal portion of the second mobile platform body 130, which can be used to connect the first sub-platform 137. Specifically, the upper ends of the plurality of second support columns are connected to the lower surface of the second mobile platform body 130, and the lower ends thereof are connected to the first sub-platform 137. The first sub-platform 137 may be used to place the welding tool 50 in some embodiments. It can be understood that the first sub-platform 137 may be used to store other components such as the split pin assembly 100 in addition to placing the welding tool 50.

[0051] In some embodiments, the second sub-platform 138 may include a second sub-platform body 1381, a third screw rod 1382, a third servo motor 1383, a fourth fixed slide rail 1384, and a fourth movable slide rail 1385. The second sub-platform body 1381 is in the shape of a horizontally arranged plate, which can be connected to the main platform through the first support column assembly 135. Specifically, the first support column assembly 135 is connected to the lower surface of the second sub-platform body 1381. The third screw rod 1382 is installed on the upper surface of the second sub-platform body 1381 along the X direction, and can cooperate with the third servo motor 1383 connected to one end thereof to provide power for the locking pin introduction device 40 connected to the second sub-platform 138 to move along the X direction. The fourth fixed slide rail 1384 is installed on the upper surface of the second sub-platform body 1381 in parallel with the third screw rod 1382 along the X direction, and can cooperate with the fourth movable slide rail 1385 to enable the fourth movable slide rail 1385 to move along the fourth fixed slide rail 1384. In some embodiments, the locking pin introduction device 40 is installed on the fourth movable slide rail 1385 and the third screw rod 1382, so that the locking pin introduction device 40 can move along three directions of X, Y, and Z.

[0052] In some embodiments, the third mobile platform 14 may include a third mobile platform body 141 and a third movable slide rail 142 installed on the third mobile platform body 141. In some embodiments, the third mobile platform body 141 may include a horizontal portion 1411 and a vertical portion 1412 connected to one end of the horizontal portion 1411, the vertical portion 1412 is formed by the horizontal portion 1411 extending downward along the Z direction, and can be used to connect the split pin locking device 20. The third movable slide rail 142 is installed on the lower surface of the horizontal portion 1411 of the third mobile platform body 140, and can be used to cooperate with the third fixed slide rail 134, so that the third mobile platform body 140 can move relative to the second mobile platform 13 along the X direction.

[0053] In some embodiments, since the first mobile platform 12 can move in the Y direction and the second mobile platform 13 installed on the first mobile platform 12 can move in the Z direction, the cotter pin locking device 20 and the locking pin introduction device 40 that can move in the X direction relative to the second mobile platform 13 can, in some embodiments, move in the X, Y, and Z directions relative to the base 11 through the cooperation of the first servo motor 112, the lifting motor 121, the second servo motor 133, and the third servo motor 1383.

[0054] In some embodiments, the three-coordinate platform 10 may further include an encoder (not shown), which can be connected to the first servo motor 112, the lifting motor 121, the second servo motor 133 and the third servo motor 1383, so as to control the moving distance or the number of rotations of each component connected to the three-coordinate platform 10, so as to realize the control of each component connected to the three-coordinate platform 10.

[0055] Read also Figures 10 to 13 In some embodiments, the split pin locking device 20 may include a locking assembly 21 and a clamping assembly 22 corresponding to the arrangement of the locking assembly 21. The locking assembly 21 may be used to fix the nut 102 and rotate it, and may tighten the split pin 101 and the nut 102 with a fixed torque; the clamping assembly 22 is located below the locking assembly 21 and is installed on the vertical portion 1412 of the third mobile platform body 141, and may be used to clamp the split pin 101 and rotatably connect it to the nut 102.

[0056] In some embodiments, the locking assembly 21 may include a locking head 211 and a first driving assembly (not numbered) connected to the locking head 211. The locking head 211 is connected to the first driving assembly, which can cooperate with the nut 102 in the cotter pin assembly 100 to make the nut 102 rotatably connected to the cotter pin 101. The first driving assembly is connected to the three-coordinate platform 10 and can be used to drive the locking head to lock the nut 102 and the cotter pin 101.

