Nut removal device for pipe joints of nuclear power equipment

Abstract

The present invention discloses a device for removing the nut of a pipe joint of nuclear power equipment, which comprises a movable mechanical arm and a loosening main body; the loosening main body comprises a base connected to the movable end of the mechanical arm, a clamping assembly and a screwing assembly arranged on the base; the screwing assembly comprises a rotatable screwing shaft, the clamping assembly cooperates with the outer periphery of the joint nut body of the nuclear power equipment pipe joint to clamp and fix it, one end of the screwing shaft is sleeved on the joint nut of the nuclear power equipment pipe joint and drives the joint nut to rotate, and loosens the joint nut from the joint nut body. The device for removing the nut of a pipe joint of nuclear power equipment of the present invention remotely controls the mechanical arm to drive the loosening main body to move, and can replace manual work to loosen and remove the nut of the pipe joint of nuclear power equipment, thereby reducing the radiation dose absorbed by personnel. The clamping assembly and the screwing assembly used for loosening the nut are integrated on the base, so that the present invention has a compact structure and strong adaptability to narrower spaces.

Description

Technical Field

[0001] The invention relates to the field of nuclear power equipment maintenance, and in particular to a device for removing nuts from pipe joints of nuclear power equipment. Background Art

[0002] In nuclear power equipment, all standard parts adopt special fixing structures, and the anti-loosening method of pipe joints is different from that used in conventional industries. The pipe joints used in the nuclear power industry have two anti-loosening washers added on the basis of conventional industries. The long piece extending from the head of the anti-loosening washers is welded to the joint nut of the pipe joint; the tail ring of the anti-loosening washers is welded to the joint nut body of the pipe joint.

[0003] In the maintenance project of thermocouple columns of nuclear power unit pressure vessel internal components, the thermocouple columns need to be replaced as a whole. There are 4 thermocouple columns in the pressure vessel, each with 10 thermocouple tubes. 40 thermocouple tubes pass through the thermocouple columns and penetrate into the core plate of the nuclear power equipment. The thermocouples enter the lower measurement area through the thermocouple tubes. The thermocouple tubes are distributed in a grid on the core plate of the nuclear power equipment, and the closest distance between every two tubes is only 35mm. When replacing the thermocouple column, the tube must be separated from the thermocouple column first. One of the steps of the separation operation is to loosen the pipe joint nut from the joint nut body and remove it.

[0004] The thermocouple column and the pipe joints thereon are in an irradiated environment, which is extremely harmful to the human body and cannot be completed by close-range operation with operating tools. Therefore, a device that can replace manual removal of the nuts of the pipe joints of nuclear power equipment is needed to complete the relevant operations. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a device for removing nuts from pipe joints of nuclear power equipment.

[0006] The technical solution adopted by the present invention to solve the technical problem is: to provide a nuclear power equipment pipe joint nut removal device, which includes a movable mechanical arm and a loosening body;

[0007] The unscrewing body comprises a base connected to the movable end of the mechanical arm, a clamping assembly and a screwing assembly arranged on the base;

[0008] The screwing assembly includes a rotatable screwing shaft, and the clamping assembly cooperates with the outer periphery of the joint nut body of the nuclear power equipment pipe joint to clamp and fix it. One end of the screwing shaft is sleeved on the joint nut of the nuclear power equipment pipe joint and drives the joint nut to rotate, thereby loosening the joint nut from the joint nut body.

[0009] Preferably, the base is a hollow shell, and the clamping assembly is arranged on the outer surface of the base;

[0010] The base is provided with a through hole for the nuclear power equipment pipe joint to extend into, the screw shaft is accommodated in the base, and the screw shaft is coaxially arranged with the nuclear power equipment pipe joint extending into the through hole.

[0011] Preferably, the clamping assembly comprises a clamping member and a cylinder symmetrically arranged on two opposite side surfaces of the base;

[0012] The clamping piece is provided with an arc-shaped opening corresponding to the outer periphery of the joint nut body. The clamping piece is movable along a side close to the joint nut body under the drive of the cylinder to clamp the joint nut body therein.

