An underwater disintegration system and method for radioactive-related components

Abstract

This application relates to the field of nuclear engineering technology, and particularly relates to an underwater disassembly system and a disassembly method for radioactive-related components. Among them, the underwater disassembly system for radioactive-related components includes an underwater disassembly storage rack for components, a component gripping tool, an underwater milling mobile platform, a rod gripping tool, and a component limiting and clamping device; the underwater disassembly storage rack for components has a component storage barrel and a rod storage barrel; the component gripping tool is used to grip the relevant components and transport the relevant components into the component storage barrel; the underwater milling mobile platform is used to mill the spot welding structure of the connecting nuts on the relevant components in the component storage barrel; the rod gripping tool is used to transport the functional rods separated from the relevant components in the component storage barrel to the rod storage barrel; the component limiting and clamping device is connected to the underwater disassembly storage rack for components and is used to limit and clamp the relevant components in the component storage barrel. This application can achieve the underwater disassembly of relevant components with a spot welding structure and has a good disassembly efficiency.

Description

Technical Field

[0001] The present application relates to the field of nuclear engineering technology. Specifically, it relates to an underwater disassembly system and method for radioactive-related components. Background Art

[0002] The related component is a special component inserted in the fuel assembly, which is assembled by a connecting plate component, a functional rod component and a connecting nut. The related components enter the reactor together in the fuel assembly and play a role in controlling the reactivity of the reactor. After the related components leave the reactor with the fuel assembly, in order to obtain detailed scientific research parameters and data of the related components, it is necessary to disassemble the related components, measure and analyze the parameters of each component of the related components in a hot cell, and compare their characteristics before and after entering the reactor. The related components after leaving the reactor have a certain radioactivity and need to be disassembled underwater in a water-shielded environment to separate the functional rod component from the connecting plate component, and then the functional rod component is transported to the hot cell for analysis, detection and processing. Since the connecting nuts in the related components all adopt a spot welding anti-loosening structure, the connecting nuts cannot be directly loosened, and the disassembly cannot be completed by a non-destructive method. It is necessary to use an underwater milling or cutting method to damage the spot welding structure before the disassembly of the related components can be realized. Summary of the Invention

[0003] The present application provides an underwater disassembly system and method for radioactive-related components. By configuring an underwater milling mobile platform and supporting an underwater disassembly temporary storage rack for components, the spot welding structure of the connecting nuts on the related components can be milled in an underwater environment, so as to realize the disassembly of the related components in the underwater environment.

[0004] The present application is realized through the following technical solutions:

[0005] In a first aspect, the present application provides an underwater disassembly system for radioactive-related components, including:

[0006] An underwater disassembly temporary storage rack for components, which has a component temporary storage barrel for storing related components and a rod temporary storage barrel for storing the rod components separated from the related components;

[0007] A component grabbing tool, which is used to grab the related components and transport the related components into the component temporary storage barrel;

[0008] An underwater milling mobile platform, which is used to mill the spot welding structure of the connecting nuts on the related components in the component temporary storage barrel;

[0009] A rod component grabbing tool, which is used to transport the functional rod components separated from the related components in the component temporary storage barrel into the rod temporary storage barrel;

[0010] The component limiting and clamping device is connected to the underwater disassembly and temporary storage bench of the component and is used to limit and clamp the relevant components in the component temporary storage barrel.

[0011] In some alternative embodiments, the underwater disassembly and temporary storage bench of the component includes a support bench, and the support bench has a storage station and a milling station;

[0012] Wherein, the component temporary storage barrel is located at the milling station, and the component temporary storage barrel has a limiting cavity corresponding to the arrangement position of the functional rod pieces on the relevant components; the rod piece temporary storage barrel is located at the storage station, and the rod piece temporary storage barrel has a plurality of accommodating cavities suitable for accommodating the rod pieces.

