Automatic screw tensioning and detecting device for nuclear fuel assembly

Abstract

The present application belongs to the technical field of automatic expansion and detection, and relates to a kind of nuclear fuel assembly screw automatic expansion and detection device, including mounting bracket, mobile positioning mechanism, expansion mechanism, expansion detection mechanism, vision system;Mobile positioning mechanism, expansion mechanism, expansion detection mechanism are connected with vision system, and position is positioned according to the screw position and angle information obtained by vision system;One side of mounting bracket is placed the pipe seat to be expanded, the other side is equipped with mobile positioning mechanism, expansion mechanism, expansion detection mechanism, vision system are fixed on mobile positioning mechanism, and are moved to the position corresponding with screw hole on pipe seat under the driving of mobile positioning mechanism, so as to carry out screw expansion and detection.The present application can automatically complete the expansion and detection between nuclear fuel assembly screw and pipe seat, the expansion and detection quality is stable, reduces the labor intensity of worker, improves work efficiency, has broad market value and application prospect.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic expansion and detection, and relates to an automatic expansion and detection device for nuclear fuel assembly screws. BACKGROUND

[0002] A nuclear fuel assembly is a core component of a nuclear power plant, and the most critical process in its production process is to pull fuel rods into an assembly framework, wherein the assembly framework and the tube seat are connected through special screws, the screws need to be expanded to the tube seat, and the connection reliability has a great influence on the quality of the fuel assembly, and the connection screw between the expanded assembly and the tube seat is a key process for improving the reliability of the fuel assembly.

[0003] The end of the nuclear fuel assembly screw is a thin-walled structure, and the screw hole of the tube seat is provided with a recess, after the screw is installed in the screw hole, the thin wall of the screw is deformed by the expansion device, and the screw is embedded in the recess of the screw hole, so that the screw is connected with the tube seat.

[0004] At present, the screw expansion device in the industry adopts manual expansion equipment to expand the screw, and the reliability of the expansion quality is not high, the expansion process depends entirely on the experience and proficiency of the workers, and after the expansion is completed, the expansion force of the screw is generally detected by manually holding a torque wrench, the labor intensity of the workers is large, and the work efficiency is low. Therefore, it is difficult to achieve high-quality, high-efficiency expansion and detection effect. SUMMARY

[0005] Therefore, the purpose of the application is to solve the problems of automatic expansion and detection efficiency of nuclear fuel assembly screws, and to provide an automatic expansion and detection device for nuclear fuel assembly screws, so as to realize automatic expansion and automatic detection of nuclear fuel assembly screws.

[0006] In order to achieve the above purpose, the application provides the following technical scheme:

[0007] An automatic expansion and detection device for nuclear fuel assembly screws, comprising a mounting bracket, a moving positioning mechanism, an expansion mechanism, an expansion detection mechanism and a vision system.

[0008] The vision system is used for screw position and angle positioning, the expansion mechanism is used for expanding the screw, and the expansion detection mechanism is used for detecting the torque of the screw.

[0009] The moving positioning mechanism, the expansion mechanism and the expansion detection mechanism are connected with the vision system, and the position is positioned according to the screw position and angle information obtained by the vision system.

[0010] One side of the mounting bracket is provided with a pipe seat to be expanded and connected, and the other side is provided with the mobile positioning mechanism, the expansion mechanism, the expansion detection mechanism and the visual system are fixedly arranged on the mobile positioning mechanism and move to the position corresponding to the screw on the pipe seat under the driving of the mobile positioning mechanism, so as to perform screw expansion and detection.

[0011] Further, the mobile positioning mechanism comprises a first electric screw rod and a second electric screw rod arranged orthogonally; the first electric screw rod is fixedly arranged on the mounting bracket, and the second electric screw rod is arranged on the first electric screw rod; a tool mounting plate is arranged on the second electric screw rod, and the expansion mechanism, the expansion detection mechanism and the visual system are arranged on the tool mounting plate; the tool mounting plate moves horizontally and / or vertically under the driving of the first screw rod and the second screw rod.

[0012] Further, a guide hole is arranged on the tool mounting plate, a guide key is fixedly arranged on the expansion mechanism, and the guide key is slidably arranged in the guide hole; a guide rod sleeve is arranged on the mounting bracket, and the guide rod sleeve is connected with the pipe seat to be expanded and connected in position.