[0013] Preferably, one end of the clamping piece away from the joint nut body includes at least one inclined surface, and one end of the piston rod of the cylinder is close to the inclined surface and can reciprocate along the inclined surface to push the clamping piece to move along the side close to the joint nut body.

[0014] Preferably, a roller which is rollable against the inclined surface is provided at one end of the piston rod of the cylinder.

[0015] Preferably, the unscrewing body further comprises a limiting assembly, and the limiting assembly comprises a mounting seat and a guide wheel;

[0016] The mounting seat is fixed on the base, and the mounting seat and the clamping member are provided with first guide grooves arranged opposite to each other. The guide wheel is respectively inserted into the first guide grooves of the mounting seat and the clamping member with its opposite ends and can roll along the hole wall of the first guide groove, and the rolling direction of the guide wheel is consistent with the radial direction of the pipe joint.

[0017] Preferably, the clamping member comprises a first part and a second part which are vertically connected, and the arc-shaped opening of the clamping member is located on the first part of the clamping member;

[0018] The second part of the clamping member is parallel to the side surface of the base, and a first elastic member is arranged between the second part of the clamping member and the side surface of the base.

[0019] Preferably, the screwing assembly further comprises a transmission shaft which is transmission-connected to one end of the screwing shaft away from the joint nut.

[0020] Preferably, the transmission shaft is sleeved on the outer circumference of the screwing shaft and drives the screwing shaft to rotate, and the screwing shaft can move axially relative to the inner wall of the transmission shaft.

[0021] Preferably, an axially extending gap is formed between the screwing shaft and the inner wall of the transmission shaft, and a second elastic member is arranged in the gap.

[0022] Preferably, the screwing assembly further comprises a guide shaft protruding from the circumferential surface of the screwing shaft, the circumferential surface of the transmission shaft is provided with a second guide groove extending along its axial direction, and the guide shaft is slidably fitted in the second guide groove.

[0023] Preferably, the screwing assembly further comprises a motor and a gear set, the output end of the transmission shaft is connected to the screwing shaft, and the input end of the transmission shaft is connected to the gear set and the output end of the motor in sequence.

[0024] Preferably, one end of the screwing shaft close to the joint nut comprises a slot arranged corresponding to the outer peripheral shape of the joint nut, and the slot is sleeved on the outer peripheral surface of the joint nut.

[0025] Preferably, a residual pipe section is connected to the end of the joint nut, and the clamping groove extends along the axial direction of the screwing shaft toward a side away from the joint nut to form a cavity for accommodating the residual pipe section.

[0026] Preferably, the base is connected to the movable end of the robotic arm via a robot quick-change disc.

[0027] Preferably, the unscrewing body also includes a camera arranged toward the nuclear power equipment pipe joint for monitoring the disassembly process of the joint nut.

[0028] Preferably, the unscrewing body also includes a power supply device connected to the camera.

[0029] The present invention has at least the following beneficial effects: the remotely controlled mechanical arm drives the loosening main body action, which can replace manual loosening and removal of the nuclear power equipment pipe joint nut, reducing the radiation dose absorbed by personnel. The clamping assembly and the screwing assembly for loosening the nut are integrated on the base, making the present invention compact in structure and highly adaptable to narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0031] Figure 1 This is a schematic diagram of a nuclear power equipment pipe joint structure according to an embodiment of the present invention;

[0032] Figure 2 is a schematic diagram of the structure of a mechanical arm according to an embodiment of the present invention;

[0033] Figure 3 It is a structural schematic diagram of a nuclear power equipment pipe joint nut removal device from one perspective according to an embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of a clamping assembly of a nuclear power equipment pipe joint nut removal device on a base according to an embodiment of the present invention;

[0035] Figure 5 It is a structural schematic diagram of a nuclear power equipment pipe joint nut removal device from another perspective according to an embodiment of the present invention;

[0036] Figure 6 yes Figure 5 A magnified schematic diagram of part A;

[0037] Figure 7 It is a vertical cross-sectional view of a nut removal device for a nuclear power equipment pipe joint according to an embodiment of the present invention;

[0038] Figure 8 It is a structural schematic diagram of a screwing assembly of a nuclear power equipment pipe joint nut removal device according to an embodiment of the present invention;

[0039] Fig. 9 The invention is an exploded view of a screwing assembly of a nut removal device for a nuclear power equipment pipe joint according to an embodiment of the present invention. DETAILED DESCRIPTION

[0040] 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.

