Reactor thermocouple column replacement system and reactor thermocouple column replacement method

Abstract

The present invention discloses a reactor thermocouple column replacement system and method. The reactor thermocouple column replacement system includes a positioning frame disposed above the reactor upper support plate, an operating shielding platform connected to the top of the positioning frame and covering the reactor upper support plate, and an operating assembly. The operating assembly separates or connects a conduit connector to or from the lower end of the thermocouple column on the lower side of the operating shielding platform. The upper end of the thermocouple column extends through a through-hole in the operating shielding platform. The reactor thermocouple column replacement system of the present invention reduces manual close-range operation during thermocouple column replacement, thereby reducing the collective radiation dose absorbed by personnel. The control rods and target guide tubes removed from the reactor upper support plate can be stored in a shielded space to isolate them from radiation. The operating shielding platform and positioning frame are installed above the reactor upper support plate within the reactor component pool to perform thermocouple column replacement, eliminating the need to lift the reactor upper support plate out of the reactor component pool and saving work time.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant equipment maintenance, and in particular to a reactor thermocouple column replacement system and a reactor thermocouple column replacement method. Background Art

[0002] The reactor consists of upper and lower internals. Thermocouple studs are located on the upper support plate of the upper internals. These studs support the conduits that carry the thermocouples, the temperature measuring probes within the reactor. There are typically four studs, each equipped with ten thermocouple probes. These probes pass through the studs and the thermocouple conduits connected to them, into the upper core plate to measure the temperature of the reactor's circulating water.

[0003] During the overhaul of thermocouple columns for nuclear power plant internals, the entire column must be replaced. This involves shearing, cutting, screwing, and welding the connection between the thermocouple tubes on the column and the tube connectors on the upper support plate. This involves extensive work, and the work area is directly adjacent to reactor internals, resulting in high radiation doses. Even with special protective equipment, prolonged close-range operation poses health risks.

[0004] Furthermore, control rods, control rod guides, and other components are compactly mounted near the thermocouple columns on the reactor's upper support plate. When replacing a thermocouple column, it's inevitable to remove several control rods and guides to free up a working surface within the reactor's upper support plate for the next thermocouple column replacement. These removed control rods and guides must be stored with radiation protection in mind. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a reactor thermocouple column replacement system and a reactor thermocouple column replacement method.

[0006] The technical solution adopted by the present invention to solve the technical problem is: providing a reactor thermocouple column replacement system, the reactor thermocouple column replacement system comprising a positioning frame arranged above the reactor upper support plate, an operating shielding platform connected to the top of the positioning frame and covering the reactor upper support plate, and an operating assembly;

[0007] The lower end of the thermocouple column is located on the reactor upper support plate, and the lower end of the thermocouple column is connected to the thermocouple conduit on the reactor upper support plate through a conduit joint;

[0008] The operation shielding platform includes a lower side facing the reactor upper support plate and an upper side facing away from the reactor upper support plate. The operation assembly is connected to the lower side of the operation shielding platform, and the operation assembly separates or connects the conduit connector with the lower end of the thermocouple column.

[0009] A through hole is provided on the operation shielding platform, and the upper end of the thermocouple column extends out of the operation shielding platform through the through hole.

[0010] Preferably, the operating component includes a robotic arm, a separation mechanism for separating the thermocouple column and the catheter joint, and an installation mechanism for connecting the thermocouple column and the catheter joint; the robotic arm includes a first end and a second end relative to each other, the first end of the robotic arm is connected to the operating shielding table, and the second end of the robotic arm is connected to the separation mechanism or the installation mechanism.

[0011] Preferably, the separation mechanism includes a shearing tool for shearing the thermocouple conduit, a cutting tool for cutting a locking washer connected between the joint nut body and the joint nut, and a first screwing tool for loosening the joint nut;

[0012] The installation mechanism includes a second screwing tool for tightening the joint nut and a welding tool for welding the anti-loosening washer to the joint nut body and between the joint nut;

[0013] The shearing tool, the cutting tool, the first screwing tool, the second screwing tool, and the welding tool are respectively detachably connected to the second end of the robotic arm.

[0014] Preferably, the reactor thermocouple column replacement system further comprises a tool rack for storing the shearing tool, the cutting tool, the first screwing tool, the second screwing tool or the welding tool, and the tool rack is connected to the lower side of the operation shielding platform.

[0015] Preferably, the tool rack includes a pressing assembly and a positioning rack arranged on one side of the pressing assembly;

[0016] The clamping assembly includes a cylinder and a clamping part connected to the cylinder, and one end of the clamping part is provided with a tool positioning pin; the shearing tool, cutting tool, first screwing tool, second screwing tool or welding tool is connected to the tool positioning pin and is clamped between the clamping part and the positioning frame under the drive of the cylinder.

[0017] Preferably, the positioning frame is provided with an induction switch for detecting the positioning of the shearing tool, the cutting tool, the first screwing tool, the second screwing tool or the welding tool.

[0018] Preferably, the reactor thermocouple column replacement system further comprises a robotic arm movable mechanism, wherein the robotic arm movable mechanism comprises a robotic arm mounting plate, a connected transmission assembly and a servo motor;

[0019] The operation shielding platform is provided with a mounting hole, and the robot arm mounting plate is connected to the operation shielding platform in alignment through the mounting hole;

[0020] The robot arm mounting plate includes an upper side facing away from the reactor upper support plate and a lower side facing the reactor upper support plate;

[0021] The transmission assembly and the servo motor are connected to the upper side of the robotic arm mounting plate, the robotic arm is located at the lower side of the robotic arm mounting plate, and the first end of the robotic arm is connected to the transmission assembly.

[0022] Preferably, the transmission assembly includes at least one screw rod, a sleeve hole is opened at the first end of the robotic arm, the first end of the robotic arm is sleeved on the screw rod through the sleeve hole, and the robotic arm can reciprocate along the length direction of the screw rod.

[0023] Preferably, the robotic arm movable mechanism further comprises at least three spaced-apart travel switches, a bracket parallel to the length direction of the lead screw is provided on one side of the lead screw, and the travel switch is connected to the bracket;

[0024] The first end of the mechanical arm is slidably connected to the bracket and contacts the travel switch.

[0025] Preferably, a protrusion is provided at the first end of the robotic arm, a slide groove is provided on the bracket, the travel switch is arranged in the slide groove, and the protrusion is slidably connected in the slide groove and contacts the travel switch.

[0026] Preferably, the robotic arm movable mechanism further includes at least one guide rail, the guide rail is located on the lower side of the robotic arm mounting plate, and the first end of the robotic arm is slidably connected to the guide rail.

[0027] Preferably, the robot arm movable mechanism further includes at least one drag chain, and the drag chain is arranged on the upper side of the robot arm mounting plate.

[0028] Preferably, it is characterized in that the positioning frame includes a frame body and a first guide pin provided on the frame body;

[0029] The operation shielding platform is provided with a first pin sleeve corresponding to the first guide pin, and the first guide pin cooperates with the first pin sleeve to position the operation shielding platform on the top of the frame body.

[0030] Preferably, a guardrail is provided on the upper side of the operation shielding platform.

[0031] Preferably, the reactor thermocouple column replacement system further comprises a storage rack, the storage rack comprising a support frame located on one side of the reactor upper support plate, a base provided on the support frame, and a radiation shield connected to the base, the radiation shield and the base enclosing at least one shielded space, and the control rods and guide cylinders are both located in the shielded space;

[0032] The base is provided with a plurality of first positioning holes for inserting the control rods and a plurality of second positioning holes for inserting the guide cylinders.