[0013] In some alternative embodiments, the component limiting and clamping device includes:

[0014] A component limiting plate welded to the component temporary storage barrel, and an avoidance hole corresponding to the position of the limiting cavity is arranged on the component limiting plate, and the avoidance hole is configured to be suitable for the axial passing of the functional rod piece to enter the limiting cavity;

[0015] A clamping assembly connected to the component limiting plate, and the clamping assembly is used for clamping the relevant components.

[0016] In some alternative embodiments, a component temporary storage barrel core rod is further arranged on the component temporary storage barrel. Wherein, the component temporary storage barrel core rod is movably connected to the component temporary storage barrel so that the component temporary storage barrel core rod can freely slide in the component temporary storage barrel. One end of the component temporary storage barrel core rod is located outside the component temporary storage barrel, and the other end is located inside the component temporary storage barrel and is used to carry the functional rod pieces separated from the relevant components. The component limiting plate and the component temporary storage barrel are arranged at intervals, and an avoidance notch suitable for the lifting tool to pass through is constructed thereon.

[0017] In some alternative embodiments, the clamping assembly is configured as a jacking mechanism. Wherein, the number of the jacking mechanisms is configured to be an even number and is evenly distributed in a circumferential manner, and the jacking mechanism is used to jack the relevant components.

[0018] In some alternative embodiments, the jacking mechanism includes:

[0019] A fixture box body connected to the component limiting plate;

[0020] A transmission shaft, and the transmission shaft is movably connected to the fixture box body so that it can rotate around its own axis;

[0021] A transmission worm wheel, and the transmission worm wheel is coaxially matched with the transmission shaft to drive the transmission shaft to rotate;

[0022] A driving worm, which is movably connected to the fixture box body and is in transmission cooperation with the driving worm gear;

[0023] A slider threadedly engaged with the transmission shaft, and a clamping block for abutting against the related component is arranged on the slider;

[0024] A guide rail connected to the fixture box body, which is arranged in parallel with the transmission shaft and is in transmission cooperation with the slider.

[0025] In some alternative embodiments, a sleeve tool is further included. Wherein, an adjusting head adapted to be sleeved by the sleeve tool is arranged on the driving worm to rotate under the drive of the sleeve tool.

[0026] In some alternative embodiments, the adjusting head is configured with a socket guiding member, and a guiding conical surface arranged around the adjusting head is constructed on the socket guiding member.

[0027] In some alternative embodiments, the orifice of the avoidance hole is constructed as a chamfered structure.

[0028] In some alternative embodiments, a positioning component is arranged on the component limiting plate, and a plurality of positioning holes adapted to be inserted by the positioning rods on the component grasping tool are arranged on the positioning component.

[0029] In some alternative embodiments, a guiding plate arranged around the positioning hole is arranged on the positioning component.

[0030] In some alternative embodiments, the underwater milling moving platform includes:

[0031] A bottom plate, and a movable notch is arranged on the bottom plate;

[0032] A support frame connected to the bottom plate, and the support frame is used for connecting a moving trolley;

[0033] A manipulator arranged on the bottom plate, and the manipulator is located inside the support frame;

[0034] A milling mechanism connected to the manipulator, and the milling mechanism is configured with a tool for milling the related component. The tool passes through the movable notch and moves in the movable notch under the drive of the manipulator.

[0035] In a second aspect, the present application provides a method for underwater disassembly of radioactive related components, which is realized based on the underwater disassembly system of radioactive related components described in the first aspect, and includes the following contents:

[0036] Transport the related component to the component temporary storage bucket through the related component grasping tool;

[0037] Limit and clamp the relevant components through the component limit clamping device;

[0038] Mill the spot welding structure of the connecting nut on the relevant components through the underwater milling mobile platform;

[0039] Transport the functional rod parts in the component storage bucket to the rod part storage bucket through the rod part grasping tool.