[0013] Further, the expansion mechanism comprises an expansion gun, a first telescopic cylinder and an expansion gun clamping seat; one end of the first telescopic cylinder is fixedly connected with the mobile positioning mechanism, and the other end is fixedly connected with the expansion gun clamping seat; the expansion gun is fixedly arranged on the expansion gun clamping seat, and the first telescopic cylinder drives the expansion gun to move forward and backward as a whole through the expansion gun clamping seat.

[0014] Further, the expansion gun comprises a cylinder, an adjustable core rod, an expansion gun shell, an expansion pushing rod, an expansion head and an adjustable expansion sleeve.

[0015] The cylinder is fixedly arranged on one end of the expansion gun shell, and the expansion head is arranged on the other end of the expansion gun shell; the adjustable expansion sleeve is sleeved on the expansion head and is used for cooperating with the screw hole on the pipe seat to perform radial positioning; the expansion pushing rod is slidably arranged in the expansion gun shell, one end of the expansion pushing rod abuts against the piston rod of the cylinder, and the other end extends into the expansion head;

[0016] One end of the expansion head is fixedly connected with the expansion gun shell, and the other end is provided with a plurality of elastic openings along the circumference, the elastic openings divide the expansion head into a plurality of elastic pieces, the outer circle of the elastic pieces is provided with a protrusion, the protrusion corresponds to the pit in the screw hole on the pipe seat, the inner circle of the elastic pieces is a conical surface, and the end of the expansion pushing rod close to the expansion head is conical; during expansion, the expansion pushing rod axially slides, the conical surface is pushed to make the elastic pieces expand along the radial direction, the protrusion extrudes the inner side of the screw thin wall to make the screw thin wall deform and embed into the pit in the screw hole.

[0017] The end of the expansion push rod close to the oil cylinder is provided with a sliding sleeve, the sliding sleeve is slidably arranged in the expansion gun shell; one end of the sliding sleeve abuts against the piston rod of the oil cylinder, and the other end is fixedly connected with the expansion push rod; the end of the expansion push rod close to the oil cylinder is provided with a spring, one end of the spring abuts against the sliding sleeve, and the other end abuts against the end face of the inner hole of the expansion gun shell; after expansion, the expansion push rod is rebounded to the initial position through the spring.

[0018] Further, the end of the oil cylinder away from the expansion gun shell is provided with an adjustable core rod, one end of the adjustable core rod is connected with the piston rod of the oil cylinder, and the other end is provided with an adjusting nut, the stroke of the piston rod is adjusted through the adjusting nut.

[0019] Further, the expansion detection mechanism comprises a rotating shaft, a fixed torque transmission mechanism, a fixed torque mechanism mounting seat, a servo motor, an angle sensor and a second telescopic air cylinder; one end of the rotating shaft is used for cooperating with the screw to be detected, and the other end is connected with the angle sensor; the fixed torque transmission mechanism is rotatably arranged on the fixed torque mechanism mounting seat; the servo motor is fixedly arranged on the fixed torque mechanism mounting seat and is in transmission connection with the fixed torque transmission mechanism, and the fixed torque transmission mechanism is fixedly connected with the rotating shaft;

[0020] The servo motor drives the rotating shaft to rotate through the fixed torque transmission mechanism, so that the torque of the screw is detected, and when the torque of the screw exceeds the set torque of the fixed torque transmission mechanism, the rotating shaft is disconnected from the transmission of the servo motor;

[0021] One end of the second telescopic air cylinder is fixedly connected with the moving positioning mechanism, and the other end is fixedly connected with the fixed torque mechanism mounting seat, and the second telescopic air cylinder drives the expansion detection mechanism to move forward and backward as a whole through the fixed torque mechanism mounting seat.