[0033] Preferably, a limiting frame is provided on the base, and the limiting frame includes a control rod limiting hole opened corresponding to the first positioning hole, and the control rod is sequentially inserted into the control rod limiting hole and the first positioning hole.

[0034] Preferably, the base is provided with a second guide pin, and the radiation shield is provided with a second pin sleeve corresponding to the second guide pin;

[0035] The second guide pin cooperates with the second pin sleeve to connect the radiation shield to the base.

[0036] Preferably, the radiation shield and the base are both provided with lifting connectors for cooperating with lifting;

[0037] The lifting connection piece is cylindrical, and its inner wall is provided with a thread for matching and connecting the lifting mechanism.

[0038] The present invention also provides a method for replacing a reactor thermocouple column, which comprises the following steps:

[0039] S1. Transfer the control rods and several target guide tubes on the reactor support plate into the shielded space;

[0040] S2. In the reactor component pool, install a positioning frame above the reactor upper support plate and install an operating shielding platform on top of the positioning frame; lower the water level of the reactor component pool so that the reactor upper support plate is exposed above the water surface;

[0041] S3. On the lower side of the operating shielding platform, the operating assembly separates the old thermocouple column from the catheter connector;

[0042] S4, removing the old thermocouple column from the reactor upper support plate through the through hole on the operation shielding table; and hoisting a new thermocouple column onto the reactor upper support plate through the through hole;

[0043] S5. On the lower side of the operating shielding platform, an operating component connects the new thermocouple column to the catheter connector.

[0044] Preferably, step S1 includes the following steps:

[0045] S1.1. Install the base for reactor thermocouple column replacement;

[0046] S1.2. Remove the control rod and insert it into the first positioning hole of the base; remove the target guide cylinder and insert it into the second positioning hole of the base;

[0047] S1.3. Install the radiation shield onto the base so that the control rod and the target guide tube are located in the shielded space formed by the base and the radiation shield.

[0048] Preferably, the operating assembly includes a separation mechanism for separating the old thermocouple column from the conduit connector, and step S3 includes the following steps:

[0049] S3.1. The separation mechanism shears the thermocouple conduit connected between the old thermocouple column and the conduit connector;

[0050] S3.2, the separating mechanism cuts the old anti-loosening washer welded between the joint nut body of the conduit joint and the old joint nut;

[0051] S3.3. The separation mechanism removes the old joint nut from the joint nut body.

[0052] Preferably, step S4 further includes: removing the old fixing bolts at the connection between the bottom of the old thermocouple column and the upper support plate of the reactor; installing a new joint nut on the thermocouple column to be installed, and welding a new anti-loosening gasket to the new joint nut to obtain the new thermocouple column.

[0053] Preferably, the operating assembly includes a mounting mechanism for connecting the new thermocouple column to the conduit connector, and step S5 includes the following steps:

[0054] S5.1. The installation mechanism installs the new joint nut on the new thermocouple column onto the joint nut body;

[0055] S5.2. The installation mechanism welds the new anti-loosening washer on the new joint nut to the joint nut body.

[0056] Preferably, after step S5, the method further includes: installing new fixing bolts between the bottom of the new thermocouple column and the reactor upper support plate.

[0057] The present invention has at least the following beneficial effects: An operating assembly is used on the underside of an operating shielding platform to separate or connect the lower end of a thermocouple column on the reactor's upper support plate from a conduit connector. The thermocouple column is then removed from or inserted into the reactor's upper support plate through a through-hole in the operating shielding platform. This process reduces manual close-range operation and reduces the collective radiation dose absorbed by personnel.

[0058] During the pre-processing phase of thermocouple column replacement, the control rods and guide tubes removed from the reactor's upper support plate can be stored in a shielded space to isolate them from radiation. Installing an operating shielding platform and positioning frame above the reactor's upper support plate within the reactor component pool allows for thermocouple column replacement, eliminating the need to lift the upper support plate out of the reactor component pool and saving time. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0060] Figure 1 1 is a schematic structural diagram of a reactor thermocouple column replacement system according to an embodiment of the present invention when located in a reactor component pool;

[0061] Figure 2 1 is a schematic structural diagram of a reactor thermocouple column replacement system according to an embodiment of the present invention from one perspective;

[0062] Figure 3 This is a schematic structural diagram of an upper support plate of a reactor according to an embodiment of the present invention;

[0063] Figure 4 yes Figure 3 A schematic diagram of the enlarged structure of part A;

[0064] Figure 5 This is a schematic structural diagram of a catheter joint according to an embodiment of the present invention;

[0065] Figure 6 1 is a schematic structural diagram of the lower side of an operating shielding platform in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0066] Figure 7 1 is a schematic structural diagram of a positioning frame in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0067] Figure 8 1 is a schematic structural diagram of a mechanical arm movable mechanism in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0068] Figure 9 This is a schematic diagram of the overall structure of a storage rack in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0069] Figure 10This is a schematic diagram of the internal structure of the shielded space of a storage rack in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0070] Figure 11 1. It is a schematic structural diagram of a tool holder in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0071] Figure 12 1 is a schematic structural diagram of a shearing tool in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0072] Figure 13 1 is a schematic structural diagram of a cutting tool in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0073] Figure 14 is a longitudinal cross-sectional view of a cutting tool in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0074] Figure 15 1 is a schematic structural diagram of a first screwing tool in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0075] Figure 16 is a longitudinal sectional view of a first screwing tool in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0076] Figure 17 1 is a schematic structural diagram of a second screwing tool in a reactor thermocouple column replacement system according to an embodiment of the present invention;

[0077] Figure 18 The figure is a schematic structural diagram of a welding tool in a reactor thermocouple column replacement system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0078] 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.

[0079] The terms "first", "second", etc. are only used to facilitate the distinction between components and should not be understood as indicating or implying relative importance or implicitly specifying the number of technical features.

[0080] Figures 1-18 The reactor thermocouple column replacement system of some embodiments of the present invention is shown, which includes a positioning frame 2 arranged above the reactor upper support plate 1, an operating shielding platform 3 connected to the top of the positioning frame 2 and covering the reactor upper support plate 1, and an operating component.

[0081] The lower end of the thermocouple column 5 is located on the reactor upper support plate 1 , and the lower end of the thermocouple column 5 is connected to a thermocouple conduit 61 on the reactor upper support plate 1 via a conduit joint 6 .

[0082] Specifically, see Figure 1-5 The reactor component pool 83 is provided with an upper stacking rack 80 for storing upper reactor internal components, and the reactor upper support plate 1 of the upper reactor internal components is placed on the upper stacking rack 80. Figure 3 As shown, the reactor upper support plate 1 is mounted with guide cylinders 62, control rods 63, thermocouple columns 5, thermocouple guide tubes 61, and other components. Thermocouple columns 5 are pipe support columns used to connect to thermocouple guide tubes 61. In some embodiments, there are four thermocouple columns 5, each of which contains ten thermocouple detectors. The thermocouple detectors pass through the thermocouple columns 5 and thermocouple guide tubes 61 into the upper core plate to measure the temperature of the reactor's circulating water.

[0083] like Figure 4-5 As shown, a conduit joint 6 is provided at the connection of each pipe section of the thermocouple conduit 61. The conduit joint 6 includes a joint nut body 60 and a joint nut 64 connected to both ends of the joint nut body 60. A specially designed anti-loosening gasket 65 is also provided at the connection between the joint nut body 60 and the joint nut 64. The anti-loosening gasket 65 is welded between the joint nut body 60 and the joint nut 64, so that the thermocouple conduit 61 has better overall sealing performance.