[0040] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0041] An underwater disintegration system and method for radioactive related components provided by the present application can grasp the underwater related components through the component grasping tool and transport the related components to the underwater disintegration temporary storage bench of the components. The component limit clamping device limits and clamps the relevant components on the underwater disintegration temporary storage bench of the components so that the underwater milling mobile platform can mill the spot welding structure of the connecting nut on the relevant components. After the relevant components after milling are disintegrated, the separated rod parts are transported to the rod part storage bucket through the rod part grasping tool so that the component storage bucket is in an idle state, thereby quickly realizing the underwater disintegration of the next relevant component and ensuring the underwater disintegration efficiency of the relevant components. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 Schematic diagram of the structure when the underwater milling mobile platform and the underwater disintegration temporary storage bench of the components provided by the embodiment of the present application cooperate;

[0044] Figure 2 Schematic diagram of the structure of the I-type related component grasping tool provided by the embodiment of the present application;

[0045] Figure 3 Schematic diagram of the structure of the II-type related component grasping tool provided by the embodiment of the present application;

[0046] Figure 4 Schematic diagram of the structure of the sleeve tool provided by the embodiment of the present application;

[0047] Figure 5 Schematic diagram of the structure of the rod part grasping tool provided by the embodiment of the present application;

[0048] Figure 6 Schematic diagram of the structure of the underwater disintegration temporary storage bench of the components provided by the embodiment of the present application;

[0049] Figure 7 Schematic diagram of the partial structure of the underwater disassembly and temporary storage bench for components provided by the embodiments of the present application;

[0050] Figure 8 Schematic diagram of the structure of the component limiting and clamping device provided by the embodiments of the present application;

[0051] Figure 9 Schematic diagram of the structure of the clamping component from the first perspective provided by the embodiments of the present application;

[0052] Figure 10 Schematic diagram of the structure of the clamping component from the second perspective provided by the embodiments of the present application;

[0053] Figure 11 Schematic diagram of the structure of the related components provided by the embodiments of the present application;

[0054] Figure 12 Schematic diagram of the structure of the underwater milling mobile platform provided by the embodiments of the present application;

[0055] Figure 13 Schematic diagram of the partial structure of the underwater milling mobile platform provided by the embodiments of the present application.

[0056] Marks in the drawings and the corresponding names of the components:

[0057] 1 - Underwater milling mobile platform, 2 - Component underwater disassembly temporary storage stand, 3 - Component limit clamping device, 4 - Related components, 5 - Type-I related component grasping tool, 6 - Type-II related component grasping tool, 7 - Sleeve tool, 8 - Rod component grasping tool, 101 - Support frame, 102 - First positioning pin, 103 - First support plate, 104 - Second positioning pin, 105 - Second support plate, 106 - Base plate, 107 - X-axis waterproof servo motor, 108 - X-axis coupling, 109 - X-axis lead screw, 110 - X-axis slider, 111 - X-axis guide rail, 112 - X-axis lead screw nut, 113 - Y-axis waterproof servo motor, 114 - Y-axis coupling, 115 - Y-axis lead screw, 116 - Y-axis lead screw nut, 117 - Y-axis guide rail, 118 - Y-axis slider, 119 - Y-axis moving support plate, 120 - Spindle waterproof motor, 121 - Z-axis guide rail, 122 - Z-axis drive plate, 123 - Z-axis waterproof servo motor, 124 - Z-spindle coupling, 125 - Z-axis lead screw, 126 - Spindle platform support plate, 127 - Tool quick-change chuck, 128 - Tool, 129 - X-axis moving support plate, 130 - Spindle coupling, 201 - Support stand, 202 - Component temporary storage barrel, 203 - Component temporary storage barrel core rod, 204 - Support column, 205 - Rod component temporary storage barrel, 206 - Rod component temporary storage barrel lifting head, 207 - Fixed wing plate, 301 - Component limit plate, 302 - Guide plate, 303 - Positioning plate, 304 - Positioning column, 305 - Fixture box body, 306 - Driving worm gear, 307 - Slide block, 308 - Transmission shaft, 309 - Clamping block, 310 - Pressing block, 311 - Guide rail, 312 - Socketed guide piece, 313 - Adjusting head, 314 - Driving worm, 315 - Positioning pin, 401 - Type-I related component, 402 - Functional rod component, 403 - Type-II related component. Detailed implementation manners

[0058] To make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below in combination with embodiments and the accompanying drawings. The illustrative embodiments and descriptions thereof of the present application are only used to explain the present application and shall not be construed as a limitation to the present application.