[0041] The terms "axial direction" and "radial direction" refer to the length direction of the entire device or component as the "axial direction" and the direction perpendicular to the axial direction as the "radial direction".

[0042] The terms "first", "second", etc. are used only for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly specifying the number of technical features.

[0043] The above terms are only for the convenience of description and should not be construed as limitations on the present technical solution.

[0044] Some embodiments are provided below, and the replacement of thermocouple columns on the support plate of the reactor in a nuclear power plant is used as an application scenario for further explanation. It can be understood that according to different application scenarios, the robot arm 1 is installed in different specific positions, and in the same manner as the embodiments disclosed in the present invention, it can also be applied to the removal of pipe joint nuts of other nuclear power equipment.

[0045] like Figure 1 As shown, a pipe joint 3 is provided at each pipe section connection of the thermocouple conduit 30 in the reactor upper support plate (not shown), and the pipe joint 3 includes a joint nut 31, a joint nut body 32, and a locking gasket 33. The two ends of the joint nut body 32 are respectively connected to the two pipe sections through the joint nut 31, and the locking gasket 33 is welded between the joint nut body 32 and the joint nut 31.

[0046] A thermocouple column (not shown) is inserted into the reactor upper support plate, and a thermocouple conduit extending from the thermocouple column is connected to another section of the thermocouple conduit through a pipe joint 3. Therefore, when removing the thermocouple column, it involves a step of separating the thermocouple column from the pipe joint 3. One of the steps of separating the thermocouple column from the pipe joint 3 is to loosen and remove the joint nut 31 from the joint nut body 32.

[0047] Since the pipe joint 3 is directly close to the components in the upper support plate of the reactor and is in a nuclear radiation environment, which is extremely harmful to human body, it is impossible for personnel to directly approach to perform the above separation operation.

[0048] Figure 2-9 A nut disassembly device for a nuclear power equipment pipe joint according to an embodiment of the present invention is shown. The nut disassembly device for a nuclear power equipment pipe joint comprises a movable mechanical arm 1 and a loosening body 2;

[0049] The unscrewing body 2 includes a base 20 connected to the movable end of the robot arm 1, a clamping assembly and a screwing assembly arranged on the base 20;

[0050] The screwing assembly includes a rotatable screwing shaft 22, and the clamping assembly cooperates with the outer periphery of the joint nut body 32 of the pipe joint 3 to clamp and fix it. One end of the screwing shaft 22 is sleeved on the joint nut 31 of the pipe joint 3 and drives the joint nut 31 to rotate, loosening the joint nut 31 from the joint nut body 32.

[0051] Specifically, the loosening body 2 is connected to the movable end of the robot arm 1 as the end actuator of the robot arm 1. The robot arm 1 has movable joints and multiple degrees of freedom in multiple directions, and can drive the loosening body 2 to reach the vicinity of the pipe joint 3 to be loosened. After reaching the vicinity of the pipe joint 3, the screwing shaft 22 of the loosening body 2 and the clamping assembly cooperate to loosen the joint nut 31 on the pipe joint 3 from the joint nut body 32. After the loosening body 2 loosens the joint nut 31, the robot arm 1 drives the loosening body 2 to move, separates the joint nut 31 from the joint nut body 32, and completes the disassembly of one joint nut 31.

[0052] In the reactor upper support plate, various upper reactor internal components such as guide cylinders, thermocouple guide tubes, etc. are densely packed near the joint nut 31 to be removed, and obstacles need to be avoided. The clamping assembly and the screwing assembly for loosening the joint nut 31 are integrated on the base 20, making the present invention compact in structure and highly adaptable to narrow spaces.

[0053] See also Figure 2 In some embodiments, the robot arm 1 may also be connected to a robot arm mounting plate 70, and a transmission assembly 71 and a servo motor 72 may be provided on the robot arm mounting plate 70;

[0054] The upper and lower sides of the robot arm mounting plate 70 are opposite. The transmission assembly 71 and the servo motor 72 are connected to the upper side of the robot arm mounting plate 70 , and the robot arm 1 is located at the lower side of the robot arm mounting plate 70 , and the first end of the robot arm 1 is connected to the transmission assembly 71 .