[0084] The thermocouple conduit extending from the thermocouple column 5 is connected to another section of thermocouple conduit via the conduit connector 6. Therefore, installing or removing the thermocouple column 5 involves the steps of separating or connecting the thermocouple column 5 and the conduit connector 6. When separating the thermocouple column 5 from the conduit connector 6, the locking washer 65 needs to be cut and the connector nut 64 removed. When connecting the thermocouple column 5 to the conduit connector 6, the connector nut 64 on the thermocouple column 5 needs to be installed on the connector nut body 60, and the locking washer 65 needs to be welded between the connector nut 64 and the connector nut body 60.

[0085] Please also read Figure 1 、 Figure 2 、 Figure 6 、 Figure 7 The operating shielding platform 3 includes a lower side facing the reactor upper support plate 1 and an upper side facing away from the reactor upper support plate 1. The operating component is connected to the lower side of the operating shielding platform 3. The operating component separates or connects the conduit connector 6 with the lower end of the thermocouple column 5.

[0086] Specifically, in some embodiments, the operation shielding platform 3 is formed by combining two layers of stainless steel plates and one layer of lead plates, which has reliable structural strength and can effectively shield radiation transmitted from the lower side of the operation shielding platform 3 .

[0087] The operating shielding platform 3 is provided with a through-hole, through which the upper end of the thermocouple post 5 extends out of the operating shielding platform 3. The position of the through-hole is set according to the distribution of the thermocouple posts 5. Specifically, in some embodiments, the through-holes may include a first through-hole 30 corresponding to the position of the target thermocouple post to be replaced and a second through-hole 31 corresponding to the position of other thermocouple posts not to be replaced.

[0088] Specifically, in some embodiments, the target thermocouple column to be replaced is hoisted into and out of the reactor upper support plate 1 through the first through-hole 30, while the upper ends of the other three thermocouple columns not to be replaced extend out of the operating shielding platform 3 through the second through-hole 31. The opening area of ​​the first through-hole 30 is slightly larger than that of the second through-hole 31, so that other auxiliary operating tools can be inserted into the first through-hole 30, such as an operating tool for arranging the thermocouple conduit 61 or a camera for observing the internal conditions of the reactor upper support plate 1.

[0089] In some embodiments, please refer to Figure 8 The operating assembly includes a robotic arm 75, a separation mechanism for separating the thermocouple column 5 from the conduit connector 6, and a mounting mechanism for connecting the thermocouple column 5 to the conduit connector 6. The robotic arm 75 includes a first end and a second end. The first end of the robotic arm 75 is connected to the operating shielding platform 3, and the second end of the robotic arm 75 is connected to the separation mechanism or the mounting mechanism.

[0090] Specifically, the control system (not shown) associated with the robotic arm 75 allows for remote control of the robotic arm 75, serving as a replacement for manual separation or installation of the thermocouple column 5. To ensure operational flexibility and portability, the robotic arm 75 can be a flexible robotic arm, and in some embodiments, a Universal Robots teaching robot is employed.

[0091] In some embodiments, the separation mechanism includes a shearing tool for shearing the thermocouple conduit 61, a cutting tool for cutting the locking washer 65 connected between the joint nut body 60 and the joint nut 64, and a first screwing tool for loosening the joint nut 64;

[0092] The mounting mechanism includes a second screwing tool for tightening the joint nut 64 and a welding tool for welding the anti-loosening washer 65 between the joint nut body 60 and the joint nut 64 .

[0093] The shearing tool, the cutting tool, the first screwing tool, the second screwing tool, and the welding tool are respectively detachably connected to the second end of the robotic arm 75 .

[0094] Specifically, the shearing tool, the cutting tool, the first screwing tool, the second screwing tool, and the welding tool are individually and detachably connected to the second end of the manipulator 75, that is, corresponding to the different working stages of the replacement of the reactor thermocouple column, one of the aforementioned five tools can be installed at the second end of the manipulator 75 to perform the corresponding operation. For the convenience of description, when it is necessary to describe "the shearing tool, the cutting tool, the first screwing tool, the second screwing tool or the welding tool" below, it will be replaced by "manipulator tool". The description of "manipulator tool" is only used to facilitate the reader's understanding of the present technical solution and cannot be considered as a limitation of the technical solution of the present invention. When there is a connection relationship, position relationship, or matching relationship between the manipulator tool and other components, it means that in any one or more embodiments, the manipulator tool is one of the five tools mentioned above and its connection relationship, position relationship, and matching relationship with other components.

[0095] Specifically, see Figure 12-18 The manipulator tool is detachably connected to the second end of the manipulator arm 75 through the tool quick-change plate 90. The manipulator arm 75 drives the manipulator tool to perform corresponding shearing, cutting, screwing, and welding actions.

[0096] like Figure 12 As shown, the shearing tool includes a frame 935, a shearing blade 930 positioned within the frame 935, and a first transmission structure connected to the shearing blade 930 and driving the shearing blade 930 to perform a shearing motion. The first transmission structure includes a motor 931, a main gear 932 and a slave gear 933 disposed on one side of the motor 931 and meshing with each other, and a transmission shaft 934 connected to the slave gear 933. The motor 931 is positioned below the shearing blade 930, with one end of the motor 931 connected to the main gear 932. The shearing tool also includes a camera unit (not shown) mounted on the frame 935, facing the side of the shearing blade 930. Specifically, the shearing tool operates as follows: the output torque of the motor 931 is sequentially transmitted to the main gear 932, the slave gear 933, the transmission shaft 934, and the shearing blade 930. The camera unit, in conjunction with image feedback information such as the shearing position provided by the camera unit, controls the shearing blade 930 to perform a shearing motion, thereby shearing the thermocouple tube 61 within the reactor upper support plate 1.

[0097] like Figure 13-14As shown, the cutting tool includes a housing 946, a cutting blade 948, a rotation mechanism, a lifting cylinder 942, a revolution mechanism, and a camera 945. The rotation mechanism includes a first motor 940 for driving the cutting blade 948 to rotate, a second transmission structure 941 connected between the first motor 940 and the cutting blade 948, a lifting plate 947 connected to the piston rod of the lifting cylinder 942, and a high-speed shaft 949 that is transmission-connected to the cutting blade 948 and mounted on the lower side of the lifting plate 947. The lifting cylinder 942 is used to drive the lifting and lowering of the rotation mechanism. The revolution mechanism includes a second motor 943 and a gear pair 944 connected between the housing 946 and the second motor 943. The revolution mechanism is used to drive the housing 946 to rotate about the central axis of the catheter connector 6, thereby driving the cutting blade 948 to rotate about the central axis of the catheter connector 6 (i.e., rotate about the central axis of the catheter connector 6). The cutting tool further includes a positioning shaft 98 . A bayonet is provided at one end of the positioning shaft 98 close to the catheter connector 6 . The bayonet is sleeved on the outer peripheral surface of the end of the catheter connector 6 to fix the catheter connector 6 .

[0098] Specifically, the cutting tool operates as follows: a first motor 940 drives the cutting blade 948 to rotate about its own axis; a lifting cylinder 942 controls the lifting and lowering of the lifting plate 947 of the rotation mechanism, driving the high-speed shaft 949 connected to the lower side of the lifting plate 947 to move up and down, thereby controlling the movement of the cutting blade 948 radially toward or away from the catheter connector 6 to control the depth of the cut weld. The revolution mechanism drives the housing 946 to rotate about the central axis of the catheter connector 6, thereby driving the cutting blade 948 to rotate about the central axis of the catheter connector 6 to cut the girth weld on the catheter connector 6. The camera 945 is used to monitor the cutting process and provide visual feedback of the position information of the catheter connector 6. The rotation mechanism, lifting cylinder 942, revolution mechanism, cutting blade 948, and camera 945 work together to cut and separate the anti-loosening gasket 65 welded to the catheter connector 6.

