Reactor irradiation surveillance sample extraction device and positioning method

Abstract

A reactor irradiation supervision sample extraction device and method, including a body, the body includes a clamp jaw, an electrode feeding motor, a cylinder, a V-shaped guide plate, a mounting back plate; sliding block bearing; connecting pin shaft, isolation cover; wherein the electrode feeding motor and the cylinder are fixed on the mounting back plate, the mounting back plate is installed on the mounting base, the CRUS mechanical arm has a triangular support structure, the mounting base is connected with the triangular support structure of the CRUS mechanical arm, the V-shaped guide plate is connected with the mounting back plate through the sliding block bearing, and the clamp jaw is connected and fixed with the V-shaped guide plate through the pin shaft.The camera system below the positioning mechanism can realize the positioning of the cutting head and the whole process monitoring of the sample box weld cutting process, compared with the single observation angle of the original camera system, the pan-tilt camera observation range is wide, and the occupied space is small.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant maintenance, specifically to a reactor irradiation monitoring sample extraction device and positioning method. Background Technology

[0002] The nuclear reactors of Units 1-4 of the Tianwan Nuclear Power Plant are of type B-428. Twelve irradiation monitoring samples are installed on the reactor pressure vessel, fixed to the inner wall of the pressure vessel by a 100mm long weld. The irradiation monitoring samples are 6795mm away from the flange face of the pressure vessel, and have external dimensions of 625x186x31.5mm. The head has a φ20 lifting lug hole. Experiments on the irradiation monitoring samples can obtain the changes in the mechanical properties of the reactor pressure vessel base metal and the weld. According to the unit maintenance plan, the irradiation monitoring samples need to be removed from the pressure vessel periodically. This work requires the use of special tools, and the main steps involved in the operation are underwater positioning of the weld cutting head.

[0003] The current method for locating irradiation monitoring sample extraction devices faces the following difficulties:

[0004] 1. The assembly process is complicated, requiring the installation of a dedicated work platform, moving machinery and work rods. The assembly process requires the use of key equipment in the factory for hoisting and is time-consuming.

[0005] 2. Low level of automation; it can only achieve electric adjustment in the lateral and vertical directions, while axial position can only be adjusted manually using mechanical devices.

[0006] 3. Low positioning accuracy; relying on position switches, it can only perform coarse positioning and does not have precise positioning function or verification means.

[0007] 4. Limited working position: The working position is constrained by the working platform, and can only be located for adjacent irradiation monitoring samples.

[0008] Considering that reactor pressure vessels are extremely sensitive devices and operate in harsh environments, it is necessary to research and invent an efficient and accurate method for locating irradiation monitoring sample devices. Summary of the Invention

[0009] The purpose of this invention is to provide a positioning method for an irradiation sample extraction device in a VVER nuclear reactor, which enables precise positioning of the extraction device and the irradiation monitoring sample, avoids equipment damage, reduces operational risks, and improves operational efficiency.

[0010] The technical solution of the present invention is as follows: A reactor irradiation monitoring sample extraction device includes a body, the body including grippers, an electrode feed motor, a cylinder, a V-shaped guide plate, a mounting back plate; a slider bearing; a connecting pin, and an isolation cover; wherein the electrode feed motor and the cylinder are fixed on the mounting back plate, the mounting back plate is mounted on the mounting base, the CRUS robotic arm has a triangular support structure, the mounting base is connected to the triangular support structure of the CRUS robotic arm, the V-shaped guide plate is connected to the mounting back plate through the slider bearing, and the grippers are connected and fixed to the V-shaped guide plate through the pin.

[0011] The arm surface rollers are connected to the grippers, the sensors are connected to the mounting base, the isolation cover is fixed to the upper surface of the V-shaped guide plate with bolts, and the gimbal camera is fixed to the isolation cover with clamps.

[0012] It also includes pins, which are used to fix the irradiation monitoring sample in its relative position to the main body.

[0013] The electrode feed motor and cylinder are fixed to the mounting back plate with bolts.

