A smart grinding and inspection system for nuclear power valves

Abstract

An intelligent grinding and inspection system for nuclear power valves includes an automatic rotary displacement system, an automatic grinding system, an automatic inspection system, a lightweight carbon fiber body, and a high-precision valve positioning system. The lightweight carbon fiber body is externally mounted on the automatic rotary displacement system. The automatic grinding system is installed on one side of the bottom of the automatic rotary displacement system, and the automatic inspection system is installed on the other side. The high-precision valve positioning system is installed at the bottom of the lightweight carbon fiber body. The entire operation is controlled by a PLC. This invention features a novel structure and ingenious design, reduces radiation exposure for personnel, solves the harsh environment problem in large gate valve grinding operations, and offers high automation, high efficiency, high quality, small space occupation, strong flexibility, and convenient operation, thus replacing manual valve grinding and inspection.

Description

Technical Field

[0001] This invention relates to a grinding and inspection system, specifically an intelligent grinding and inspection system for nuclear power valves. Background Technology

[0002] In response to the current situation where the grinding of the sealing surface of DN350 wedge gate valves in high-radiation environments involves high manual intervention, low grinding efficiency and accuracy, and in order to reduce operation time, improve grinding efficiency and accuracy, we will carry out domestic substitution and technological upgrades, develop a new intelligent automatic grinding technology for valve sealing surfaces, study an automatic optical detection method for valve sealing surface damage, develop a precision grinding control technology for valve alloy sealing layers based on iterative learning control, and complete the overall design of an automatic grinding robot for the sealing surface of DN350 wedge gate valves, the prototype of optical detection equipment and related technical debugging services. The automation and intelligent processing of valve grinding remains a blank. Summary of the Invention

[0003] In order to overcome the shortcomings of the existing technology, the present invention provides an intelligent grinding and detection system for nuclear power valves, which effectively solves the problems of current leg strength training devices for track and field athletes, which prevent athletes from adjusting the training intensity according to their own condition and entering a good training state, and are also inconvenient and unsuitable for users with different leg lengths.

[0004] To achieve the above objectives, the present invention provides the following technical solution: The present invention includes an automatic rotary displacement system, an automatic grinding system, an automatic detection system, a lightweight carbon fiber body, and a high-precision valve positioning system. The automatic rotary displacement system is externally provided with a lightweight carbon fiber body. An automatic grinding system is installed on one side of the bottom of the automatic rotary displacement system, and an automatic detection system is installed on the other side of the bottom of the automatic rotary displacement system. A high-precision valve positioning system is installed at the bottom of the lightweight carbon fiber body. The overall operation is controlled by a PLC.

[0005] Preferably, the automatic rotary displacement system includes a rotary system, a Y-axis lateral movement system, a lifting and holding mechanism, a carbon fiber base, a quick-release mechanism, and a lifting servo system. The rotary system is provided on the top of one end of the carbon fiber base, and the lifting and holding mechanism is installed on one side of the rotary system. The lifting and holding mechanism is connected to the carbon fiber base through the Y-axis lateral movement system and the Y-axis lateral movement system through the quick-release mechanism. The lifting servo system is provided on one side of the lifting and holding mechanism.

[0006] Preferably, the automatic polishing system includes a first polishing disc, a second polishing disc, a thin brushless motor, a dust collection system, a universal joint, a polishing disc switching mechanism, and a reverse pressure mechanism. The overall operation is controlled by a PLC. The bottom of the thin brushless motor is equipped with a universal joint, and the first and second polishing discs are installed on one side of the universal joint. The bottom of the first and second polishing discs is equipped with a dust collection system. The polishing disc switching mechanism is installed on one side of the universal joint, and the reverse pressure mechanism is installed on one side of the universal joint.

[0007] Preferably, the automatic detection system includes a fixed clamp, an optical detection instrument, a 360° scanning disk, and a 360° rotating cable chain. The overall operation is controlled by a PLC. The optical detection instrument is installed below the fixed clamp, and a 360° rotating cable chain is installed on one side of the bottom end of the fixed clamp. A 360° scanning disk is installed on the outside of the 360° rotating cable chain.

[0008] Preferably, the dust collection system uses a negative pressure dust collection hood.