[0099] like Figure 15-16 As shown, the first screwing tool includes a clamping assembly 950 for clamping the joint nut body 60 of the catheter connector 6, a cylinder drive assembly 955 for driving the clamping assembly 950, a transmission shaft 954 with one end engaged with the outer circumference of the joint nut 64 of the catheter connector 6 and used to loosen the joint nut 64, a third motor 951 for driving the transmission shaft 954 to rotate, a third transmission structure 952 connected between the transmission shaft 954 and the third motor 951, and a camera 953 positioned toward the catheter connector 6. The third transmission structure 952 may be a gear assembly. A roller 956 is provided at the connection between the cylinder drive assembly 955 and the clamping assembly 950.

[0100] Specifically, the first screwing tool operates as follows: a clamping assembly 950 is fitted onto opposite sides of the joint nut body 60. The clamping assembly 950 has an inclined surface. The cylinder drive assembly 955 drives the roller 956 to roll along the inclined surface, thereby squeezing the clamping assembly 950. Under the pressure of the roller 956, the clamping assembly 950 tends to move radially toward the joint nut body 60, thereby clamping the joint nut body 60 on opposite sides of the joint nut body 60. After the joint nut body 60 is clamped and fixed, one end of the transmission shaft 954 is sleeved onto the outer circumference of the joint nut 64. The output torque of the third motor 951 is sequentially transmitted to the third transmission structure 952, the transmission shaft 954, and the joint nut 64, rotating the joint nut 64 by a certain angle to loosen and separate the joint nut 64 from the joint nut body 60. The camera 953 is used to monitor the process of loosening the joint nut 64 and provide image feedback of the joint nut 64 position information.

[0101] like Figure 17 As shown, the second screwing tool includes a tightening assembly, a fourth motor 961 connected to and driving the tightening assembly, and a camera 962 arranged on one side of the tightening assembly. The camera 962 is used to monitor the tightening process and provide image feedback of the position information of the joint nut 64. The tightening assembly includes a fourth transmission structure (not shown) that is transmission-connected to the fourth motor 961, and a socket portion 960 that is transmission-connected to the fourth transmission structure and is configured to match the shape of the outer peripheral surface of the joint nut 64. The socket portion 960 is sleeved on the outer peripheral surface of the joint nut 64. Driven by the fourth motor 961, the joint nut 64 rotates a certain angle, thereby being tightened on the joint nut body 60.

[0102] like Figure 18 As shown, the welding tool includes a camera 973, a welding assembly, a wire feeding assembly 971 connected to the welding assembly and having an opening facing one side of the welding assembly, and a cable assembly 972 connected to the welding assembly. The cable assembly 972 is connected to the supporting control system of the robotic arm 75. The welding assembly includes a welding gun 970 and a tungsten electrode quick-change cylinder 974 connected to one end of the welding gun 970. The wire feeding assembly 971 provides filler metal and cooperates with the welding assembly to weld the anti-loosening gasket 65 to the joint nut body 60 and the joint nut 64. The camera 973 is used to provide image feedback of the welding process, such as position information of the joint nut 64 and the joint nut body 60, target weld position confirmation and calibration, etc.

[0103] Specifically, after fixing the relative position between the robotic arm 75 and the robotic tool, a motion program can be set in the matching control system. The motion program includes controlling the displacement path of the robotic arm 75 itself, the movement path and mechanical actions required to complete the installation and removal of the robotic tool, and controlling the robotic tool to perform corresponding shearing, cutting, screwing, welding and other actions.

[0104] It is understood that in other embodiments, the first and second screwing tools may be integrated into a single screwing tool. When integrated into a single screwing tool, the component driving the rotation thereof should have a reversing function. This reversing function can be implemented by programming a program for controlling motor reversing in the associated control system.

[0105] The reactor thermocouple column replacement system further comprises a tool rack for storing manipulator tools, and the tool rack is connected to the lower side of the operation shielding platform 3 .

[0106] For details, please refer to Figure 2 、 Figure 6 、 Figure 8 、 Figures 11-18 In some embodiments, a tool rack mounting plate 35 is provided on the lower side of the operating shielding platform 3, and the tool rack is connected to the tool rack mounting plate 35 by bolts 350. The manipulator tools can be stored on the tool rack.

[0107] Furthermore, if Figure 11 As shown, the tool holder includes a clamping assembly and a positioning frame 352 disposed on one side of the clamping assembly. The clamping assembly includes a cylinder 351, a clamping portion 353 connected to the cylinder 351, and a tool positioning pin 354 disposed at one end of the clamping portion 353. The manipulator tool is connected to the tool positioning pin 354 and is clamped between the clamping portion 353 and the positioning frame 352 under the drive of the cylinder 351.

[0108] Specifically, the two cylinders 351 are fixed on the cylinder bracket 355, and the positioning frame 352 is set parallel to the cylinder bracket 355. The cylinder bracket 355 and the positioning frame 352 are connected to the tool rack mounting plate 35 through the bolts 350 at the bottom. Figures 12-18 The manipulator tool is provided with a connecting plate 91 and a connecting portion 92. The connecting portion 92 is plugged into the tool positioning pin 354 to connect the manipulator tool to the pressing portion 353. Driven by the cylinder 351, the manipulator tool can reciprocate up and down relative to the positioning frame 352. The connecting plate 91 abuts against the positioning plate 356 on the positioning frame 352 and is pressed between the pressing portion 353 and the positioning plate 356 on the positioning frame 352. When not in use, the manipulator tool can be stored and fixed on the tool rack. When needed, the manipulator arm 75 quickly replaces the corresponding manipulator tool using the tool quick-change tray 90.

[0109] Furthermore, the positioning frame 352 is provided with an induction switch 357 for detecting the positioning of the separation mechanism or the installation mechanism.

[0110] Specifically, when the manipulator tool is pressed between the pressing part 353 and the positioning plate 356 on the positioning frame 352 under the drive of the cylinder 351, it presses the sensing switch 357 together, and the sensing switch 357 transmits corresponding information to the control system. The control system can then receive the information that the manipulator tool is successfully aligned on the positioning frame 352, thereby monitoring the position information of the manipulator tool (whether it is located on the positioning frame 352) to ensure precise control of the process of picking up and placing the manipulator tool.

[0111] Please also refer to Figure 8 , the reactor thermocouple column replacement system also includes a robotic arm movable mechanism 7, the robotic arm movable mechanism 7 includes a robotic arm mounting plate 70, a connected transmission assembly 71 and a servo motor 72;

[0112] The operating shielding platform 3 is provided with mounting holes, through which the manipulator mounting plate 70 is aligned and connected to the operating shielding platform 3. The manipulator mounting plate 70 includes an upper side facing away from the reactor upper support plate 1 and a lower side facing the reactor upper support plate 1. A transmission assembly 71 and a servo motor 72 are connected to the upper side of the manipulator mounting plate 70. A manipulator 75 is located on the lower side of the manipulator mounting plate 70, with a first end of the manipulator 75 connected to the transmission assembly 71.

[0113] Specifically, in some embodiments, the robot arm mounting plate 70 is connected to the operating shielding platform 3 via screws (not shown), and the transmission assembly 71 drives the first end of the robot arm 75 under the drive of the servo motor 72. The robot arm mounting plate 70 is positioned near the tool rack mounting plate 35 to facilitate the rapid replacement of the robot arm tool hand of the robot arm 75.

[0114] 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 robotic arm 75. The first end of the robotic arm 75 is sleeved on the screw rod 710 through the sleeve hole, and the robotic arm 75 can reciprocate along the length direction of the screw rod 710.