[0055] The transmission assembly 71 drives the first end of the robot arm 1 to move under the drive of the servo motor 72. The robot arm mounting plate 70 is arranged close to the tool rack mounting plate 35 to facilitate the robot arm 1 to quickly replace the robot arm tool hand.

[0056] Furthermore, the transmission assembly 71 includes at least one screw rod 710 , and a sleeve hole (not shown) is opened at the first end of the robot arm 1 , and the first end of the robot arm 1 is sleeved on the screw rod 710 through the sleeve hole, and the robot arm 1 can reciprocate along the length direction of the screw rod 710 .

[0057] Specifically, the transmission assembly 71 may further include a reducer 711 connected to the servo motor 72. In some embodiments, the screw rod 710 is a T-shaped screw rod, and one end of the screw rod 710 is connected to the reducer 711 and the servo motor 72 in sequence. The first end of the mechanical arm 1 is sleeved on the screw rod 710 through a sleeve hole, and the servo motor 72 outputs torque power, which is transmitted to the reducer 711 and the screw rod 710 in sequence. The screw rod 710 rotates to drive the mechanical arm 1 to reciprocate along the length direction of the screw rod 710.

[0058] A connecting piece 78 for fixing the screw rod 710 is provided on the upper side of the robot arm mounting plate 70. The connecting piece 78 is provided with holes. The opposite ends of the screw rod 710 are respectively passed through the holes on the connecting piece 78 to be connected to the upper side of the robot arm mounting plate 70. An anti-collision block 74 for reducing mechanical collision can also be provided on the screw rod 710.

[0059] To further enhance the position stability of the robot arm 1 during movement, at least one guide rail 76 may be provided on the upper side of the robot arm mounting plate 70 . The guide rail 76 is located on the lower side of the robot arm mounting plate 70 , and the first end of the robot arm 1 is slidably connected to the guide rail 76 .

[0060] The guide rail 76 is arranged parallel to the screw rod 710 . When the robot arm 1 reciprocates along the screw rod 710 , the guide rail 76 cooperates with the movement trajectory of the robot arm 1 on the lower side of the robot arm mounting plate 70 to provide further displacement guidance for it.

[0061] At least one drag chain 77 may be provided on the upper side of the robot arm mounting plate 70. The electrical cables and gas pipelines of the robot arm 1, the transmission assembly 71, and the servo motor 72 may be assembled in the drag chain 77, which protects and pulls the electrical cables and gas pipelines, and can effectively prevent the electrical cables and gas pipelines from becoming tangled.

[0062] Read also Figure 3-7, Further, in some embodiments, the base 20 is a hollow shell, and the clamping assembly is disposed on the outer surface of the base 20;

[0063] The base 20 is provided with a through hole 201 for the pipe joint 3 to extend into. The screw shaft 22 is accommodated in the base 20 . The screw shaft 22 is coaxially arranged with the pipe joint 3 extending into the through hole 201 .

[0064] Specifically, the robot arm 1 drives the loosening body 2 to move, aligns the through hole 201 with the pipe joint 3 and moves close to it, and the joint nut 31 of the pipe joint 3 extends into the through hole 201 and is fixed by one end of the screwing shaft 22. The joint nut body 32 of the pipe joint 3 is clamped and fixed at the periphery of the through hole 201 by the clamping assembly. At this time, the screwing shaft 22 drives the joint nut 31 to rotate, and the joint nut 31 can be loosened and removed from the joint nut body 32. The robot arm 1 continues to move to recycle the joint nut 31, and the disassembly of one joint nut 31 is completed.

[0065] Furthermore, in some embodiments, Figure 4 As shown, the clamping assembly includes a clamping member 21 and a cylinder 23 symmetrically arranged on two opposite side surfaces of a base 20;

[0066] The clamping member 21 has an arc-shaped opening (not shown) arranged corresponding to the outer periphery of the joint nut body 32. The clamping member 21 is movable along a side close to the joint nut body 32 under the drive of the cylinder 23 to clamp the joint nut body 32 therein.