[0059] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, it is obvious to those of ordinary skill in the art that the present application does not have to employ these specific details. In other embodiments, well-known structures, circuits, materials or methods are not specifically described to avoid obscuring the present application.

[0060] Throughout the specification, references to "one embodiment", "an embodiment", "an example", or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present application. Thus, the phrases "one embodiment", "an embodiment", "an example", or "an example" appearing throughout the specification do not necessarily refer to the same embodiment or example. Additionally, the particular features, structures, or characteristics may be combined in any suitable combination and / or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art should understand that the diagrams provided herein are for illustrative purposes only and are not necessarily drawn to scale. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0061] In the description of the present application, the orientation or positional relationship indicated by terms such as "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the scope of protection of the present application.

[0062] In a first aspect, an underwater disassembly system for radioactive-related components provided by an embodiment of the present application can be referred to together Figures 1 to 5 . The underwater disassembly system for radioactive-related components includes an underwater disassembly temporary storage bench 2 for components, a component gripping tool, an underwater milling mobile platform 1, a rod gripping tool 8, and a component limiting and clamping device 3.

[0063] The underwater disassembly temporary storage bench 2 for components can serve as an implementation platform for milling operations on related components 4, and can also serve as a storage platform for some components (such as functional rods 402 separated from related components 4) after the disassembly of related components 4. A component temporary storage barrel 202 can be provided on the underwater disassembly temporary storage bench 2 for components to cooperate with related components 4 to form a certain degree of limiting and fixing of related components 4. A rod temporary storage barrel 205 can also be provided on the underwater disassembly temporary storage bench 2 for components to store the functional rods 402 separated from related components 4. That is, after related components 4 are completely disassembled in the component temporary storage barrel 202, the separated functional rods 402 can be temporarily stored in the rod temporary storage barrel 205 so that the component temporary storage barrel 202 is in an idle state, thereby quickly realizing the rapid disassembly of the next related component 4.

[0064] The component gripping tool is used to grip related components 4 and transport related components 4 into the component temporary storage barrel 202. Related components 4 can be divided into such as Figure 11The type-I related component 401 and the type-II related component 403 shown have the same arrangement of the functional rod members 402 in these two types of related components 4, but different structural forms of the connecting plate members; when the component gripping tool grips the related component 4, it mainly applies a gripping force to the connecting plate structure. Therefore, based on the different structural forms of the connecting plate members in the two types of related components 4, the component gripping tools can be divided into the type-I related component gripping tool 5 as shown in Figure 2 and the type-II related component gripping tool 6 as shown in Figure 3 . Both the type-I related component gripping tool 5 and the type-II related component gripping tool 6 can include a protective frame. Among them, a type-I related component gripping head that can move freely along the length direction of the protective frame is arranged inside the protective frame of the type-I related component gripping tool 5. Thus, when the type-I related component gripping head grips the type-I related component 401, it can drive the type-I related component 401 to move into the protective frame. Subsequently, during the process of the type-I related component gripping tool 5 transporting the type-I related component 401, the protective frame can effectively protect the type-I related component 401; a type-II related component gripping head that can move freely along the length direction of the protective frame is arranged inside the protective frame of the type-II related component gripping tool 6. Thus, when the type-II related component gripping head grips the type-II related component 403, it can drive the type-II related component 403 to move into the protective frame. Subsequently, during the process of the type-II related component gripping tool 6 transporting the type-II related component 403, the protective frame can effectively protect the type-II related component 403.

[0065] The underwater milling mobile platform 1 is used to mill the spot welding structure of the connecting nut on the related component 4 in the component storage barrel 202. When milling using the underwater milling mobile platform 1, the underwater milling mobile platform 1 is usually located directly above the component storage barrel 202 to mill the related component 4 in the component storage barrel 202 from top to bottom. In this way, during the milling process, the gravity of the underwater milling mobile platform 1 can be used as an additional auxiliary force to assist the milling, so that the milling process is smoother, and it is easier to mill the spot welding structure on the connecting nut, thereby improving the underwater disassembly efficiency of the related component 4.