[0115] Specifically, the transmission assembly 71 may further include a speed reducer 711 connected to the servo motor 72. In some embodiments, the screw rod 710 is a T-shaped screw rod, with one end of the screw rod 710 connected to the speed reducer 711 and the servo motor 72 in sequence. The first end of the robotic arm 75 is sleeved on the screw rod 710 through a hole. The servo motor 72 outputs torque power, which is sequentially transmitted to the speed reducer 711 and the screw rod 710. The rotation of the screw rod 710 drives the robotic arm 75 to reciprocate along the length of the screw rod 710.

[0116] The robotic arm movable mechanism 7 also includes at least three spaced-apart limit switches 73. A bracket 79 parallel to the length direction of the lead screw 710 is provided on one side of the lead screw 710, and the limit switch 73 is connected to the bracket 79; the first end of the robotic arm 75 is slidably connected to the bracket 79 and contacts the limit switch 73.

[0117] Furthermore, a protrusion 750 is provided at the first end of the robotic arm 75 , a slide groove (not shown) is provided on the bracket 79 , the limit switch 73 is arranged in the slide groove, the protrusion 750 is slidably connected in the slide groove, and contacts the limit switch 73 .

[0118] Specifically, in some embodiments, a connecting piece 78 for fixing the screw rod 710 is provided on the upper side of the robot arm mounting plate 70, and a hole is provided on the connecting piece 78. 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.

[0119] Bracket 79 is connected to the upper side of the robot arm mounting plate 70 and is located near the screw rod 710. The length of bracket 79 is roughly the same as the length of screw rod 710. While the robot arm 75 reciprocates along the length of the screw rod 710, it also slides back and forth relative to bracket 79 and contacts the limit switch 73.

[0120] The travel switches 73 include a first switch 730 for the front limit, a second switch 731 for the zero position, and a third switch 732 for the rear limit. The first, second, and third switches 730, 731, 732 are each connected to a control system and cooperate with the control system to control the front and rear limits of the robotic arm 75 during its reciprocating motion on the lead screw 710, as well as to restore the robotic arm 75 to its initial position (zero position).

[0121] Furthermore, an anti-collision block 74 is provided on the screw rod 710. The anti-collision block 74 is used to avoid mechanical collision caused by failure of the limit switch 73 in an emergency situation, so as to protect the components in the robot arm movable mechanism 7.

[0122] To further enhance the position stability of the robotic arm 75 during movement, the robotic arm movable mechanism 7 further includes at least one guide rail 76 . The guide rail 76 is located on the lower side of the robotic arm mounting plate 70 , and the first end of the robotic arm 75 is slidably connected to the guide rail 76 .

[0123] Specifically, the guide rail 76 is arranged parallel to the screw rod 710. When the robot arm 75 reciprocates along the screw rod 710, the guide rail 76 cooperates with the movement trajectory of the robot arm 75 on the lower side of the robot arm mounting plate 70 to provide further displacement guidance for it.

[0124] Furthermore, the robot arm movable mechanism 7 also includes at least one drag chain 77, which is arranged on the upper side of the robot arm mounting plate 70. The electrical cables and gas pipelines of the robot arm movable mechanism 7 can be collected in the drag chain 77, which protects and pulls the electrical cables and gas pipelines and effectively prevents the electrical cables and gas pipelines from getting tangled.

[0125] Furthermore, a lifting ring 701 is provided on the robot arm mounting plate 70 for facilitating lifting.

[0126] In some embodiments, the positioning frame 2 includes a frame body 20 and a first guide pin 21 provided on the frame body 20;

[0127] Please also read Figure 1 、 Figure 2 、 Figure 6 、 Figure 7 A first pin sleeve 34 is provided on the operating shielding platform 3 corresponding to the first guide pin 21 . The first guide pin 21 cooperates with the first pin sleeve 34 to position the operating shielding platform 3 on the top of the frame body 20 .

[0128] Specifically, in some embodiments, the frame body 20 is welded from stainless steel square tubes and has an octagonal structure. By overlapping different stainless steel square tubes, the frame body 20 forms a stable supporting structure, which has the characteristics of light weight, high bearing capacity, stable structure, and no deformation after multiple liftings.

[0129] Furthermore, eight legs 23 are provided at the bottom of the frame body 20, corresponding to the octagonal structure. Legs 23 are positioned at the intersection of two adjacent sides of the octagon. Specifically, the reactor upper support plate 1 is placed on the upper stacking rack 80, and the frame body 20 is supported on the upper stacking rack 80 by the legs 23, surrounding the reactor upper support plate 1.

[0130] In some embodiments, the first pin sleeves 34 on the operating shielding platform 3 are provided in four numbers, symmetrically spaced in pairs. Correspondingly, the first guide pins 21 on the frame body 20 are also provided in four numbers, symmetrically spaced in pairs. Therefore, when the operating shielding platform 3 is mounted on the frame body 20, the operating shielding platform 3 can be rotated to reposition the first through-hole 30 and the second through-hole 31 on the operating shielding platform 3, thereby replacing the thermocouple stud 5 in a different position.

[0131] Furthermore, the upper stacking rack 80 also has a positioning pin 10 corresponding to the positioning frame 2, and the frame body 20 is provided with a positioning pin sleeve 201 corresponding to the positioning pin 10. The positioning pin 10 and the positioning pin sleeve 201 cooperate to connect the frame body 20 to the upper stacking rack 80.

[0132] Specifically, the positioning frame 2 is connected to the upper stacking rack 80 via positioning pin sleeves 201, thereby surrounding the reactor upper support plate 1. The positioning pin sleeves 201 can eliminate dimensional errors caused by the welding process of the frame body 20 and further firmly position the frame body 20 above the reactor upper support plate 1.

[0133] Furthermore, considering the safety of personnel, a guardrail 32 is provided on the upper side of the operating shielding platform 3 .

[0134] Furthermore, both the operating shielding platform 3 and the positioning frame 2 are provided with lifting assemblies for cooperating with the lifting mechanism to achieve lifting, combining, or separating the operating shielding platform 3 and the positioning frame 2, as well as adjusting the angle of the operating shielding platform 3. Specifically, in some embodiments, the operating shielding platform 3 is provided with a lifting ring 33, and the positioning frame 2 is provided with a lifting hook 22.

[0135] Please also refer to Figure 9 、 Figure 10 The reactor thermocouple column replacement system further includes a storage rack 4, which includes a support frame 40 located on one side of the reactor upper support plate 1, a base 41 disposed on the support frame 40, and a radiation shield 42 connected to the base 41. The radiation shield 42 and the base 41 enclose at least one shielded space, and the control rod 63 and the guide cylinder 62 are both located in the shielded space.

[0136] The base 41 is provided with a plurality of first positioning holes (not shown) for inserting the control rods 63 and a plurality of second positioning holes (not shown) for inserting the guide cylinders 62. Specifically, the first positioning holes are arranged in a rectangular array in the center of the base 41, and the second positioning holes are arranged around the second positioning holes.

[0137] A limiting frame 43 is provided on the base 41. The limiting frame 43 includes a control rod limiting hole (not shown) opened corresponding to the first positioning hole. The control rod 63 is sequentially inserted into the control rod limiting hole and the first positioning hole.

[0138] Specifically, the support frame 40 can be a lower stack A-shaped storage rack located within the reactor component pool 83. The retaining frame 43 is a rectangular double-layered frame structure, located in the center of the base 41. The first and second layers of the retaining frame 43 each have corresponding control rod retaining holes. The control rod 63 is sequentially inserted through the control rod retaining holes on the first and second layers, as well as the first positioning hole. This ensures that the control rod 63 is securely positioned on the storage rack 4.