[0067] Furthermore, in some embodiments, one end of the clamping member 21 away from the joint nut body 32 includes at least one inclined surface, and one end of the piston rod of the cylinder 23 is close to the inclined surface and can reciprocate along the inclined surface to push the clamping member 21 to move along the side close to the joint nut body 32.

[0068] Specifically, Figure 4 As shown, a ramp-shaped boss (not shown in the figure) is formed along one surface of the clamping member 21 at one end away from the joint nut body 32, and the height of each point on the boss relative to one surface of the clamping member 21 gradually increases along the forward direction of the piston rod 231 of the cylinder 23 (the forward direction is shown in the figure as the direction in which the piston rod 231 moves closer to the side of the pipe joint 3) to form an inclined surface 212.

[0069] One end of the piston rod 231 of the cylinder 23 abuts against the clamping member 21 , and when moving along the inclined surface 212 and in the forward direction, the clamping member 21 is pushed and moves toward a side close to the pipe joint 3 along the radial direction of the pipe joint 3 .

[0070] The cylinders 23 disposed on opposite sides of the base 20 use their piston rods 231 to push the clamping members 21 on opposite sides of the base 20 to move radially toward one side of the pipe joint 3 to clamp the joint nut body 32 of the pipe joint 3 between the two clamping members 21 .

[0071] The piston rod 231 moves in the reverse direction (reverse movement refers to the direction opposite to the forward direction) to loosen the clamping member 21, so that the clamping member 21 moves along the radial direction of the pipe joint 3 to the side away from the pipe joint 3 to loosen the joint nut body 32.

[0072] The inclination degree of the inclined surface 212 is different, and the clamping member 21 can be pushed to travel different distances to change the clamping degree of the joint nut body 32. The specific degree can be determined according to the actual application scenario, the size of the pipe joint 3, etc., and this embodiment does not limit this.

[0073] Furthermore, in some embodiments, a roller 215 that can roll against the inclined surface 212 is provided at one end of the piston rod 231 of the cylinder 23 to reduce the friction between the piston rod 231 of the cylinder 23 and the inclined surface 212 so that the piston rod 231 can move smoothly on the inclined surface 212.

[0074] Further, in some embodiments, refer to Figure 3-6 , the unscrewing body further includes a limit assembly 24, and the limit assembly 24 includes a mounting seat 240 and a guide wheel 241;

[0075] The mounting seat 240 is fixed on the base 20, and there are first guide grooves (not marked in the figure) arranged opposite to each other on the mounting seat 240 and the clamping member 21. The guide wheel 241 is inserted into the first guide grooves of the mounting seat 240 and the clamping member 21 with its opposite ends respectively and can roll along the hole wall of the first guide groove. The rolling direction of the guide wheel 241 is consistent with the direction of the reciprocating motion of the clamping member 21.

[0076] Specifically, refer to Figure 5-Figure 6 In the orientation shown in FIG. 2 , the mounting seat 240 is mounted on a surface of the base 20 by means of screws 40. The first guide groove is in a racetrack shape or an ellipse shape, has a certain length space for the guide wheel 241 to roll, and its long side is parallel to the radial direction of the pipe joint 3, so that the rolling direction of the guide wheel 241 in the first guide groove is consistent with the radial direction of the pipe joint 3.

[0077] When the piston rod 231 moves along the inclined surface 212 , the force applied by the piston rod 231 to the clamping member 21 includes a force component that pushes the clamping member 21 to move radially of the pipe joint 3 and a force component that pushes the clamping member 21 to move axially of the pipe joint 3 .

[0078] The guide wheel 241 is limited in the first guide groove and can only roll in the direction consistent with the radial direction of the pipe joint 3, which does not affect the radial movement of the clamping member 21 along the pipe joint 3. At the same time, the guide wheel 241 is limited by the first guide groove, which hinders the axial movement of the clamping member 21 along the pipe joint 3. This ensures that the clamping member 21 only moves in the radial direction of the pipe joint 3 under the push of the piston rod 231, so that the clamping member 21 is accurately positioned to the outer periphery of the joint nut body 32 to clamp it.