[0022] Further, the fixed torque transmission mechanism comprises an outer rotor and an inner rotor; the inner rotor comprises an inner rotating disc, a torsion rod and a torsion spring;

[0023] The inner surface of the outer rotor is provided with circumferentially distributed blocking teeth; the inner rotating disc is arranged in the outer rotor and is coaxially arranged with the outer rotor; one end of the torsion rod is hingedly connected with the inner rotating disc, and the other end is in contact with the side surface of the blocking teeth;

[0024] The inner rotating disc is provided with a base, and the base is arranged on both sides of the torsion rod; one end of the torsion spring is connected with the base, and the other end is connected to the middle part of the torsion rod; the inner rotating disc and the outer rotor transmit the meshing torque through the torsion rod, and the size of the meshing torque is determined by the rigidity and the number of the torsion springs;

[0025] The rotating shaft passes through the outer rotor and is fixedly connected with the inner rotating disc; when the resisting torque of the rotating shaft is greater than the meshing torque between the inner rotor and the outer rotor, the torsion bar is deflected, the inner rotor and the outer rotor slip, the inner rotor does not rotate, and the outer rotor rotates; on the contrary, the inner rotor and the outer rotor rotate simultaneously.

[0026] Further, the inner rotating disc is provided with an annular raceway on each side, the annular raceway is provided with a ball, the inner rotating disc and the outer rotor are rotationally matched through the ball, the outer rotor is provided with an annular groove on the outer circle, the annular groove is provided with a belt, the servo motor is provided with a pulley, and the outer rotor and the pulley are drivingly connected through the belt.

[0027] Further, the visual system comprises an industrial camera and a control processing system; the industrial camera is fixedly arranged on the moving positioning mechanism and connected with the control processing system; the moving positioning mechanism, the expanding mechanism and the expanding detection mechanism are connected with the control processing system and controlled thereby.

[0028] The beneficial effects of the present application are that:

[0029] 1. The nuclear fuel assembly screw automatic expanding and detecting device in the application positions the position and angle of the nuclear fuel assembly screw through the application of a visual identification system, provides reliable conditions for automatic expanding and detecting, moves the expanding mechanism and the expanding detection mechanism to the corresponding working positions through the moving positioning mechanism and the telescopic cylinder, completes the expanding and detecting of the screw, realizes the automatic expanding and detecting between the nuclear fuel assembly screw and the pipe seat, stabilizes the expanding and detecting quality, reduces the labor intensity of workers, improves the work efficiency, has wide market value and application prospect.

[0030] 2. In the automatic expanding and detecting process of the application, the expanding gun is driven by the telescopic cylinder to expand the screw, the torque after the screw is expanded is detected by the expanding detection mechanism, if the torque does not meet the requirement, the reading of the angle sensor will change, otherwise, the reading of the angle sensor does not change; at the same time, the expanding mechanism and the expanding detection mechanism are respectively driven by two cylinders, and independently operate, so that the interference between the two components when performing corresponding operations is avoided.

[0031] 3. The torque fixing transmission mechanism in the application utilizes the cooperation between the torsion bar and the blocking tooth to transmit the torque, and the size of the transmitted torque can be adjusted by the rigidity and quantity of the torsion spring, so as to meet the detecting requirement of different torques.

[0032] Additional advantages, objects, and features of the application will be apparent to those skilled in the art upon examination of the following specification. It is intended to be covered by the following claims. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to make the objects, technical solutions and advantages of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the drawings, in which:

[0034] Figure 1 It is a schematic diagram of the overall structure of the screw automatic expansion and detection device for nuclear fuel assembly in the present application;

[0035] Figure 2 It is a schematic diagram of the overall structure of the screw automatic expansion and detection device for nuclear fuel assembly in the present application; Figure 1 It is a top view;

[0036] Figure 3 It is a schematic diagram of the screw installation in the pipe seat;

[0037] Figure 4 It is a schematic diagram of the screw installation in the pipe seat; Figure 3 It is an enlarged view of A in the middle;

[0038] Figure 5 It is a schematic diagram of the moving positioning mechanism;

[0039] Figure 6 It is a schematic diagram of the tool mounting seat;

[0040] Figure 7 It is a schematic diagram of the overall expansion mechanism;

[0041] Figure 8 It is a schematic diagram of the expansion gun structure;

[0042] Figure 9 It is a schematic diagram of the screw expansion process;

[0043] Figure 10 It is a schematic diagram of the expansion detection mechanism;

[0044] Figure 11 It is a schematic diagram of the expansion detection mechanism; Figure 10 It is a sectional view;

[0045] Figure 12 It is a schematic diagram of the torque setting transmission mechanism structure;

[0046] Figure 13 It is a schematic diagram of the inner rotating disc structure.