[0057] In some embodiments, the first drive assembly may include a locking head tightening device 212, a first torque drive motor 213, a connector 214, and a first torque sensor (not shown). The locking head tightening device 212 is connected to the locking head 211 and installed on the connector 214. It is provided with a gear structure, and can tighten the nut 102 and the cotter pin 101 under the drive of the first torque drive motor 213. The first torque drive motor 213 is installed at another position on the connector 214. At this position, the first torque drive motor 213 can engage with the locking head tightening device 212 through the gear structure, thereby driving the locking head tightening device 212 to lock the nut 102. The connector 214 is installed on the third mobile platform 14 to achieve the connection between the locking assembly 21 and the third mobile platform 14.

[0058] In some embodiments, the locking head tightening device 212 may include a sector-shaped gear plate 2120, a guide wheel set 2121 matched with the sector-shaped gear plate 2120, and a cover plate 2122. The locking head 211 is installed at the center of the sector of the gear plate 2120, so that the locking head 211 and the gear plate 2120 can be coaxially connected together. In some embodiments, the gear plate 2120 may include a sector-shaped gear plate body 2123, an arc-shaped guide groove 2124 opened on the gear plate body 2123, and a sawtooth 2125 arranged on the arc of the sector-shaped gear plate body 2123. In some embodiments, the guide groove 2124 may be two arc-shaped grooves, which are coaxial with the sector of the gear plate body 2123; thereby, the position of the axis of the gear plate body 2123 when rotating along the guide groove 2124 can be fixed, that is, the position of the locking head 211 is fixed, thereby ensuring that the nut 102 and the cotter pin 101 can be assembled smoothly. It can be understood that the number of guide grooves 2124 can be set to three or more in addition to two; multiple guide grooves are coaxial with the sector of the gear plate body 2123. The guide wheel group 2121 is fixedly installed on the connector 214 and can cooperate with the guide groove 2124. Specifically, the guide wheel group 2121 may include two groups of guide wheel mechanisms, which can respectively cooperate with the two arcs of the guide groove 2124. The axes of the two groups of guide wheels are in the same plane as the axis of the fan-shaped gear plate body 2123, so that when the gear plate 2120 rotates in cooperation with the guide wheel group 2121, the locking head 211 and the gear plate 2120 rotate coaxially and the position of the rotation axis is fixed.

[0059] With the cooperation of the first torque drive motor 213 connected to the third mobile platform 14, the sector-shaped gear plate 2120 can rotate along its center, that is, the position of the locking head 211, so as to rotate the nut 102. The cover plate 2122 is installed above the gear plate 2120 and can be connected to the guide wheel group 2121 to prevent the gear plate 2120 from being separated from the guide wheel group 2121.

[0060] In some embodiments, the first torque drive motor 213 may include a motor body 2130, a connecting shaft 2131, a bearing 2132, and a driving gear 2133. The connecting shaft 2131 is connected to the motor body 2130 and can be used to output the torque generated by the motor body 2130. The bearing 2132 is sleeved on the connecting shaft 2131 and can be used to assist the rotation of the connecting shaft 2131 to make it rotate more smoothly. The bearing 2132 is also embedded in the connector 214 to achieve the connection between the first torque drive motor 213 and the connector 214. The driving gear 2133 is installed on the connecting shaft, which can be engaged with the gear plate 2120 to transmit the torque generated by the first torque drive motor 213 to the gear plate 2120, thereby achieving the tightening between the nut 102 and the cotter pin 101.

[0061] In some embodiments, the connector 214 may include a connection seat 2141, a steering shaft 2142, a connection cylinder 2143, a bearing seat 2144, and a flange 2145. The connection seat 2141 may be mounted on the horizontal portion 1411 of the third mobile platform 14 by fasteners, so that the connection area 214 can be mounted on the three-coordinate platform 10 and can move in the three directions of X, Y, and Z. In some embodiments, there are two steering shafts 2142, which are vertically arranged on the connection seat 2141 and can cooperate with the guide wheel group 2121 to fix the position of the guide wheel group 2121, so that the locking head 211 installed on the locking head tightening device 212 can rotate around a fixed axis. The connection cylinder 2143 is in a vertical cylindrical shape and is located on one side of the connection seat 2141. In some embodiments, the connection cylinder 2143 and the connection seat 2141 are arranged in an integrated molding or welding manner. The connecting cylinder 2143 can be used to accommodate the connecting shaft 2131 of the first torque drive motor 213 so that it can rotate in the connecting cylinder 2143. The bearing seat 2144 is installed at the upper end of the connecting cylinder 2143 to support the bearing 2132 and the driving gear 2133 of the first torque drive motor 213. In some embodiments, the bearing 2132 and the driving gear 2133 are both sleeved on one end of the connecting shaft 2131 installed inside the connecting cylinder 2143, and can be rotated under the drive of the motor body 2130 to output torque. The flange 2145 is provided at the bottom of the connecting cylinder, which can be used to be installed on the upper surface of the motor body 2130, so as to fix the first torque drive motor 213 and the connector 214. In some embodiments, the first torque drive motor 213 is connected to the three-coordinate platform 10 through the flange 2145 on the connector 214.