[0009] Beneficial effects: When using this invention, the automatic rotary displacement system precisely aligns the detection mechanism and the grinding mechanism. The transverse mechanism is responsible for the Y-axis positioning, and the rotary mechanism is responsible for switching between the grinding and detection working states. The automatic grinding system is equipped with a universal mechanism, which can grind valve seats from 0° to -6°. Coarse grinding is performed by the first grinding disc (fixed), and fine grinding is performed by the second grinding disc (moving). Coarse grinding and fine grinding are achieved through a small clamping mechanism and a micro-switching system. The mechanism has a reverse pressure mechanism and a pressure sensor that provides real-time pressure feedback. The standard pressure reaches 5kg. A dust collection system is installed at the bottom of the mechanism to collect and remove the dust from grinding. The fixed clamp of the automatic detection system grips the valve guide rail and rotates the 360° scanning disc. The optical detection instrument detects the valve, and the data is uploaded after detection. The detection data is processed and analyzed by a post-processing algorithm. The results are then used to proceed to the next step. This invention features a novel structure and ingenious design, reducing radiation dose to personnel and solving the problem of harsh environment during large gate valve grinding operations. It is a highly automated, efficient, high-quality, space-saving, flexible, and easy-to-operate valve grinding and inspection automatic processing system that can replace manual labor. Attached Figure Description

[0010] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0011] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0012] Figure 2 This is a schematic diagram of the adjustment mechanism structure of the present invention;

[0013] Figure 3 This is a three-dimensional structural schematic diagram of the automatic rotary displacement system of this invention;

[0014] Figure 4 This is a three-dimensional structural diagram of the automatic grinding system of this invention;

[0015] Figure 5 This is a schematic diagram of the installation structure of the grinding disc switching mechanism of the present invention;

[0016] Figure 6 This is a schematic diagram of the structure used in this invention;

[0017] Figure 7 This is a schematic diagram of the grinding working structure of the present invention;

[0018] Figure 8 This is a schematic diagram of the working structure of the detection system of the present invention;

[0019] The diagram is labeled as follows: 1. Automatic rotary displacement system; 11. Rotation system; 12. Y-axis lateral movement system; 13. Lifting and holding mechanism; 14. Carbon fiber base; 15. Quick release mechanism; 16. Lifting servo system; 2. Automatic grinding system; 21. First grinding disc; 22. Second grinding disc; 23. Thin brushless motor; 24. Dust collection system; 25. Universal mechanism; 26. Grinding disc switching mechanism; 27. Reverse pressure mechanism; 3. Automatic detection system; 31. Fixed clamp; 32. Optical detection instrument; 33. 360° scanning disc; 34. 360° rotating cable chain; 4. Carbon fiber lightweight body; 5. High-precision valve positioning system. Implementation

[0020] The following is in conjunction with the appendix Figure 1-8 The specific embodiments of the present invention will be described in further detail below.

[0021] Example 1, by Figure 1-8 The present invention provides an intelligent grinding and inspection system for nuclear power valves, comprising an automatic rotary displacement system 1, an automatic grinding system 2, an automatic inspection system 3, a lightweight carbon fiber body 4, and a high-precision valve positioning system 5. The lightweight carbon fiber body 4 is externally mounted on the automatic rotary displacement system 1. The automatic grinding system 2 is installed on one side of the bottom of the automatic rotary displacement system 1, and the automatic inspection system 3 is installed on the other side of the bottom of the automatic rotary displacement system 1. The high-precision valve positioning system 5 is installed at the bottom of the lightweight carbon fiber body 4. The overall operation is controlled by a PLC.

[0022] The automatic rotary displacement system 1 includes a rotary system 11, a Y-axis transverse system 12, a lifting and holding mechanism 13, a carbon fiber base 14, a quick-release mechanism 15, and a lifting servo system 16. The rotary system 11 is installed on the top of one end of the carbon fiber base 14. The lifting and holding mechanism 13 is installed on one side of the rotary system 11. The lifting and holding mechanism 13 is connected to the carbon fiber base 14 through the Y-axis transverse system 12 and the lifting and holding mechanism 13 is connected to the Y-axis transverse system 12 through the quick-release mechanism 15. The lifting servo system 16 is installed on one side of the lifting and holding mechanism 13, which is used to precisely align the detection mechanism and the grinding mechanism. The transverse mechanism is responsible for the Y-axis positioning mechanism, and the rotary mechanism is responsible for switching the working states of grinding and detection.