[0047] Fig. 1, mounting bracket; 2, moving positioning mechanism; 3, expansion mechanism; 4, expansion detection mechanism; 5, vision system; 6, pipe base; 7, screw; 11, guide rod sleeve; 21, first electric screw; 22, second electric screw; 23, tool mounting plate; 231, guide hole; 31, expansion gun; 33, expansion gun clamping seat; 41, fixed torque transmission mechanism; 42, fixed torque mounting seat; 44, angle sensor; 45, bearing; 46, left end cover; 47, right end cover; 48, transmission mechanism; 51, industrial camera; 311, oil cylinder; 312, adjustable core rod; 313, first sliding sleeve; 314, guide key; 315, expansion gun shell; 316, first push rod; 317, second push rod; 318, expansion head; 319, adjustable expansion sleeve; 320, locking nut; 411, rotating shaft; 412, second sliding sleeve; 413, outer rotor; 414, outer end cover; 416, ball; 417, inner rotor; 4171, torsion bar; 4172, torsion spring; 4173, inner rotating disc. DETAILED DESCRIPTION

[0048] The advantages and effects of the present application can be easily understood by those skilled in the art from the description. The present application can also be implemented or applied in other different specific embodiments, and the details in the description can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and the features in the following embodiments and examples can be combined with each other without conflict.

[0049] The drawings are only used for illustrative description, and the representation is only a schematic diagram, not a physical diagram, and should not be understood as a limitation of the present application. In order to better illustrate the embodiments of the present application, some components in the drawings are omitted, enlarged or reduced, and do not represent the actual size of the product. It is understandable to those skilled in the art that some known structures and descriptions in the drawings can be omitted.

[0050] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, therefore the terms describing the position relationship in the drawings are only used for illustrative description, and should not be understood as a limitation of the present application. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific situation.

[0051] Please refer to Figures 1 to 13 The utility model provides a kind of nuclear fuel assembly screw automatic expansion and detection device, including installation support 1, mobile positioning mechanism 2, expansion mechanism 3, expansion detection mechanism 4, vision system 5;Vision system 5 is used for screw 7 position and angle positioning;Expansion mechanism 3 is used for expansion screw 7;Expansion detection mechanism 4 is used for detecting the torque of screw 7;Mobile positioning mechanism 2, expansion mechanism 3, expansion detection mechanism 4 are connected with vision system 5, and position is positioned according to the position and angle information of screw 7 obtained by vision system 5;One side of installation support 1 places the pipe seat 6 to be expanded, the other side is equipped with mobile positioning mechanism 2, and tool mounting plate 23 is fixedly arranged on mobile positioning mechanism 2, and expansion mechanism 3, expansion detection mechanism 4, vision system 5 are fixedly installed on tool mounting plate 23, and are moved to the position corresponding with screw 7 hole on pipe seat 6 under the driving of mobile positioning mechanism 2, to expand and detect screw 7.

[0052] Among them, vision system 5 includes industrial camera 51 and control processing system group composition, industrial camera 51 is installed on tool mounting plate 23, mobile positioning mechanism 2, expansion mechanism 3, expansion detection mechanism 4 are connected with control processing system, and are controlled by it.After starting expansion program, vision system 5 identifies the expansion position of screw 7 and the orientation of screw 7.Screw 7 can appear different angle orientation after being screwed in, and the position and orientation information of each screw 7 is identified and recorded by vision system 5, for expansion and torque detection.

[0053] Guide rod sleeve 11 is installed on installation support 1, and installation support is correspondingly positioned with pipe seat 6 to be expanded by cooperating guide rod with guide rod sleeve 11.

[0054] Among them, mobile positioning mechanism 2 includes first electric screw 21 and second electric screw 22 arranged orthogonally;First electric screw 21 is fixedly installed on installation support 1, and second electric screw 22 is installed on first electric screw 21;First electric screw 21 and second electric screw 22 form transverse and longitudinal movement;Tool mounting plate 23 is installed on second electric screw 22, and tool mounting plate 23 moves transversely and / or longitudinally under the driving of first screw and second screw.