[0014] The mounting base and the triangular support structure of the CRUS robotic arm are connected by bolts.

[0015] The arm rollers are connected to the grippers by bolts.

[0016] The sensor is connected to the mounting base 6 via a fixed bracket.

[0017] A method for extracting samples for reactor irradiation monitoring includes the following steps:

[0018] S1: Mount the main body onto the CRUS robotic arm using the mounting base;

[0019] S2: Install the CRUS machine robotic arm with its main body onto the CRUS machine frame;

[0020] S3: The main body follows the movement of the CRUS robotic arm. When the arm surface roller contacts the pressure vessel, and the position switch on it touches the inner wall of the pressure vessel, the main body reaches the working position in the radial position of the pressure vessel.

[0021] S4: Lower the body to the top of the irradiation monitoring sample. At this time, the V-shaped guide plate contacts the irradiation monitoring sample. The body continues to fall under the guidance of the V-shaped guide plate. The grippers are opened and tightened by the edge of the irradiation monitoring sample. At this time, the body reaches the working position in the axial position of the pressure vessel.

[0022] S5: Continue to lower the body. When the position switch touches the top of the monitoring sample, operate the cylinder to make the pin on the body pass through the lifting lug hole of the irradiated monitoring sample; at this time, the body reaches the working position in the height direction.

[0023] S6: Position Correction

[0024] Control the cylinder to move forward until the front part of the isolation cover abuts against the surface of the irradiation monitoring sample holder, and the isolation cover and the surface of the irradiation monitoring sample are completely in contact.

[0025] S7: Operate the electrode feed motor to achieve precise positioning of the irradiation monitoring sample. During the positioning process, the positioning is verified by a gimbal camera.

[0026] In step S4, the body is lowered to a position 200 mm above the top of the irradiation monitoring sample.

[0027] In step S6, the sensor provides feedback on the bonding status, and the bonding status is checked and confirmed to be good.

[0028] The significant advantages of this invention are:

[0029] (1) High positioning efficiency: This positioning method uses a CRUS machine as a transport tool, which reduces the installation and dismantling of the original work platform and mobile machinery, avoids the cumbersome installation of the work platform, requires fewer positioning installation devices, and makes the positioning process simpler.

[0030] (2) Positioning automation level and motion control positioning accuracy: The CRUS machine controls the X, Y and Z three control accuracies through servo motors, and the motion control accuracy is within 1mm. During the sample cutting stage, the servo motor is used to control the feed and retraction of the cutting electrode, which replaces the original method of moving the cutting electrode by handwheel, reducing the pressure on personnel.

[0031] (3) Wide positioning range: Based on the positioning method of CRUS machine as a carrier, the coarse positioning, precise positioning, and alignment of graphite electrode and cutting weld of irradiation supervision sample box are realized by V-shaped guide plate, correction mechanism and pneumatic pin respectively. Compared with the original positioning method that can only position a single irradiation supervision sample, the position of the cutting head in any irradiation supervision sample box in the pressure vessel realizes the expansion of the working position of the irradiation sample extraction device in the pressure vessel.

[0032] (4) Abundant verification methods: The mechanical position switch and the digital position data contained in the CRUS machine system verify each other, and the pan-tilt camera and laser emitter verify the alignment of the cutting electrode and the weld to be cut. Compared with the original limit switch as a single observation method, the positioning verification methods are more abundant.

[0033] (5) Wide observation angle: The camera system below the positioning mechanism can realize the positioning of the cutting head and the full monitoring of the sample box weld cutting process. Compared with the single observation angle of the original camera system, the pan-tilt camera has a wide observation range and occupies less space.