[0062] In some embodiments, a first torque sensor is provided in the first torque drive motor 213, which can stop the torque output of the first torque drive motor 213 when the torque during tightening reaches a predetermined value, thereby enabling the cotter pin assembly 100 to be tightened with a preset fixed torque.

[0063] In some embodiments, the clamping assembly 22 may include a rotatable chuck 211 and a second drive assembly (not numbered) connected to the chuck 211. The chuck 211 is mounted on the output shaft of the second drive assembly, can rotate with the rotation of the second torque assembly, and can be used to clamp the cotter pin 101, so that the cotter pin 101 can be in a vertical direction and can rotate along its axial direction, so as to cooperate with the locking assembly 21 to tighten the cotter pin assembly 100.

[0064] In some embodiments, the second drive assembly may include a second torque drive motor 222, a second torque sensor (not shown), and an electric push cylinder 223. The second torque drive motor 222 is installed above the electric push cylinder 223, and can be used to tighten the cotter pin assembly 100 and make the notch below the cotter pin 101 present a certain angle. The second torque sensor has the same function as the first torque sensor, and both can ensure that the locking torque between the cotter pin 101 and the nut 102 is a set fixed value. The electric push cylinder 223 is located directly below the second torque drive motor 222, which can push the second torque drive motor 222 and the chuck 211 up, push the cotter pin 101 along the axial direction of the cotter pin 101, and make the cotter pin 101 easier to screw into the nut 102, thereby improving the efficiency of tightening the cotter pin assembly 100.

[0065] In some embodiments, the chuck 211 may include a chuck seat 2210 and a clamping claw structure (not numbered) mounted on the chuck seat to clamp the cotter pin 101. In some embodiments, the chuck structure may include a servo motor 2211, a gear set 2212, a plurality of ball screws 2213, a plurality of clamping claws 2214, a protrusion 2215, a plurality of clamping claw seats 2216, a transmission gear 2217, a chuck cover 2218, and a cover body 2219. The servo motor 2211 may be connected to the gear set 2212 through a gear meshing with the gear set 2212, and the gear is mounted on the output shaft of the servo motor 2211; the servo motor 2211 may be blocked for a long time, and may continuously output torque through the gear set 2212 to keep the chuck 211 able to continuously clamp the cotter pin 101, thereby ensuring that the cotter pin 101 will not be eccentric during the tightening process. The gear set 2212 is connected to the servo motor 2211 and can output the power of the servo motor 2211 to the ball screw 2213. The ball screw 2213 is coaxial with the gear set 2212 and connected to the clamping jaw 2214. The ball screw 2213 and the clamping jaw 2214 are arranged one by one, and the force generated by the rotation thereof can be horizontally transmitted to the axial direction of the clamping jaw 2214 through the gear mechanism on the clamping jaw 2214, so that the plurality of clamping jaws 2214 can move centripetally. When the cotter pin 101 is clamped, the plurality of clamping jaws 2214 can cooperate with each other to clamp the cotter pin 101 from different directions on the side of the cotter pin 101, and make the axial direction of the cotter pin 101 and the axis of the chuck 211 in the same direction, so as to facilitate the tightening of the cotter pin 101. Specifically, the servo motor 2211 drives the gear installed on its output shaft to rotate, and the gear transmits the torque to the ball screw 2213 coaxially arranged with the gear set 2212 through the gear set 2212. Under the action of the ball screw 2213, the plurality of jaws 2214 can move centrifugally or centrifugally, closing or opening relative to the protrusion 2215, thereby clamping or releasing the cotter pin 101.

[0066] In some embodiments, the number of ball screws 2213 and clamps 2214 can be three. The three ball screws 2213 and clamps 2214 are evenly distributed on the chuck 211, and the distance between two adjacent ball screws 2213 or clamps 2214 is equal, so that the cotter pin 101 can be better clamped. It can be understood that the number of ball screws 2213 and clamps 2214 can be set to two, four, five or six, etc., in addition to three, as long as the distance between two adjacent ball screws 2213 or clamps is equal.