[0055] Among them, expansion mechanism 3 includes expansion gun 31, first telescopic cylinder, expansion gun clamping seat 33;First telescopic cylinder is fixedly connected between tool mounting plate 23 and expansion gun clamping seat 33;Expansion gun 31 is fixedly installed on expansion gun clamping seat 33, and first telescopic cylinder drives expansion gun 31 to move forward and backward as a whole through expansion gun clamping seat 33.

[0056] The expanding gun 31 comprises a cylinder 311, an adjustable core rod 312, an expanding gun shell 315, an expanding push rod, an expanding head 318, and an adjustable expanding sleeve 319. The cylinder 311 is fixedly installed at one end of the expanding gun shell 315, and the expanding head 318 is threadedly connected to the other end of the expanding gun shell 315. The adjustable expanding sleeve 319 is threadedly connected to the expanding head 318, and is used for cooperating with the screw hole 7 on the pipe base 6 to position radially. After the adjustable expanding sleeve 319 is adjusted to the position of the expanding head 318, the position is locked by a locking nut 320. The expanding push rod is slidingly installed in the expanding gun shell 315, and one end of the expanding push rod abuts against the piston rod of the cylinder 311, and the other end extends into the expanding head 318.

[0057] The expanding head 318 is connected to the expanding gun shell 315 at one end, and a plurality of elastic openings are arranged along the circumference at the other end. The elastic openings divide the expanding head 318 into a plurality of elastic pieces. The outer circle of the elastic pieces is provided with a protrusion corresponding to the recess in the screw hole 7 on the pipe base 6. The inner circle of the elastic pieces is a tapered surface, and the end of the expanding push rod close to the expanding head 318 is tapered. During the expanding, the expanding push rod slides axially, and the elastic pieces are expanded radially by the tapered surface, and the protrusion extrudes the inner side of the thin wall of the screw 7 to deform the thin wall of the screw 7 and embed the recess in the screw hole 7.

[0058] The end of the expanding push rod close to the cylinder 311 is provided with a first sliding sleeve 313, which is slidingly installed in the expanding gun shell 315. One end of the first sliding sleeve 313 abuts against the piston rod of the cylinder 311, and the other end is fixedly connected to the expanding push rod. The end of the expanding push rod close to the cylinder 311 is provided with a spring, one end of the spring abuts against the first sliding sleeve 313, and the other end abuts against the end face of the inner hole of the expanding gun shell 315. After the expanding, the expanding push rod is returned to the initial position by the spring.

[0059] The expanding push rod in the embodiment comprises a first push rod 316 and a second push rod 317, which are connected by threads. The first sliding sleeve 313 is fixedly installed on the first push rod 316, and the second push rod 317 extends into the expanding head 318 to drive the expanding head 318.

[0060] The end of the cylinder 311 away from the expanding gun shell 315 is provided with the adjustable core rod 312. One end of the adjustable core rod 312 passes through the piston cavity and is connected to the piston rod of the cylinder 311, and the other end is provided with an adjusting nut to adjust the stroke of the piston rod.

[0061] The outer part of the expander gun shell 315 has an annular clamping groove, and the expander gun clamping seat 33 is clamped in the annular clamping groove. The expander gun clamping seat 33 is locked by two half-ring structures through screws 7, and the expander gun 31 is fixed. One of the half-ring structures is fixedly connected with the first telescopic cylinder by screws 7. The tool mounting plate 23 is provided with a guide hole 231, and the expander gun shell 315 is fixedly provided with an axial guide key 314, which is slidingly installed in the guide hole 231, so that the expander gun 31 can smoothly slide in the guide hole 231, and the guide hole 231 plays a guiding role.

[0062] Wherein, the expansion detection mechanism 4 includes a rotating shaft 411, a fixed torque transmission mechanism 41, a fixed torque mounting seat 42, a servo motor, an angle sensor 44, a second telescopic cylinder; one end of the rotating shaft 411 is used for cooperating with the screw 7 to be detected, and the other end is connected with the angle sensor 44; the fixed torque transmission mechanism 41 is rotatably installed in the fixed torque mounting seat 42 through the bearing 45, and the bearing 45 is fixedly installed on the fixed torque mounting seat 42 through the left end cover 46 and the right end cover 47 on both sides; the servo motor and the angle sensor 44 are fixedly installed on the fixed torque mounting seat 42, the servo motor is drivingly connected with the fixed torque transmission mechanism 41 through the transmission mechanism 48, and the fixed torque transmission mechanism 41 is fixedly connected with the rotating shaft 411; the servo motor drives the rotating shaft 411 to rotate through the fixed torque transmission mechanism 41, so as to detect the torque of the screw 7, when the torque of the screw 7 exceeds the set torque of the fixed torque transmission mechanism 41, the rotating shaft 411 is disconnected from the servo motor; when the torque of the screw 7 does not reach the set torque, the screw 7 rotates under the driving of the rotating shaft 411, and the angle sensor 44 detects the angle change signal.