[0079] Further, in some embodiments, see Figure 4 The clamping member 21 includes a first portion 213 and a second portion 214 which are vertically connected. The arc-shaped opening of the clamping member 21 is located on the first portion 213 of the clamping member 21, and the inclined surface 212 is located on the second portion 214 of the clamping member 21;

[0080] The second portion 214 of the clamping member is parallel to the side surface of the base 20 , and a first elastic member 41 is disposed between the second portion 214 of the clamping member 21 and the side surface of the base 20 .

[0081] Specifically, the first elastic member 41 may be a spring. Under the reciprocating action of the piston rod 231 along the inclined surface 212, the second portion 214 of the clamping member 21 moves back and forth in a direction close to or away from the side surface of the base 20. Correspondingly, the second portion 214 of the clamping member 21 compresses the first elastic member 41, or releases the first elastic member 41 for reset. The provision of the first elastic member 41 can prevent the second portion 214 of the clamping member 21 from directly contacting the base 20 during the movement to generate an impact force, and buffer the force between the clamping member 21 and the base 20.

[0082] In some embodiments, refer to Figures 7 to 9 The screwing assembly also includes a transmission shaft 221 which is transmission-connected to one end of the screwing shaft 22 away from the joint nut 31 .

[0083] Furthermore, the transmission shaft 221 is sleeved on the outer circumference of the screwing shaft 22 and drives the screwing shaft 22 to rotate. The screwing shaft 22 can move axially relative to the inner wall of the transmission shaft 221 .

[0084] Specifically, when the joint nut body 32 is fixed under the clamping of the clamping assembly, the joint nut 31 needs to rotate and move a certain distance toward the side away from the joint nut body 32 to be screwed off from the joint nut body 32. Correspondingly, the screwing shaft 22 can move a certain distance along the side away from the joint nut 31 when screwing the joint nut 31, which can enhance the reliability of the transmission connection between the screwing shaft 22 and the transmission shaft 221.

[0085] Furthermore, in order to further buffer the force between the screwing shaft 22 and the inner wall of the transmission shaft 221, an axially extending gap is formed between the screwing shaft 22 and the inner wall of the transmission shaft 221, and a second elastic member 42 is arranged in the gap. The second elastic member 42 can be a spring. When the screwing shaft 22 reciprocates axially along the inner wall of the transmission shaft 221, the second elastic member 42 is compressed or released.

[0086] Furthermore, the screwing assembly also includes a guide shaft 222 protruding from the circumferential surface of the screwing shaft 22, and the circumferential surface of the transmission shaft 221 is provided with a second guide groove extending along its axial direction. The guide shaft 222 slides in the second guide groove to transmit the torque generated by the transmission shaft 221 to the screwing shaft 22, and cooperates with the second guide groove to guide the axial movement of the screwing shaft 22.

[0087] Specifically, a hole (not marked in the figure) for passing the guide shaft 222 can be reserved along its radial direction on the screwing shaft 22. The guide shaft 222 passes through the second guide groove on the transmission shaft 221 and the hole of the screwing shaft 22 in sequence, and its two opposite ends protrude from the outer peripheral surface of the screwing shaft 22 and slide into the second guide groove.

[0088] Furthermore, in some embodiments, the screwing assembly also includes a motor 223 and a gear set 224 , the output end of the transmission shaft 221 is connected to the screwing shaft 22 , and the input end of the transmission shaft 221 is connected to the output ends of the gear set 224 and the motor 223 in sequence.

[0089] Specifically, a gear box 225 is connected to one end of the base 20, and the base 20 is relatively connected to the gear box 225. The motor 223 is mounted on the gear box 225 through the motor mounting seat 226, and the gear set 224 is located inside the gear box 225. The gear set 224 includes a first bevel gear 2240 and a second bevel gear 2241 that are vertically connected. The input end of the transmission shaft 221 is connected to the first bevel gear 2240, the first bevel gear 2240 is meshed with the second bevel gear 2241, and the second bevel gear 2241 is connected to the output shaft of the motor 223. The output torque of the motor 223 is sequentially transmitted to the second bevel gear 2241, the first bevel gear 2240, the transmission shaft 221, and the screw shaft 22 to realize the rotational movement of the screw shaft 22.