[0067] In some embodiments, the protrusion 2215 may be in a longitudinal shape, mounted on the chuck seat 2210, and arranged at the center of the plurality of ball screws 2213 and the clamping jaws 2214. It is understandable that the protrusion 2215 may be connected to the chuck seat 2210 by being integrally formed with the chuck seat 2210 or by other means such as welding. When the cotter pin 101 is clamped in the chuck 211, the protrusion 2215 can correspond to the notch at the bottom of the cotter pin 101, so that the cotter pin 101 can rotate with the chuck 211, and can be used to transmit the torque generated when driven by the second torque drive motor 222. When the cotter pin locking device 20 is used in some embodiments, the cotter pin 101 can be clamped on the chuck 211 by the mechanical arm, and the notch of the cotter pin 101 is aligned with the protrusion 2215 on the chuck 211, and the clamping jaws 2214 clamp the cotter pin 101 under the action of the servo motor 2211.

[0068] A plurality of jaw seats 2216 are mounted on the chuck seat 2210, which can be used to fix the jaws and the transmission gear 2217. The transmission gear 2217 is sleeved on the jaws 2214, and can transmit the torque transmitted when the ball screw 2213 rotates or when the servo motor 2211 is blocked to the jaws 2214, so that the plurality of jaws 2214 cooperate with each other to clamp the cotter pin 102. The chuck cover 2218 is a cylindrical cover structure, and a circular hole is provided in the center of its top surface. It can be used to cover the chuck, so that it has a certain aesthetics, and can make the pull plate 221 have a certain waterproof function. The circular hole provided on the top of the chuck 2218 can be used for the extension of the cotter pin 102. The cover body 2219 is covered on the periphery of the chuck 221 and the second torque drive motor 222, so that the clamping assembly has a certain aesthetics and a certain waterproof effect, so as to facilitate the clamping assembly 22 to work underwater.

[0069] The second torque drive motor 222 can drive the chuck 211 to rotate, and may include a servo motor (not shown), an encoder (not shown) matched with the servo motor, and a harmonic reducer (not shown). The servo motor can be used to rotate to transmit torque so that the cotter pin assembly 100 can be tightened. In some embodiments, the encoder can be a multi-turn absolute encoder, which can be used to set a certain number of turns or angles of rotation. When the preset number of turns or angles is reached, the servo motor can stop moving immediately to achieve an opening angle and direction of 90° or 180° for the notch at the bottom of the cotter pin 101.

[0070] In some embodiments, the electric push cylinder 223 may include a servo motor (not shown) and a ball screw (not shown) connected to the servo motor. The servo motor can be locked for a long time, so that the cotter pin 101 always has axial pressure during the process of tightening with the nut 102, which is convenient for screwing in. The ball screw is connected to the chuck 211, so that a certain positive pressure can be continuously applied to the cotter pin 101.

[0071] In some embodiments, when the cotter pin locking device 20 is used, the three-coordinate platform 10 can drive the cotter pin locking device 20 to move downward so that the tightening head is inserted into the hexagonal hole of the nut 102. The electric push cylinder 223 pushes the chuck 211 to move upward, and the second torque drive motor 222 rotates synchronously until the preset torque is reached, and the chuck 211 releases the clamping jaw 2214 and moves downward to disengage from the position of assembling the cotter pin assembly 100, completing the tightening of the cotter pin assembly 100. In some embodiments, the cotter pin locking device 20 can be used to complete the removal of the old cotter pin assembly 100 and the installation of the new cotter pin assembly 100.

[0072] like Figures 5 to 7 As shown, the robot 30 may include a clamping tool 31, an adsorption tool 32 and a robot body 33 in some embodiments. The robot body 33 may be a six-axis robot in some embodiments, one end of which is connected to the three-coordinate platform 10, and can be used to move the clamping tool 31 and the adsorption tool 32 to the required position. The clamping tool 31 and the adsorption tool 32 are installed at the other end of the robot body 33, which can provide the robot 30 with a clamping function and an adsorption function, so as to facilitate the movement or fixation of the position of the cotter pin 101 and other components during underwater operation. In some embodiments, the clamping tool 31 may be a caliper device, specifically, a robot arm caliper device, which has two clamping positions, one large and one small, so as to clamp components of different sizes.