[0063] One end of the second telescopic cylinder is fixedly installed on the tool mounting plate 23, and the other end is fixedly connected with the fixed torque mounting seat 42. The second telescopic cylinder drives the expansion detection mechanism 4 to move forward and backward as a whole through the fixed torque mounting seat 42.

[0064] The constant torque transmission mechanism 41 comprises an outer rotor 413 and an inner rotor 417. The inner rotor 417 comprises an inner rotor disc 4173, a torsion bar 4171 and a torsion spring 4172. The inner surface of the outer rotor 413 is provided with circumferentially distributed blocking teeth. The inner rotor disc 4173 is coaxially arranged in the outer rotor 413 and is closed in the outer rotor 413 by an outer end cover 414. One end of the torsion bar 4171 is hingedly connected to the inner rotor disc 4173 by a pin shaft, and the other end is in contact with the side surface of the blocking teeth. The inner rotor disc 4173 is provided with a base on the two sides of the torsion bar 4171. One end of the torsion spring 4172 is connected to the base, and the other end is connected to the middle part of the torsion bar 4171. The torsion bar 4171 is circumferentially distributed on the inner rotor disc 4173. The meshing torque is transmitted between the inner rotor disc 4173 and the outer rotor 413 through the torsion bar 4171, and the size of the meshing torque is determined by the rigidity and number of the torsion spring 4172.

[0065] The rotating shaft 411 penetrates through the outer rotor 413 and is fixedly connected to the inner rotor disc 4173. The second sliding sleeve 412 is arranged in the outer rotor 413, and the rotating shaft 411 penetrates through the second sliding sleeve 412 and is rotationally connected to the outer rotor 413. When the resistance torque acting on the rotating shaft 411 is greater than the meshing torque between the inner rotor 417 and the outer rotor 413, the torsion bar 4171 is deflected, and the inner rotor 417 slips with the outer rotor 413, that is, the inner rotor 417 does not rotate, and the outer rotor 413 rotates. Conversely, the inner rotor 417 and the outer rotor 413 rotate simultaneously.

[0066] The inner rotor disc 4173 is provided with an annular raceway on each side surface, and the annular raceway is provided with a rolling ball 416. The inner rotor disc 4173 is rotationally connected to the outer rotor 413 through the rolling ball 416. In this embodiment, the transmission mechanism 48 between the servo motor and the outer rotor 413 is a belt transmission mechanism. An annular groove is arranged on the outer circle of the outer rotor 413, a belt is arranged in the annular groove, a pulley is arranged on the output shaft of the servo motor, and the outer rotor 413 is connected to the pulley through the belt.

[0067] In this embodiment, the transmission mechanism 48 between the servo motor and the outer rotor 413 can also adopt a conventional transmission structure such as chain transmission and gear transmission.

[0068] The working process of this embodiment is as follows:

[0069] 1. The position and angle of the screw 7 to be expanded are recognized by the industrial camera 51 and transmitted to the control processing system.

[0070] 2. The first telescopic cylinder and the second telescopic cylinder in the expansion joint mechanism and the torque detection mechanism are both in the extended state at the beginning. After the control and processing system controls the moving positioning mechanism 2 to move and drive the expansion mechanism 3 to the first expansion joint position, the first telescopic cylinder in the expansion joint mechanism retracts, and the expansion joint gun 31 reaches the expansion joint position to perform expansion joint.

[0071] 3. After the expansion joint is completed, the first telescopic cylinder extends, and the control and processing system controls the moving positioning mechanism 2 to move to the next expansion joint position. The expansion joint operation is repeated, and the vision system 5 judges until all the screws 7 of the entire component are expanded.