[0034] (6) High positioning reliability: The control system has logic protection function. It uses the CRUS machine to achieve the initial positioning of the extraction device, and then uses the V-shaped guide plate, the correction mechanism, and the pneumatic pin to achieve the precise positioning of the irradiation monitoring sample box. During the positioning process, the radial displacement sensor, the lug detection sensor, and the pin detection sensor transmit the detection signals and data to the control system to determine the specific position of the equipment, resulting in higher positioning reliability. Attached Figure Description

[0035] Figure 1 : This is a schematic diagram of the installation of the extraction device provided by the present invention;

[0036] Figure 2 : A schematic diagram of the V-shaped guide structure provided by the present invention;

[0037] Figure 3 : This is a schematic diagram of the positioning of the sample device provided by the present invention;

[0038] Figure 4 : A schematic diagram of the sample apparatus and pressure vessel provided by the present invention;

[0039] In the diagram: 1. Wall roller; 2. Gripper; 3. Electrode feed motor; 4. Cylinder; 5. V-shaped guide plate; 6. Mounting base; 7. Irradiation monitoring sample; 8. Pin; 9. CRUS robotic arm; 10. Sensor; 11. Mounting backplate; 12. Slider bearing; 13. Connecting pin; 14. Isolation cover; 15. Gimbal camera; 16. Position switch; 17. Pressure vessel. Detailed Implementation

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and examples: 2345\11121314

[0041] A reactor irradiation monitoring sample extraction device includes a main body, which includes a gripper 2, an electrode feed motor 3, a cylinder 4, a V-shaped guide plate 5, a mounting back plate 11, a slider bearing 12, a connecting pin 13, and an isolation cover 14. The electrode feed motor 3 and the cylinder 4 are fixed to the mounting back plate 11 by bolts. The mounting base 6 is connected to the CRUS robotic arm 9 by bolts. The V-shaped guide plate 5 is connected to the mounting back plate 11 by the slider bearing 12. The gripper 2 is connected and fixed to the V-shaped guide plate 5 by the pin 13. The irradiation monitoring sample 7 is fixed in relative position to the cutting device by a pin 8.

[0042] The arm surface roller 1 is connected to the gripper 2 by bolts, the sensor 10 is connected to the mounting base 6 by a fixed bracket, the isolation cover 14 is fixed to the upper surface of the V-shaped guide plate 5 by bolts, and the gimbal camera 15 is fixed to the isolation cover 14 by a clamp.

[0043] A method for sampling and locating reactor irradiation monitoring samples includes the following steps:

[0044] S1: Establish a work site and install the main body on the CRUS robotic arm 9 using the mounting base 6;

[0045] S2: Install the CRUS machine robotic arm 9 with its main body onto the CRUS machine frame;

[0046] S3: Operate the CRUS machine control system. The main body moves with the CRUS robotic arm 9. When the arm surface roller 1 contacts the pressure vessel 17, the position switch on it touches the inner wall of the pressure vessel. The main body reaches the working position in the radial position of the pressure vessel 17.

[0047] S4: Operate the CRUS machine control system to lower the main body to 200mm above the top of the irradiation monitoring sample 7. At this time, the V-shaped guide plates 5 on both sides of the bottom of the main body contact the irradiation monitoring sample 7 bracket. The main body continues to fall under the guidance of the V-shaped guide plates 5. It falls to the gripper 2, which is opened and held tightly by the edge of the sample bracket. At this time, the main body reaches the working position in the axial position of the pressure vessel 17.

[0048] S5: Operate the CRUS machine control system to make the body continue to fall. When the position switch 16 touches the top of the monitoring sample 7, operate the pin-piercing cylinder 4 to make the pin 8 on the cutting head pass through the lifting lug hole of the irradiated monitoring sample 7; at this time, the body reaches the working position in the height direction.

[0049] S6: Position correction control cylinder 4 moves, causing the cylinder to drive the isolation cover 14 forward until the front part of the isolation cover 14 abuts against the surface of the sample holder, and the isolation cover and the surface of the sample 7 are completely in contact. The two sensors 10 in front of the isolation cover can provide feedback on the contact status and check to confirm that the contact status is good.