[0073] Read also Fig.14In some embodiments, the locking pin introduction device 40 may include a track 41, a driving device 42, and a locking pin introduction mechanism 43. The track 41 is in the shape of an arc and is horizontally arranged in the plane where the arc is located. Its lower end is connected to the three-coordinate platform 10. The locking pin introduction mechanism 43 is installed on the track 41, which can realize the movement and direction change of the locking pin introduction mechanism 43. The driving device 42 is connected to the track 41 and can be used to provide power for the movement of the locking pin introduction mechanism 43 on the track 41. In some embodiments, the driving device 42 can be a sliding drive motor or other device that can drive the locking pin introduction mechanism 43 to move on the track 41. The locking pin introduction mechanism 43 is installed on the track 41 and can move along the track 41; it can be used to introduce the locking pin 103 to the installation position on the nut 102.

[0074] In some embodiments, the arc-shaped track 41 has an effective travel of at least 120°. At this time, since the nut 102 has a hexagonal nut, the locking pin introduction mechanism 43 installed on the track 41 can ensure that no matter where the nut 102 is in any horizontal direction, the locking pin 103 can be introduced to the installation position on the nut 102 after rotating no more than 120°.

[0075] Read also Fig.15 In some embodiments, the locking pin introduction mechanism 43 may include a seat body 430, a locking pin ejection electric cylinder 431, a locking pin loading position 432, a guide channel 433, and a hexagonal head 434. The lower end of the seat body 430 is mounted on the track 41, which enables the locking pin introduction mechanism 43 to move on the track 41 so that the locking pin introduction device 40 can be in a position suitable for the installation of the locking pin 103. The locking pin ejection electric cylinder 431 is horizontally mounted on the upper end of the seat body 430, which can be used to eject the locking pin 103 from the locking pin introduction mechanism 43 so that the locking pin 103 can reach the installation position, thereby realizing the installation of the locking pin 103. The locking pin loading position 432 can be used to load a new locking pin 103 to realize the repeated installation of the locking pin 103. In some embodiments, the locking pin loading position 432 can be installed with three or more locking pins 103, thereby enabling continuous installation of the locking pins 103 and improving assembly efficiency.

[0076] The guide channel 433 is connected to the locking pin loading position 432. When the locking pin 103 is guided forward by the locking pin ejection electric cylinder 431, the locking pin 103 is separated from the locking pin loading position 432 through the guide channel 433. The guide channel 433 can be used to ensure that the direction of the locking pin 103 during installation remains fixed, so as to improve the success rate of the installation of the locking pin 103 and avoid the unfavorable conditions such as the inability to install the locking pin 103 due to the deviation of the installation direction, the operation error and the low efficiency. The hexagonal head 434 can be used to connect the nut 102, which is provided with a guide groove for the locking pin 103 to pass through, so as to install the locking pin 103 on the nut 102.

[0077] Read also Fig.16 In some embodiments, the locking pin ejector cylinder 431 may include a lead screw 4311, a lead screw nut 4312, a lead screw nut seat 4313, a lead screw nut guide rod 4314, a push rod seat 4315, a push rod 4316, a cylinder body 4317, a push rod hole 4318, and a lead screw drive motor 4319. The lead screw 4311 is connected to the lead screw drive motor 4319 and can rotate under the drive of the lead screw drive motor 4319. The lead screw nut 4312 is mounted on the lead screw nut seat 4313 and sleeved on the lead screw 4311. The lead screw nut 4312 can move along the lead screw 4311 when the lead screw 4311 rotates, so as to drive the push rod 4316 to push the locking pin 103 to be inserted into the nut 102. Specifically, the lead screw 4311 rotates axially at a fixed position, and the lead screw nut 4312 does not rotate relative to the cylinder body 4317 , so the lead screw nut 4312 will be axially displaced along the lead screw 4311 .

[0078] The lead screw nut seat 4313 is sleeved on the lead screw nut guide rod 4314, and can be used to install the lead screw nut 4312, and prevent the lead screw nut 4312 from rotating relative to the cylinder body 4317, so that the lead screw nut 4312 can move axially along the lead screw 4311. The lead screw nut guide rod 4314 is fixed to the cylinder body 4317, and can guide the lead screw nut seat 4313. The push rod seat 4315 is in the shape of a hollow rod, one end of which is connected to the lead screw nut 4312, and the other end of which is provided with a mounting position, and the push rod 4316 can be installed therein along the axial direction. The push rod seat 4315 can move together with the lead screw nut 4312, and can further push the push rod 4316. One end of the cylinder body 4317 is connected to a lead screw drive motor 4319, and the other end is provided with a push rod hole 4318; the push rod 4316 can extend through the push rod hole 4318, and then can push the locking pin 103 to be installed in the nut 102. The lead screw drive motor 4319 is connected to the lead screw 4311, which can drive the lead screw 4311 to rotate, thereby realizing the movement of the push rod 4316.