[0072] 4. After all screws 7 have been expanded, the control processing system controls the moving positioning mechanism 2 to move the industrial camera 51 and the expansion detection mechanism 4 to the first screw 7 torque detection station, identify the orientation of the screw 7 at that position, control the servo motor of the expansion detection mechanism 4 to rotate, and read the current angle of the screw 7 through the angle sensor 44 until it matches the orientation of the screw 7. The servo motor stops rotating, the second telescopic cylinder retracts, and the torque detection station is reached. The servo motor continues to rotate, driving the rotating shaft 411 to rotate to detect the torque of the screw 7. If the angle value of the angle sensor 44 remains unchanged, the torque requirement is met, the servo motor stops rotating, and the second telescopic cylinder extends. If the angle value of the angle sensor 44 changes, the position is recorded as an unqualified position, and the unqualified position is marked after all torque detections are completed, and manual inspection is reminded.

[0073] 5. Repeat the torque detection process in step 4 until all screws 7 have been tested;

[0074] 6. Both the first and second telescopic cylinders remain extended and return to their initial positions.

[0075] 7. Manually disassemble the defective screw 7, reinstall screw 7, and inspect it.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A nuclear fuel assembly screw automatic tensioning and detecting device, characterized in that: Includes mounting brackets, motion positioning mechanisms, tensioning mechanisms, tensioning detection mechanisms, and vision systems; The vision system is used for screw position and angle positioning; the tightening mechanism is used for tightening the screw; the tightening detection mechanism is used for detecting the screw torque; The moving positioning mechanism, the tightening mechanism, and the tightening detection mechanism are all connected to the vision system and perform position positioning based on the screw position and angle information obtained by the vision system. The mounting bracket has a tube seat to be expanded on one side and the moving positioning mechanism on the other side. The tightening mechanism, tightening detection mechanism, and vision system are all fixed to the moving positioning mechanism and move to the position corresponding to the screw on the tube seat under the drive of the moving positioning mechanism, so as to perform screw expansion and detection. The expansion mechanism includes an expansion gun, a first telescopic cylinder, and an expansion gun clamping seat; one end of the first telescopic cylinder is fixedly connected to the moving positioning mechanism, and the other end is fixedly connected to the expansion gun clamping seat; the expansion gun is fixedly mounted on the expansion gun clamping seat, and the first telescopic cylinder drives the expansion gun to move back and forth as a whole through the expansion gun clamping seat; The expansion gun includes a hydraulic cylinder, an adjustable core rod, an expansion gun housing, an expansion push rod, an expansion head, and an adjustable expansion sleeve; The hydraulic cylinder is fixedly mounted at one end of the expansion gun housing, and the tightening head is mounted at the other end of the expansion gun housing; the adjustable tightening sleeve is fitted onto the tightening head and is used to engage with the screw hole on the tube seat for radial positioning; the tightening push rod is slidably mounted inside the expansion gun housing, with one end of the tightening push rod abutting against the piston rod of the hydraulic cylinder and the other end extending into the tightening head; One end of the expansion head is fixedly connected to the expansion gun housing, and the other end has multiple elastic openings along the circumference. The elastic openings divide the expansion head into multiple elastic plates. The outer circle of each elastic plate has a protrusion, which corresponds to the recess in the screw hole on the tube seat. The inner circle of each elastic plate is a conical surface, and the end of the expansion push rod near the expansion head is conical. During expansion, the expansion push rod slides axially and pushes the conical surface to make the elastic plate expand radially. The protrusion squeezes the inner side of the thin wall of the screw, causing the thin wall of the screw to deform and embed into the recess in the screw hole. The end of the expansion push rod near the oil cylinder is provided with a sliding sleeve, which is slidably disposed in the expansion gun housing; one end of the sliding sleeve abuts against the piston rod of the oil cylinder, and the other end is fixedly connected to the expansion push rod; the end of the expansion push rod near the oil cylinder is provided with a spring, one end of the spring abuts against the sliding sleeve, and the other end abuts against the inner end face of the expansion gun housing; after expansion, the expansion push rod returns to the initial position by the spring.