[0139] A second guide pin 45 is provided on the base 41 , and a second pin sleeve 46 corresponding to the second guide pin 45 is provided on the radiation shield 42 . The second guide pin 45 cooperates with the second pin sleeve 46 to connect the radiation shield 42 to the base 41 .

[0140] The radiation shield 42 and the base 41 are both provided with a lifting connector 44 for cooperating with the lifting. The lifting connector 44 is cylindrical, and its inner wall is provided with a thread for cooperating with the lifting mechanism.

[0141] The present invention provides a method for replacing a reactor thermocouple column, comprising the following steps:

[0142] S1. Transfer the control rods and several target guide cylinders on the reactor upper support plate 1 into the shielded space;

[0143] Specifically, in some embodiments, the location of the target thermocouple column to be replaced can be first determined, and then several guide cylinders near the location of the target thermocouple column can be set as target guide cylinders. Factors such as the size of the reactor components can be comprehensively considered. During actual operation, the required operating space for separating and installing the conduit connector 6 at the lower end of the thermocouple column can be determined in advance. The number and location of the target guide cylinders to be removed can then be determined using a lifting mechanism to lift and remove the target guide cylinders and transfer them to the shielded space.

[0144] Further, see Figure 3 、 Figure 9 、 Figure 10 , step S1 comprises the following steps:

[0145] S1.1. Install the base 41 for replacing the reactor thermocouple column;

[0146] S1.2. Remove the control rod 63 from the reactor upper support plate 1 and insert it into the first positioning hole of the base 41. Remove the target guide cylinder from the reactor upper support plate 1 and insert it into the second positioning hole of the base 41.

[0147] S1.3. Install the radiation shield 42 onto the base 41 so that the control rod 63 and the target guide tube are located in the shielding space formed by the base 41 and the radiation shield 42.

[0148] Furthermore, step S1.2 further includes: covering the removed target guide cylinder with an end plug.

[0149] In some embodiments, when applied to the CPR1000 reactor type, due to the large number of guide tubes and control rods, and the large number of components, only part of the guide tube near the thermocouple column to be replaced can be removed, leaving a working surface on the reactor upper support plate 1 for thermocouple column replacement. Figure 3 , Figure 3 Schematic diagram of the structure of the reactor upper support plate 1 after several target guide cylinders are removed in some embodiments.

[0150] It is understood that in other embodiments, particularly in small reactors, when the number of guide tubes is small, all guide tubes may be removed before replacing the thermocouple column. The specific guide tubes to be removed may be determined based on actual operating conditions, particularly the size of the applicable reactor, and other considerations.

[0151] S2. In the reactor component pool 83, the positioning frame 2 is installed above the reactor upper support plate 1, and the operating shielding platform 3 is installed on the top of the positioning frame 2; the water level in the reactor component pool 83 is lowered so that the reactor upper support plate 1 is exposed to the water surface.

[0152] Specifically, workers control a lifting mechanism (not shown) near the reactor component pool 83 to lift the positioning frame 2 and operating shielding platform 3 into the water and install them above the reactor upper support plate 1. Therefore, the positioning frame 2 and operating shielding platform 3 can be assembled directly in the reactor component pool 83. After installation, the water level of the reactor component pool 83 is adjusted to lower, exposing the reactor upper support plate 1, and then the thermocouple column replacement operation can be carried out. This avoids lifting the reactor upper support plate 1 out of the reactor component pool 83, saving time on the critical path.

[0153] In some embodiments, when applied to the CPR1000 reactor type, the original water level elevation of the reactor component pool 83 is +19.5 meters, and the elevation after the water level drops is +10.5 meters.

[0154] Furthermore, step S2 further includes: before installing the positioning frame 2, capping the remaining guide tubes on the reactor upper support plate 1 with end plugs. Furthermore, in some embodiments, a vertical ladder 82 is installed within the reactor component pool 83, near the side of the positioning frame 2, to allow workers to enter the reactor component pool 83. Furthermore, a transition platform 81 connected to the positioning frame 2 is installed within the reactor component pool 83 to allow workers to reach the operating shielding platform 3.

[0155] S3. On the lower side of the operating shielding platform 3, the operating assembly separates the old thermocouple column from the catheter connector 6.

[0156] Furthermore, the operating assembly includes a separation mechanism for separating the old thermocouple column from the conduit connector 6, and step S3 includes the following steps:

[0157] S3.1. The separation mechanism shears the thermocouple conduit 61 connected between the old thermocouple column and the conduit connector 6;

[0158] S3.2. The separation mechanism cuts the old locking washer welded between the conduit connector 6 and the old connector nut;

[0159] S3.3. The separation mechanism removes the old joint nut from the conduit joint 6.

[0160] Furthermore, the operating assembly is detachably connected to the operating shielding platform 3 , and step S3 further includes: the staff installing the operating assembly on the operating shielding platform 3 , and installing lighting tools and special video detection tools (not shown).

[0161] The operating assembly includes a robotic arm 75, the first end of which is connected to a robotic arm mounting plate 70. The operating shielding platform 3 is provided with mounting holes (not shown), and the robotic arm mounting plate 70 is detachably connected to the operating shielding platform 3 corresponding to the mounting holes. A worker can connect the robotic arm mounting plate 70 to the operating shielding platform 3 by welding or other means corresponding to the mounting holes on the operating shielding platform 3.

[0162] In order to make the robot arm 75 flexible and lightweight, the robot arm 75 can be a flexible robot arm. In one embodiment, a Universal Robots teaching robot is selected. Through programming through the matching control system of the robot arm 75, the robot arm 75 can be controlled to complete the preset path movement and preset actions.

[0163] Specifically, in some embodiments, see Figure 12-14 The separation mechanism includes a shearing tool for shearing the thermocouple tube 61, a cutting tool for cutting the anti-loosening gasket 65 connected between the joint nut body 60 and the joint nut 64, and a first screwing tool for loosening the joint nut 64; correspondingly:

[0164] In step S3.1, the shearing tool shears the thermocouple tube connected between the old thermocouple column and the tube connector 6.

[0165] In step S3.2, the cutting tool cuts the old anti-loosening washer welded between the joint nut body 60 and the old joint nut.

[0166] In step S3.3, the first screwing tool screws the old joint nut off the joint nut body 60.

[0167] S4. Remove the old thermocouple column from the reactor upper support plate 1 through the through hole on the operating shielding platform 3; and hoist the new thermocouple column onto the reactor upper support plate 1 through the through hole.

[0168] Furthermore, in some embodiments, step S4 also includes: removing the old fixing bolts at the connection between the bottom of the old thermocouple column and the upper support plate 1 of the reactor; installing a new joint nut on the thermocouple column to be installed, and welding a new anti-loosening gasket to the new joint nut to obtain a new thermocouple column.

[0169] Specifically, see Figure 4 The bottom of the thermocouple column 5 is connected to the bottom of the reactor upper support plate 1 by fixing bolts 11.

[0170] In some embodiments, the separation mechanism may further include a third screwing tool (not shown), which includes a first clamping portion corresponding to the shape of the old fixing bolt, and can loosen and remove the old fixing bolt at the connection between the bottom of the old thermocouple column and the upper support plate 1 of the reactor. The third screwing tool can also be detachably connected to the second end of the robotic arm 75 or stored on the tool rack.

[0171] In other embodiments, a worker stands on the operating shielding platform 3 and inserts a special loosening tool through the first through hole 30 to loosen and remove the old fixing bolts at the connection between the bottom of the old thermocouple column and the upper support plate 1 of the reactor.