[0079] Replacing a cotter pin assembly 100 using the cotter pin replacement system 1 can be divided into two steps: removing the old cotter pin assembly and installing a new cotter pin assembly.

[0080] Removal of the old cotter pin assembly may, in some embodiments, include the following steps:

[0081] S1, the chuck 211 moves upward to the cotter pin 101 and clamps the cotter pin 101;

[0082] S2, using a removal tool to destroy the connection between the cotter pin 101 and the nut 102 of the cotter pin assembly 100;

[0083] S3, using the robot arm 30 to put the broken fragments of the split pin assembly 100 into a waste box;

[0084] S4. Use the clamping tool 31 and the adsorption tool 32 of the robot arm 30 to take the cotter pin 101 out of the chuck 211 and put it into a waste box.

[0085] Installation of a new cotter pin assembly may, in some embodiments, include the following steps:

[0086] S1. Use the clamping tool 31 and the adsorption tool 32 of the robot arm 30 to clamp a new nut 102 from the storage position of the nut 102 and place it in the installation position.

[0087] S2. Use the clamping tool 31 and the adsorption tool 32 of the robot arm 30 to clamp a new cotter pin 101 from the cotter pin storage position, and place it in the chuck 211 of the cotter pin locking device 20 to clamp it.

[0088] S3, by moving the three-coordinate platform 10 and adjusting the angle of the torque drive motor with a torque sensor so that the locking head 211 is embedded in the nut 102, the electric push cylinder 223 is pushed upward to push the cotter pin 101 into the nut 102.

[0089] S4, the torque drive motor starts to rotate. When the encoder reading reaches the threshold (set the fixed number of rotations and angles to ensure the direction of the petal opening at the stop position), it stops pushing up and rotating to ensure that the angle of the petal opening at the bottom pin is 90° or 180°.

[0090] S5, the clamping claws in the chuck 211 are loosened, the electric push cylinder 223 descends, and the locking head 211 is pulled out from the nut 102.

[0091] S6. Return to the starting position of the platform and then use the suction cup on the robot arm 30 to take the locking block 104, put the locking block 104 into the nut 102, and make the downward protrusion of the locking block 104 match the groove at the top of the cotter pin 101.

[0092] S7. The locking head 211 in the cotter pin locking device 20 is calibrated to the position and pressed into the nut 102. After the chuck 211 clamps the cotter pin 101, the torque drive motor with a torque sensor of the locking head tightening device 212 tightens the upper nut 102 with a torque of 100 Nm; at this time, the nut 102 rotates without changing the angle of the opening of the bottom pin body of the cotter pin 101.

[0093] S8, the locking head 211 in the cotter pin locking device 20 is pulled out from the nut 102, the cotter pin locking device 20 is lowered to the bottom as a whole, the locking pin introduction device 40 is inserted into the nut 102, and then the locking pin ejection cylinder 431 inserts the locking pin 103 into the nut 102, and the locking pin introduction device 40 returns to its original position;

[0094] S9. The three-coordinate platform 10 moves as a whole to make room for the welding tool 50. Finally, the clamping tool 31 and the adsorption tool 32 of the robot arm 30 are used to take the welding tool 50 and weld the locking block 104 and the locking pin 103. After welding, the locking pin 103 cannot rotate relative to the locking block 104, thereby preventing the nut 102 and the cotter pin 101 from rotating relative to each other.

[0095] S10, putting the welding tool 50 back to its original position, completing the replacement.

[0096] It can be understood that the above-mentioned technical features can be used in any combination without limitation.