[0090] Furthermore, a first bearing 227 and a second bearing 228 are sequentially arranged at the connection between the inside of the base 20 and the transmission shaft 221 from front to back, for supporting the rotation of the transmission shaft 221 to improve its rotation accuracy and rotation stability.

[0091] Furthermore, in some embodiments, the end of the screwing shaft 22 close to the joint nut 31 includes a slot (not shown in the figure) arranged corresponding to the outer peripheral shape of the joint nut 31, so that the end of the screwing shaft 22 close to the joint nut 31 is completely matched with the outer peripheral surface of the joint nut 31, and the slot is sleeved on the outer peripheral surface of the joint nut 31 to clamp the joint nut 31 therein and fix it.

[0092] Furthermore, the groove body of the slot is also provided with an escape groove (not shown in the figure) for evading the anti-loosening gasket 33 corresponding to the shape of the anti-loosening gasket 33 on the pipe joint 3, so as to better fit the outer periphery of the joint nut 31.

[0093] Furthermore, after the pipe fittings connected at both ends of the joint nut 31 are cut off, the ends of the joint nut 31 are connected with residual pipe sections, and the clamping groove extends along the axial direction of the screwing shaft 22 toward the side away from the joint nut 31 to form a cavity for accommodating the residual pipe section.

[0094] Furthermore, in some embodiments, the base 20 is connected to the movable end of the robot arm 1 through a robot quick-change plate 25. There is a matching standard interface between the robot quick-change plate 25 and the movable end of the robot arm 1, and the robot arm 1 can be automatically installed or disassembled to unscrew the main body 2 through the controller.

[0095] Furthermore, in some embodiments, the loosening body 2 further includes a camera (not shown) disposed toward the pipe joint 3 for monitoring the disassembly process of the joint nut 31. The camera can be used to feedback the position image information of the pipe joint 3 and to control the positioning of the pipe joint 3 in a closed loop. Specifically, the positioning of the pipe joint 3 includes but is not limited to: aligning the clamping assembly with the outer periphery of the joint nut body 32 and aligning the screwing shaft 22 with the outer periphery of the joint nut 31. Figure 3-Figure 7 As shown, the camera can be mounted on the base 20 via a camera bracket 26 .

[0096] Further, in some embodiments, the unscrewing body 2 further includes a power supply device 27 connected to the camera. The power supply device 27 can be installed on the base 20.

[0097] Furthermore, a connecting bracket 28 is installed on the base 20 , the connecting bracket 28 stands upright on the base 20 , the robot quick-change plate 25 is connected to one end of the connecting bracket 28 away from the base 20 , and the power supply device 27 is installed on the connecting bracket 28 .

[0098] The above are only some specific embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A nuclear power equipment pipe joint nut removal device, characterized in that: It comprises a movable mechanical arm (1) and a screw-down body (2); The unscrewing body (2) comprises a base (20) connected to the movable end of the mechanical arm (1), a clamping component and a screwing component arranged on the base (20); The screwing assembly comprises a rotatable screwing shaft (22); the clamping assembly cooperates with the outer circumference of a joint nut body (32) of a nuclear power equipment pipe joint (3) to clamp and fix it; one end of the screwing shaft (22) is sleeved on a joint nut (31) of the nuclear power equipment pipe joint (3) and drives the joint nut (31) to rotate, thereby loosening the joint nut (31) from the joint nut body (32); The clamping assembly comprises a clamping member (21) and a cylinder (23) which are symmetrically arranged on two opposite side surfaces of the base (20); The clamping piece (21) has an arc-shaped opening arranged corresponding to the outer periphery of the joint nut body (32), and the clamping piece (21) is movable along a side close to the joint nut body (32) under the drive of the cylinder (23) to clamp the joint nut body (32) therein.

2. The nuclear power equipment pipe joint nut removal device according to claim 1, characterized in that: The base (20) is a hollow shell, and the clamping assembly is arranged on the outer surface of the base (20); The base (20) is provided with a through hole (201) for the nuclear power equipment pipe joint (3) to extend into, the screw shaft (22) is accommodated in the base (20), and the screw shaft (22) is coaxially arranged with the nuclear power equipment pipe joint (3) extending into the through hole (201).