[0050] S7: Operate the electrode feed motor 3, and the cutting electrode moves along the guide rail to the weld position to achieve precise positioning of the weld position. During the positioning process, the cutting positioning is verified by the pan-tilt camera 15 on the device.

[0051] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

Claims

1. A reactor irradiation monitoring sample extraction device, characterized in that: The system includes a main body, which includes a gripper (2), an electrode feed motor (3), a cylinder (4), a V-shaped guide plate (5), a mounting back plate (11), a slider bearing (12), a connecting pin (13), and an isolation cover (14). The electrode feed motor (3) and the cylinder (4) are fixed on the mounting back plate (11), and the mounting back plate (11) is mounted on the mounting base (6). The CRUS robotic arm (9) has a triangular support structure, and the mounting base (6) is connected to the triangular support structure of the CRUS robotic arm (9). The V-shaped guide plate (5) is connected to the mounting back plate (11) through the slider bearing (12), and the gripper (2) is connected and fixed to the V-shaped guide plate (5) through the pin (13). The arm surface roller (1) is connected to the gripper (2), the sensor (10) is connected to the mounting base (6), the isolation cover (14) is fixed to the upper surface of the V-shaped guide plate (5) by bolts, and the gimbal camera (15) is fixed to the isolation cover (14) by clamps.

2. The reactor irradiation monitoring sample extraction device according to claim 1, characterized in that: It also includes pins (8), through which the irradiation monitoring sample (7) is fixed in relative position to the body.

3. The reactor irradiation monitoring sample extraction device according to claim 1, characterized in that: The electrode feed motor (3) and cylinder (4) are fixed to the mounting back plate (11) by bolts.

4. The reactor irradiation monitoring sample extraction device according to claim 1, characterized in that: The mounting base (6) and the triangular support structure of the CRUS robotic arm (9) are connected by bolts.

5. The reactor irradiation monitoring sample extraction device according to claim 1, characterized in that: The arm surface roller (1) is connected to the gripper (2) by bolts.

6. The reactor irradiation monitoring sample extraction device according to claim 1, characterized in that: The sensor (10) is connected to the mounting base (6) via a fixed bracket.

7. A method for using the reactor irradiation monitoring sample extraction device as described in claim 2, characterized in that: Includes the following steps: S1: Mount the main body onto the CRUS robotic arm (9) using the mounting base (6); S2: Install the CRUS robotic arm (9) with its main body onto the CRUS frame; S3: The main body moves with the CRUS robotic arm (9). When the arm surface roller (1) contacts the pressure vessel (17), the position switch on it touches the inner wall of the pressure vessel (17), and the main body reaches the working position in the radial position of the pressure vessel (17). S4: Lower the body to the top of the irradiation monitoring sample (7). At this time, the V-shaped guide plate (5) contacts the irradiation monitoring sample (7). The body continues to fall under the guidance of the V-shaped guide plate (5). The gripper (2) is opened and held tightly by the edge of the irradiation monitoring sample (7). At this time, the body reaches the working position in the axial position of the pressure vessel (17). S5: Continue to fall the body. When the position switch (16) touches the top of the monitoring sample (7), operate the cylinder (4) to make the pin (8) on the body pass through the lifting hole of the irradiated monitoring sample (7); at this time, the body reaches the working position in the height direction. S6: Position Correction Control the cylinder (4) to move forward until the front part of the isolation cover (14) abuts against the surface of the irradiation monitoring sample (7) bracket, and the isolation cover (14) and the surface of the irradiation monitoring sample (7) are completely in contact. S7: Operate the electrode feed motor (3) to achieve precise positioning of the irradiation monitoring sample (7). During the positioning process, the positioning is verified by the gimbal camera (15).

8. The method for extracting reactor irradiation monitoring samples according to claim 7, characterized in that: In step S4, the body is lowered to a position 200 mm above the top of the irradiation monitoring sample (7).

9. The method for extracting reactor irradiation monitoring samples according to claim 7, characterized in that: In step S6, the sensor (10) provides feedback on the bonding status and checks to confirm that the bonding status is good.

Images