[0172] Specifically, workers install a new joint nut onto the thermocouple column to be installed at a platform at a water level of +20 degrees (on the edge of the reactor component pool) near the reactor component pool 83. They weld a new locking washer (the long side of the new locking washer) to the new joint nut and reshape the thermocouple conduit on the thermocouple column to obtain a new thermocouple column. The new thermocouple column is then hoisted through the first through-hole 30 and placed on the reactor upper support plate 1.

[0173] S5. On the lower side of the operating shielding platform 3 , the operating assembly connects the new thermocouple column to the catheter connector 6 .

[0174] Furthermore, the operating assembly includes a mounting mechanism for connecting the new thermocouple column to the conduit connector 6, and step S5 includes the following steps:

[0175] S5.1. The installation mechanism installs the new joint nut on the new thermocouple column onto the joint nut body 60;

[0176] S5.2. The installation mechanism welds the new anti-loosening washer on the new joint nut to the joint nut body 60.

[0177] Specifically, in some embodiments, see Figure 15 、 Figure 16 The installation mechanism includes a second screwing tool for tightening the joint nut 64 and a welding tool for welding the anti-loosening washer 65 between the joint nut body 60 and the joint nut 64. Correspondingly:

[0178] In step S5.1, a second screwing tool screws the new joint nut on the new thermocouple column onto the joint nut body 60;

[0179] In step S5.2, a welding tool welds the new anti-loosening washer on the new joint nut to the joint nut body 60.

[0180] It is understood that in other embodiments, the first screwing tool and the second screwing tool may be integrated into one screwing tool. When integrated into one screwing tool, the component driving the rotation thereof should have a reversing function, corresponding to the function of loosening or tightening the joint nut 64. The corresponding reversing function can be achieved by programming a program for controlling the reversing of the motor into the supporting control system of the robot arm 75.

[0181] See also Figure 12-16The manipulator tools are detachably connected to the second end of the manipulator arm 75 through the tool quick-change plate 90. The manipulator arm 75 drives the manipulator tools to perform corresponding shearing, cutting, screwing and welding actions.

[0182] Specifically, after fixing the relative position between the robotic arm 75 and each component, a motion program can be set in the supporting control system. The motion program includes controlling the displacement path of the robotic arm 75 itself, the timing of replacing the robotic tool, the moving path required to achieve the replacement action, the replacement action, and other contents.

[0183] In some embodiments, the robot tools can be stored on tool racks and connected to the second end of the robot arm 75. Figure 2 、 Figure 6 、 Figure 11 The tool holder is connected to the tool holder mounting plate 35 via bolts 350. The tool holder mounting plate 35 is attached to the underside of the operating shielding platform 3, facing the interior of the reactor upper support plate 1. The tool holder and tool holder mounting plate 35 are integrally integrated with the operating shielding platform 3 and located on the underside of the operating shielding platform 3, and can be positioned near the robotic arm 75. The relative positional relationship between the robotic arm 75 and the various robotic tools on the tool holder can be preset in advance. The corresponding displacement and motion programs can be programmed into the robotic arm 75's control system to facilitate the installation and replacement of robotic tools.

[0184] Furthermore, after step S5, the method further includes:

[0185] Install new fixing bolts between the bottom of the new thermocouple column and the reactor upper support plate 1.

[0186] Specifically, in some embodiments, the separation mechanism may further include a fourth screwing tool (not shown), which includes a second clamping portion corresponding to the shape of the new fixing bolt. The new fixing bolt is sleeved on the second clamping portion to tighten the new fixing bolt at the connection between the bottom of the new thermocouple column and the upper support plate 1 of the reactor. The fourth screwing tool can also be detachably connected to the second end of the robotic arm 75 or stored on the tool rack.

[0187] In other embodiments, a worker standing on the operating shielding platform 3 inserts a special tightening tool through the first through hole 30 and connects the bottom of the new thermocouple column to the connection between the reactor upper support plate 1 and the new fixing bolts.

[0188] And, further, after step S5, the method further includes:

[0189] Conduct gauge inspection on thermocouples; install new thermocouples; perform online thermocouple inspection; install and weld pipe clamps; conduct video inspection on reactor upper support plate 1; remove lighting tools and specialized video inspection tools; and remove operating components.

[0190] And, further, after step S5, the method further includes:

[0191] The water level in the reactor component pool 83 rises; the positioning frame 2, transition platform 81, and ladder 82 are removed; the radiation shield 42 is removed; the upper end hole covers and plugs of the guide cylinders that have not been removed are removed; the mounting hole covers and plugs left on the removed guide cylinders are removed; the removed guide cylinders are reinstalled into the reactor upper support plate 1; the guide cylinders are inspected by video; the control rods 63 are reinstalled into the reactor upper support plate 1; the base 41 is lifted out of the reactor component pool 83; and the upper internal components are placed back into the reactor pressure vessel.

[0192] 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 description 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 reactor thermocouple column replacement system, characterized in that: It comprises a positioning frame (2) arranged above a reactor upper support plate (1), an operating shielding platform (3) connected to the top of the positioning frame (2) and covering the reactor upper support plate (1), and an operating assembly; The lower end of the thermocouple column (5) is located on the reactor upper support plate (1), and the lower end of the thermocouple column (5) is connected to the thermocouple conduit (61) on the reactor upper support plate (1) via a conduit joint (6); The operating shielding platform (3) includes a lower side facing the reactor upper support plate (1) and an upper side facing away from the reactor upper support plate (1), the operating component is connected to the lower side of the operating shielding platform (3), and the operating component separates or connects the conduit connector (6) and the lower end of the thermocouple column (5); A through hole is provided on the operation shielding platform (3), and the upper end of the thermocouple column (5) extends out of the operation shielding platform (3) through the through hole; The operating assembly comprises a mechanical arm (75), a separation mechanism for separating the thermocouple column (5) and the catheter connector (6), and a mounting mechanism for connecting the thermocouple column (5) and the catheter connector (6); the mechanical arm (75) comprises a first end and a second end opposite to each other, the first end of the mechanical arm (75) being connected to the operating shielding platform (3), and the second end of the mechanical arm (75) being connected to the separation mechanism or the mounting mechanism; The separation mechanism comprises a shearing tool for shearing the thermocouple conduit (61), a cutting tool for cutting the anti-loosening gasket (65) connected between the joint nut body (60) and the joint nut (64), and a first screwing tool for loosening the joint nut (64); The mounting mechanism comprises a second screwing tool for tightening the joint nut (64), and a welding tool for welding the anti-loosening washer (65) between the joint nut body (60) and the joint nut (64); The shearing tool, the cutting tool, the first screwing tool, the second screwing tool, and the welding tool are respectively detachably connected to the second end of the mechanical arm (75).

2. The reactor thermocouple column replacement system according to claim 1, characterized in that: The reactor thermocouple column replacement system further comprises a tool rack for storing the shearing tool, the cutting tool, the first screwing tool, the second screwing tool or the welding tool, wherein the tool rack is connected to the lower side of the operating shielding platform (3).

3. The reactor thermocouple column replacement system according to claim 2, characterized in that: The tool rack includes a pressing assembly and a positioning rack (352) arranged on one side of the pressing assembly; The clamping assembly comprises a cylinder (351), a clamping portion (353) connected to the cylinder (351), and a tool positioning pin (354) is provided at one end of the clamping portion (353); the shearing tool, cutting tool, first screwing tool, second screwing tool or welding tool is connected to the tool positioning pin (354) and is clamped between the clamping portion (353) and the positioning frame (352) under the drive of the cylinder (351).