2. The automatic tightening and detection device for nuclear fuel assembly screws according to claim 1, characterized in that: The mobile positioning mechanism includes a first electric lead screw and a second electric lead screw arranged orthogonally; the first electric lead screw is fixed on the mounting bracket, and the second electric lead screw is mounted on the first electric lead screw; a tool mounting plate is provided on the second electric lead screw, and the tensioning mechanism, tensioning detection mechanism, and vision system are all mounted on the tool mounting plate, which moves laterally and / or longitudinally under the drive of the first and second lead screws.

3. The automatic tightening and detection device for nuclear fuel assembly screws according to claim 2, characterized in that: The tool mounting plate is provided with a guide hole, and the expansion mechanism is fixedly provided with a guide key, which is slidably disposed in the guide hole; the mounting bracket is provided with a guide rod sleeve, which is aligned and connected with the pipe seat to be expanded through the guide rod sleeve.

4. The automatic tightening and detection device for nuclear fuel assembly screws according to claim 1, characterized in that: An adjustable core rod is provided at one end of the hydraulic cylinder away from the expansion gun housing. One end of the adjustable core rod is connected to the piston rod of the hydraulic cylinder, and the other end is provided with an adjusting nut. The stroke of the piston rod is adjusted by the adjusting nut.

5. The automatic tightening and detection device for nuclear fuel assembly screws according to claim 1, characterized in that: The tension detection mechanism includes a rotating shaft, a constant torque transmission mechanism, a constant torque mechanism mounting base, a servo motor, an angle sensor, and a second telescopic cylinder; one end of the rotating shaft is used to cooperate with the screw to be tested, and the other end is connected to the angle sensor; the constant torque transmission mechanism is rotatably mounted on the constant torque mechanism mounting base; the servo motor is fixedly mounted on the constant torque mechanism mounting base and is connected to the constant torque transmission mechanism in a transmission connection; the constant torque transmission mechanism is fixedly connected to the rotating shaft. The servo motor drives the rotating shaft to rotate through the constant torque transmission mechanism, thereby detecting the torque of the screw. When the screw torque exceeds the set torque of the constant torque transmission mechanism, the rotating shaft disengages from the servo motor transmission. One end of the second telescopic cylinder is fixedly connected to the moving positioning mechanism, and the other end is fixedly connected to the constant torque mechanism mounting seat. The second telescopic cylinder drives the entire tension detection mechanism to move back and forth through the constant torque mechanism mounting seat.

6. The automatic tightening and detection device for nuclear fuel assembly screws according to claim 5, characterized in that: The constant torque transmission mechanism includes an outer rotor and an inner rotor; the inner rotor includes an inner turntable, a torsion bar, and a torsion spring. The inner surface of the outer rotor is provided with circumferentially distributed stop teeth; the inner turntable is disposed inside the outer rotor and is coaxially arranged with the outer rotor; one end of the torsion bar is hinged to the inner turntable, and the other end contacts the side of the stop teeth. The inner turntable is provided with a base, which is located on both sides of the torsion bar; one end of the torsion spring is connected to the base, and the other end is connected to the middle of the torsion bar; the inner turntable and the outer rotor transmit meshing torque through the torsion bar, and the magnitude of the meshing torque is determined by the stiffness and number of the torsion springs. The rotating shaft passes through the outer rotor and is fixedly connected to the inner turntable. When the resistance torque on the rotating shaft is greater than the meshing torque between the inner rotor and the outer rotor, the torsion bar deflects at an angle, causing slippage between the inner rotor and the outer rotor, i.e., the inner rotor does not rotate while the outer rotor rotates; otherwise, the inner rotor and the outer rotor rotate simultaneously.

7. The automatic tightening and detection device for nuclear fuel assembly screws according to claim 6, characterized in that: The inner turntable has annular raceways on both sides, and ball bearings are provided on the annular raceways. The inner turntable and the outer rotor are rotated and engaged by the ball bearings. The outer rotor has annular grooves on its outer circumference, and a belt is provided in the annular grooves. The servo motor has a pulley, and the outer rotor and the pulley are connected by belt drive.

8. The automatic tightening and detection device for nuclear fuel assembly screws according to claim 1, characterized in that: The vision system includes an industrial camera and a control processing system; the industrial camera is fixedly mounted on the motion positioning mechanism and connected to the control processing system; the motion positioning mechanism, the tensioning mechanism, and the tensioning detection mechanism are all connected to and controlled by the control processing system.

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