3. The nuclear power equipment pipe joint nut removal device according to claim 1, characterized in that: One end of the clamping piece (21) away from the joint nut body (32) comprises at least one inclined surface, and one end of the piston rod of the cylinder (23) is in close contact with the inclined surface.

4. The nuclear power equipment pipe joint nut removal device according to claim 3, characterized in that: A roller (215) that is rollable against the inclined surface is provided at one end of the piston rod of the cylinder (23).

5. The nuclear power equipment pipe joint nut removal device according to claim 1, characterized in that: The unscrewing body (2) further comprises a position limiting assembly (24), wherein the position limiting assembly (24) comprises a mounting seat (240) and a guide wheel (241); The mounting seat (240) is fixed on the base (20); the mounting seat (240) and the clamping member (21) are provided with first guide grooves arranged opposite to each other; the guide wheel (241) is inserted into the first guide grooves of the mounting seat (240) and the clamping member (21) at its opposite ends and can roll along the hole wall of the first guide groove; the rolling direction of the guide wheel (241) is consistent with the radial direction of the nuclear power equipment pipe joint (3).

6. The nuclear power equipment pipe joint nut removal device according to claim 1, characterized in that: The clamping member (21) comprises a first portion (213) and a second portion (214) which are vertically connected, and the arc-shaped opening of the clamping member (21) is located on the first portion (213) of the clamping member (21); The second portion (214) of the clamping member (21) is parallel to the side surface of the base (20), and a first elastic member (41) is provided between the second portion (214) of the clamping member (21) and the side surface of the base (20).

7. The nuclear power equipment pipe joint nut removal device according to any one of claims 1 to 6, characterized in that: The screwing assembly further comprises a transmission shaft (221) which is transmission-connected to an end of the screwing shaft (22) away from the joint nut (31).

8. The nuclear power equipment pipe joint nut removal device according to claim 7, characterized in that: The transmission shaft (221) is sleeved on the outer circumference of the screwing shaft (22) and drives the screwing shaft (22) to rotate; the screwing shaft (22) is axially movable relative to the inner wall of the transmission shaft (221).

9. The nuclear power equipment pipe joint nut removal device according to claim 8, characterized in that: An axially extending gap is formed between the screwing shaft (22) and the inner wall of the transmission shaft (221), and a second elastic member (42) is arranged in the gap.

10. The nuclear power equipment pipe joint nut removal device according to claim 8, characterized in that: The screwing assembly further comprises a guide shaft (222) protruding from the circumferential surface of the screwing shaft (22); the circumferential surface of the transmission shaft (221) is provided with a second guide groove extending along its axial direction; the guide shaft (222) is slidably fitted in the second guide groove.

11. The nuclear power equipment pipe joint nut removal device according to claim 7, characterized in that: The screwing assembly further comprises a motor (223) and a gear set (224); the output end of the transmission shaft (221) is connected to the screwing shaft (22); and the input end of the transmission shaft (221) is connected to the gear set (224) and the output end of the motor (223) in sequence.

12. The nuclear power equipment pipe joint nut removal device according to any one of claims 1 to 6, characterized in that: One end of the screwing shaft (22) close to the joint nut (31) comprises a slot arranged corresponding to the outer peripheral shape of the joint nut (31), and the slot is sleeved on the outer peripheral surface of the joint nut (31).

13. The nuclear power equipment pipe joint nut removal device according to claim 12, characterized in that: The end of the joint nut (31) is connected to a residual pipe section, and the clamping groove extends along the axial direction of the screwing shaft (22) toward a side away from the joint nut (31) to form a cavity for accommodating the residual pipe section.

14. The nuclear power equipment pipe joint nut removal device according to any one of claims 1 to 6, characterized in that: The base (20) is connected to the movable end of the robot arm (1) via a robot quick-change plate (25).

15. The nuclear power equipment pipe joint nut removal device according to any one of claims 1 to 6, characterized in that: The unscrewing body (2) further comprises a camera arranged towards the nuclear power equipment pipe joint (3) and used for monitoring the disassembly process of the joint nut (31).

16. The nuclear power equipment pipe joint nut removal device according to claim 15, characterized in that: The unscrewing body (2) also includes a power supply device (27) connected to the camera.

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