[0023] The automatic polishing system 2 includes a first polishing disc 21, a second polishing disc 22, a thin brushless motor 23, a dust collection system 24, a universal joint 25, a polishing disc switching mechanism 26, and a reverse pressure mechanism 27. The overall operation is controlled by a PLC. The universal joint 25 is mounted at the bottom of the thin brushless motor 23. The first polishing disc 21 and the second polishing disc 22 are mounted on one side of the universal joint 25. The dust collection system 24 is mounted at the bottom of the first polishing disc 21 and the second polishing disc 22. The polishing disc switching mechanism is mounted on one side of the universal joint 25. The structure 26 has a universal joint 25 with a reverse pressure mechanism 27 installed on one side. The grinding system is equipped with a universal joint 25, which can grind valve seats from 0° to -6°. Coarse grinding is performed by the first grinding disc 21 (fixed) and fine grinding is performed by the second grinding disc 22 (moving). Coarse grinding and fine grinding are achieved by a small clamping block mechanism and a micro-switching system. The structure has a reverse pressure mechanism 27 with a pressure sensor that provides real-time pressure feedback. The standard pressure reaches 5kg. The bottom of the structure is equipped with a dust collection system 24, which can collect and remove the dust from grinding.

[0024] The automatic detection system 3 includes a fixed clamp 31, an optical detection instrument 32, a 360° scanning disk 33, and a 360° rotating cable chain 34. The overall operation is controlled by a PLC. The optical detection instrument 32 is installed below the fixed clamp 31, and the 360° rotating cable chain 34 is installed on one side of the bottom of the fixed clamp 31. The 360° scanning disk 33 is installed on the outside of the 360° rotating cable chain 34. The fixed clamp 31 clamps the valve guide rail, the 360° scanning disk rotates, the optical detection instrument 32 performs the detection, and the data is uploaded after the detection is completed. The detection data is processed and analyzed by a post-processing algorithm, and the next action is performed based on the analysis results.

[0025] The dust collection system 24 uses a negative pressure dust collection hood, which facilitates dust collection.

[0026] Working principle: When this invention is used, the automatic rotary displacement system 1 precisely aligns the detection mechanism and the grinding mechanism. The transverse movement mechanism is responsible for the Y-direction positioning mechanism, and the rotation mechanism is responsible for switching between the grinding and detection working states. The automatic grinding system 2 is equipped with a universal mechanism 25, which can grind valve seats from 0° to -6°. Coarse grinding is performed by the first grinding disc 21 (fixed), and fine grinding is performed by the second grinding disc 22 (moving). Coarse grinding and fine grinding are achieved through a small clamping block mechanism and a micro-switching system. The mechanism has a reverse pressure mechanism 27 with a pressure sensor that provides real-time pressure feedback. The standard pressure reaches 5kg. The bottom of the mechanism is equipped with a dust collection system 24, which can collect and remove the dust from grinding. The fixed clamp 31 of the automatic detection system 3 clamps the valve guide rail 360° and rotates the scanning disc. The optical detection instrument 32 detects the valve. After the detection is completed, the data is uploaded. The detection data is processed by a post-processing algorithm for analysis. After analysis, the next step is taken based on the results.

[0027] The equipment is manually assembled onto the valve, and personnel evacuate to a safe area. The automatic program is then activated, and the equipment begins automatic operation. The first grinding disc 21 automatically descends to its position, the reverse pressure mechanism 27 of the grinding mechanism extends (with a reaction force of 5 kg), and the first grinding disc 21 begins grinding. The negative pressure dust removal mechanism, i.e., the dust collection system 24, is activated to suck up dust particles. After coarse grinding, the grinding disc switches to the second grinding disc 22 for fine grinding. After fine grinding, it rises to the waiting position, rotates 180°, moves into place in the Y direction, the detection head descends into place, and the detection clamp is tightened. The optical detection rotates 360° to collect data. After the data is collected, the system calculates and compares whether it is qualified. If the workpiece is not qualified, the grinding disc continues grinding. If the workpiece is qualified, the equipment switches to the next side to continue grinding until both sides of the valve seat are ground.

[0028] Beneficial effects: This invention features a novel structure and ingenious design, reduces radiation dose to personnel, solves the problem of harsh environment during large gate valve grinding operations, and is a highly automated, efficient, high-quality, space-saving, flexible, and easy-to-operate valve grinding and inspection automatic processing system that can replace manual labor.

[0029] (1) Research on automatic optical detection method for valve sealing surface damage. Due to the large variety of valve types, structures, and sizes, it is necessary to model the confined space before detecting valve sealing surface damage for automatic optical detection. Using a bottom-end wide-angle sensing probe and a 360° positioning flaw detection sensing probe, the horizontal and vertical working environment is 3D scanned and identified to obtain grinding environment image information. Based on the image information, the sealing form and structure of nuclear power valves are analyzed in real time. The position and distance of the grinding sealing ring are determined, and the workspace of the three-axis robotic arm is analyzed based on the Monte Carlo method to align the grinding surface and the detector with the grinding sealing surface.