4. The reactor thermocouple column replacement system according to claim 3, characterized in that: The positioning frame (352) is provided with an induction switch (357) for detecting the positioning of the shearing tool, the cutting tool, the first screwing tool, the second screwing tool or the welding tool.

5. The reactor thermocouple column replacement system according to claim 1, characterized in that: The reactor thermocouple column replacement system further comprises a robotic arm movable mechanism (7), wherein the robotic arm movable mechanism (7) comprises a robotic arm mounting plate (70), a connected transmission assembly (71), and a servo motor (72); The operation shielding platform (3) is provided with a mounting hole, and the robot arm mounting plate (70) is connected to the operation shielding platform (3) in an aligned manner through the mounting hole; The robot arm mounting plate (70) comprises an upper side facing away from the reactor upper support plate (1) and a lower side facing the reactor upper support plate (1); The transmission assembly (71) and the servo motor (72) are connected to the upper side of the robotic arm mounting plate (70), the robotic arm (75) is located on the lower side of the robotic arm mounting plate (70), and the first end of the robotic arm (75) is connected to the transmission assembly (71).

6. The reactor thermocouple column replacement system according to claim 5, characterized in that: The transmission assembly (71) includes at least one threaded rod (710). A sleeve hole is formed at the first end of the mechanical arm (75). The first end of the mechanical arm (75) is sleeved on the threaded rod (710) through the sleeve hole. The mechanical arm (75) can reciprocate along the length direction of the threaded rod (710).

7. The reactor thermocouple column replacement system according to claim 6, characterized in that: The robotic arm movable mechanism (7) further includes at least three travel switches (73) distributed at intervals, a bracket (79) parallel to the length direction of the lead screw (710) is provided on one side of the lead screw (710), and the travel switch (73) is connected to the bracket (79); The first end of the mechanical arm (75) is slidably connected to the bracket (79) and contacts the travel switch (73).

8. The reactor thermocouple column replacement system according to claim 7, characterized in that: The first end of the mechanical arm (75) is provided with a protrusion (750), the bracket (79) is provided with a slide groove, the travel switch (73) is arranged in the slide groove, and the protrusion (750) is slidably connected in the slide groove and contacts the travel switch (73).

9. The reactor thermocouple column replacement system according to claim 5, characterized in that: The robotic arm movable mechanism (7) further comprises at least one guide rail (76), wherein the guide rail (76) is located on the lower side of the robotic arm mounting plate (70), and the first end of the robotic arm (75) is slidably connected to the guide rail (76).

10. The reactor thermocouple column replacement system according to claim 5, characterized in that: The robotic arm movable mechanism (7) further includes at least one drag chain (77), and the drag chain (77) is arranged on the upper side of the robotic arm mounting plate (70).

11. The reactor thermocouple column replacement system according to any one of claims 1 to 10, characterized in that: The positioning frame (2) comprises a frame body (20) and a first guide pin (21) arranged on the frame body (20); The operating shielding platform (3) has a first pin sleeve (34) provided corresponding to the first guide pin (21), and the first guide pin (21) cooperates with the first pin sleeve (34) to position the operating shielding platform (3) on the top of the frame body (20).

12. The reactor thermocouple column replacement system according to any one of claims 1 to 10, characterized in that: A guardrail (32) is provided on the upper side of the operating shielding platform (3).

13. The reactor thermocouple column replacement system according to any one of claims 1 to 10, characterized in that: The reactor thermocouple column replacement system further includes a storage rack (4), the storage rack (4) including a support frame (40) located on one side of the reactor upper support plate (1), a base (41) disposed on the support frame (40), and a radiation shield (42) connected to the base (41), wherein the radiation shield (42) and the base (41) enclose at least one shielded space, and the control rod (63) and the guide cylinder (62) are both located in the shielded space; The base (41) is provided with a plurality of first positioning holes for inserting the control rods (63) and a plurality of second positioning holes for inserting the guide cylinders (62).

14. The reactor thermocouple column replacement system according to claim 13, characterized in that: A limiting frame (43) is provided on the base (41), and the limiting frame (43) includes a control rod limiting hole corresponding to the first positioning hole, and the control rod (63) is sequentially inserted into the control rod limiting hole and the first positioning hole.

15. The reactor thermocouple column replacement system according to claim 13, characterized in that: The base (41) is provided with a second guide pin (45), and the radiation shield (42) is provided with a second pin sleeve (46) corresponding to the second guide pin (45); The second guide pin (45) cooperates with the second pin sleeve (46) to connect the radiation shield (42) to the base (41).

16. The reactor thermocouple column replacement system according to claim 13, characterized in that: The radiation shield (42) and the base (41) are both provided with a lifting connection piece (44) for cooperating with the lifting; The lifting connection piece (44) is cylindrical, and its inner wall is provided with a thread for matching and connecting the lifting mechanism.

17. A method for replacing a reactor thermocouple column, characterized in that: The reactor thermocouple column replacement system according to any one of claims 1 to 16 is used to implement the reactor thermocouple column replacement method, which comprises the following steps: S1. Transferring the control rods (63) and a plurality of target guide cylinders on the reactor upper support plate (1) into the shielded space; S2. In the reactor component pool (83), a positioning frame (2) is installed above the reactor upper support plate (1), and an operating shielding platform (3) is installed on top of the positioning frame (2); the water level of the reactor component pool (83) is lowered so that the reactor upper support plate (1) is exposed to the water surface; S3, on the lower side of the operating shielding platform (3), operating the assembly to separate the old thermocouple column from the catheter connector (6); S4, removing the old thermocouple column from the reactor upper support plate (1) through the through hole on the operation shielding platform (3); hoisting the new thermocouple column onto the reactor upper support plate (1) through the through hole; S5. On the lower side of the operating shielding platform (3), the operating component connects the new thermocouple column to the conduit connector (6).

18. The method for replacing a reactor thermocouple column according to claim 17, wherein: Step S1 includes the following steps: S1.

1. Install the base (41) for reactor thermocouple column replacement; S1.

2. Pull out the control rod (63) and insert it into the first positioning hole of the base (41); remove the target guide cylinder and insert it into the second positioning hole of the base (41); S1.

3. Install the radiation shield (42) onto the base (41) so that the control rod (63) and the target guide cylinder are located in the shielding space formed by the base (41) and the radiation shield (42).

19. The method for replacing a reactor thermocouple column according to claim 17, wherein: The operating assembly includes a separation mechanism for separating the old thermocouple column from the conduit connector (6), and step S3 includes the following steps: S3.1, the separation mechanism shears the thermocouple conduit connected between the old thermocouple column and the conduit connector (6); S3.2, the separating mechanism cuts the old anti-loosening gasket welded between the joint nut body (60) of the conduit joint (6) and the old joint nut; S3.

3. The separation mechanism removes the old joint nut from the joint nut body (60).

20. The method for replacing a reactor thermocouple column according to claim 17, wherein: Step S4 also includes: removing the old fixing bolts at the connection between the bottom of the old thermocouple column and the upper support plate (1) of the reactor; installing a new joint nut on the thermocouple column to be installed, and welding a new anti-loosening gasket to the new joint nut to obtain the new thermocouple column.

21. The method for replacing a reactor thermocouple column according to claim 17, wherein: The operating assembly includes a mounting mechanism for connecting the new thermocouple column to the conduit connector (6), and step S5 includes the following steps: S5.1, the installation mechanism installs the new joint nut on the new thermocouple column onto the joint nut body (60); S5.

2. The installation mechanism welds the new anti-loosening washer on the new joint nut to the joint nut body (60).

22. The method for replacing a reactor thermocouple column according to claim 17, wherein: After step S5, the method further includes: installing new fixing bolts between the bottom of the new thermocouple column and the reactor upper support plate (1).

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