[0097] The above embodiments only express the specific implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A split pin locking device, used to tighten a split pin and a nut, characterized in that: include: A locking assembly, the locking assembly comprising a locking head and a first driving assembly, the locking head is used to fix the nut and is rotatably installed, and the first driving assembly is connected to the locking head to drive the locking head to rotate; as well as A clamping assembly, the clamping assembly comprising a chuck and a second driving assembly, the chuck is used to fix the cotter pin and is rotatably installed, and the second driving assembly is connected to the chuck to drive the chuck to rotate; The chuck is located directly below the locking head; The first drive assembly includes a locking head tightening device and a first torque drive motor connected to the locking head tightening device; the first torque drive motor is used to drive the locking head tightening device to rotate, and the locking head is connected to one end of the locking head tightening device; The locking head tightening device comprises a sector-shaped gear plate, the gear plate comprises a sector-shaped gear plate body and saw teeth arranged on the arc of the gear plate body, the first torque drive motor comprises a driving gear; the driving gear is meshed with the saw teeth; The locking head is coaxially connected with the gear plate.

2. The split pin locking device according to claim 1, characterized in that: The gear plate comprises at least two arc-shaped guide grooves formed on the gear plate body, and the guide grooves are coaxial with the gear plate.

3. The split pin locking device according to claim 2, characterized in that: The locking head tightening device includes a guide wheel group, which includes at least two groups of guide wheels. The guide wheel group cooperates with the guide groove; the axes of the two groups of guide wheels are coplanar with the axis of the gear plate.

4. The split pin locking device according to claim 1, characterized in that: The first driving component also includes a first torque sensor, which is connected to the first torque driving motor; the first torque sensor is used to sense the torque output by the first torque driving motor.

5. The split pin locking device according to claim 1, characterized in that: The second driving assembly includes a second torque driving motor, the second torque driving motor is connected to the chuck, and the second torque driving motor is used to drive the chuck to rotate.

6. The split pin locking device according to claim 5, characterized in that: The second driving assembly includes an electric push cylinder connected to the bottom of the chuck, and the electric push cylinder is used to push the chuck upward to facilitate the connection between the cotter pin and the nut.

7. The split pin locking device according to claim 1, characterized in that: The chuck comprises a plurality of clamping jaws and a protrusion located at the center of the plurality of clamping jaws, wherein the protrusion is used to cooperate with the notch at the lower end of the cotter pin, and the plurality of clamping jaws can be closed and opened relative to the protrusion.

8. The split pin locking device according to claim 7, characterized in that: The chuck comprises a servo motor, a gear set matched with the servo motor, a ball screw connected to the gear set, and a transmission gear matched with the ball screw; the transmission gear is connected to the clamping claw.

9. The split pin locking device according to claim 5, characterized in that: The second torque driving motor includes a servo motor and an encoder matched with the servo motor, and the encoder makes the notch at the bottom of the cotter pin face 90° or 180°.

10. An underwater cotter pin replacement device for a nuclear power plant, characterized in that: The underwater cotter pin replacement equipment of the nuclear power plant includes the cotter pin locking device according to any one of claims 1 to 9, and also includes a three-coordinate platform, and the cotter pin locking device is installed on the three-coordinate platform.

11. The underwater cotter pin replacement device for a nuclear power plant according to claim 10, characterized in that: The three-coordinate platform includes a base and a first movable platform movably mounted on the base, wherein the first movable platform can move relative to the base along a Y direction.

12. The underwater cotter pin replacement device for a nuclear power plant according to claim 11, characterized in that: The three-coordinate platform includes a second mobile platform movably mounted on the first mobile platform, and the second mobile platform can move relative to the first mobile platform along the Z direction.

13. The underwater cotter pin replacement device for a nuclear power plant according to claim 12, characterized in that: The underwater cotter pin replacement equipment of the nuclear power plant includes a mechanical arm, and the mechanical arm is installed on the second mobile platform.

14. The underwater cotter pin replacement device for a nuclear power plant according to claim 12, characterized in that: The three-coordinate platform includes a third mobile platform movably mounted on the second mobile platform, the third mobile platform can move relative to the second mobile platform along the X direction, and the cotter pin locking device is mounted on the third mobile platform.

15. The underwater cotter pin replacement device for a nuclear power plant according to claim 12, characterized in that: The three-coordinate platform includes a second sub-platform installed on the second mobile platform, the second sub-platform includes a second sub-platform body and a fourth fixed slide rail, a fourth movable slide rail, a third screw rod and a third servo motor connected to the third screw rod installed on the second sub-platform body along the X direction; the underwater cotter pin replacement equipment of the nuclear power plant also includes a locking pin introduction device, and the locking pin introduction device is installed on the fourth movable slide rail.

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