[0030] (2) Before the grinding operation begins, the damage to the valve is measured by studying the optical automatic detection technology of the valve sealing surface. The multi-scale working conditions of the sealing surface are obtained by the machine vision standard detection technology based on the consideration of environmental factors. The erosion, wear and other conditions of the valve sealing surface are automatically detected. Based on the sealing surface condition, the optimal grinding process is determined according to the global optimal principle. At the same time, the specific grinding depth is given in combination with the contour and tolerance requirements of the sealing surface.

[0031] (3) By designing the work process and grinding depth, the estimated time and location node for replacing the grinding head are determined and the work instructions are transmitted. The robotic arm uses an iterative learning control method to grind the valve sealing surface according to the instructions obtained from the detection. The grinding and detection processes are carried out alternately, and the grinding pressure is detected and the work curve is corrected in real time. When the grinding head replacement node is reached, the grinding head is automatically replaced.

[0032] (4) After grinding is completed, a test model is performed again to quantitatively evaluate the grinding effect of the sealing surface, so as to accurately obtain relevant information such as the form and position tolerance and flatness between the valve core and the valve seat, to ensure the quality of the grinding operation, and record the results and operation process.

[0033] Those skilled in the art should connect all electrical components and their compatible power supplies in this case via wires. Appropriate controllers and encoders should be selected according to the actual situation to meet control requirements. The specific connection and control sequence should refer to the working principle described below, where the electrical components are connected in sequence. The detailed connection methods are well-known in the art. The following mainly introduces the working principle and process, and will not describe the electrical control further.

[0034] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent grinding and inspection system for nuclear power valves, comprising an automatic rotary displacement system (1), an automatic grinding system (2), an automatic inspection system (3), a lightweight carbon fiber body (4), and a high-precision valve positioning system (5), characterized in that: The automatic rotary displacement system (1) is externally equipped with a carbon fiber lightweight body (4), an automatic grinding system (2) is installed on one side of the bottom of the automatic rotary displacement system (1), an automatic detection system (3) is installed on the other side of the bottom of the automatic rotary displacement system (1), and a high-precision valve positioning system (5) is installed at the bottom of the carbon fiber lightweight body (4). The overall operation is controlled by PLC. The automatic rotation displacement system (1) includes a rotary system (11), a Y-axis transverse system (12), a lifting and holding mechanism (13), a carbon fiber base (14), a quick-release mechanism (15), and a lifting servo system (16). The rotary system (11) is provided on the top of one end of the carbon fiber base (14). The lifting and holding mechanism (13) is installed on one side of the rotary system (11). The lifting and holding mechanism (13) is connected to the carbon fiber base (14) through the Y-axis transverse system (12). The lifting and holding mechanism (13) is connected to the Y-axis transverse system (12) through the quick-release mechanism (15). The lifting servo system (16) is provided on one side of the lifting and holding mechanism (13). The automatic polishing system (2) includes a first polishing disc (21), a second polishing disc (22), a thin brushless motor (23), a dust collection system (24), a universal joint (25), a polishing disc switching mechanism (26), and a reverse pressure mechanism (27). The overall operation is controlled by a PLC. The bottom end of the thin brushless motor (23) is equipped with a universal joint (25). The first polishing disc (21) and the second polishing disc (22) are installed on one side of the universal joint (25). The bottom end of the first polishing disc (21) and the second polishing disc (22) are equipped with a dust collection system (24). The polishing disc switching mechanism (26) is installed on one side of the universal joint (25). The reverse pressure mechanism (27) is installed on one side of the universal joint (25). The automatic detection system (3) includes a fixed clamp (31), an optical detection instrument (32), a 360° scanning disk (33), and a 360° rotating cable chain (34). The overall operation is controlled by a PLC. The optical detection instrument (32) is installed below the fixed clamp (31), and the 360° rotating cable chain (34) is installed on one side of the bottom end of the fixed clamp (31). The 360° scanning disk (33) is installed on the outside of the 360° rotating cable chain (34).

2. The intelligent grinding and inspection system for nuclear power valves as described in claim 1, characterized in that: The dust collection system (24) adopts a negative pressure dust collection hood.

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