[0066] The rod member gripping tool 8 is used to transport the functional rod member 402 separated from the related component 4 in the component storage barrel 202 to the rod member storage barrel 205. The functional rod member 402 is usually of a smooth shaft structure. Therefore, the specific structure of the rod member gripping tool 8 can refer to the gripping structure for a smooth shaft in the related technology. For example, the rod member gripping tool 8 can adopt the structure as shown in Figure 5 . The rod member gripping tool 8 is sleeved on one end of the functional rod member 402 and applies a gripping force to the functional rod member 402, thereby realizing the gripping of the functional rod member 402.

[0067] The component limiting and clamping device 3 is connected to the underwater disassembly and temporary storage bench 2 of the component and is used to limit and clamp the relevant components 4 in the component temporary storage barrel 202. After the relevant components 4 are transported to the component temporary storage barrel 202, the relevant components 4 can be limited and fixed to a certain extent. After being limited and clamped by the component limiting and clamping device 3, the relevant components 4 can maintain good attitude stability during the milling process, thereby ensuring the milling accuracy and milling efficiency.

[0068] During operation, the type-I relevant component grasping tool 5 / type-II relevant component grasping tool 6 is used to grasp the type-I relevant component 401 / type-II relevant component 403 and transport the type-I relevant component 401 / type-II relevant component 403 to the component temporary storage barrel 202. After the type-I relevant component 401 / type-II relevant component 403 is limited and clamped by the component limiting and clamping device 3, the underwater milling moving platform 1 is controlled to move to the directly above of the component temporary storage barrel 202 and mill the spot welding structure of the connecting nut on the type-I relevant component 401 / type-II relevant component 403, and the connecting plate part and the functional rod part 402 of the relevant component 4 are separated. Among them, the separated functional rod part 402 is located in the component temporary storage barrel 202. The rod part grasping tool 8 is used to grasp the functional rod part 402 in the component temporary storage barrel 202 and transport the functional rod part 402 to the rod part temporary storage barrel 205. After the functional rod part 402 in the component temporary storage barrel 202 is transported completely, the component temporary storage barrel 202 is in an idle state, and then the disassembly of the next type-I relevant component 401 / type-II relevant component 403 is carried out.

[0069] In some alternative embodiments, reference may be made to Figure 6, the underwater disassembly and temporary storage rack 2 of the component can include a support rack 201. The overall shape of the support rack 201 can be a cuboid. The support rack 201 has a storage station and a milling station. The length directions of the rod temporary storage barrel 205 and the component temporary storage barrel 202 are both parallel to the long side of the cuboid. The rod temporary storage barrel 205 and the component temporary storage barrel 202 are respectively located at the storage station and the milling station inside the support rack 201, so as to prevent other components from colliding with the rod temporary storage barrel 205 or the component temporary storage barrel 202 during the movement process. Among them, the rod temporary storage barrel 205 is movably matched with the support rack 201 so that the rod temporary storage barrel 205 can be separated from the support rack 201. A lifting head 206 for the rod temporary storage barrel can be provided on the rod temporary storage barrel 205 to facilitate the lifting by a lifting device. Thus, when the functional rods 402 in the rod temporary storage barrel 205 reach the storage capacity, the rod temporary storage barrel 205 can be lifted as a whole to realize the unified transfer of the functional rods 402. At the same time, the setting of the support rack 201 can also facilitate the connection between the underwater disassembly and temporary storage rack 2 of the component and other fixed settings. In particular, since the functional rods 402 usually have a large length, the length of the support rack 201 is also increased accordingly. Therefore, a fixed wing plate 207 can also be provided in the middle of the support rack 201 in its length direction. Thus, the support rack 201 can be fixedly connected to other fixed settings through the fixed wing plate 207 to ensure the attitude stability of the support rack 201. Among them, the component temporary storage barrel 202 has a limiting cavity corresponding to the arrangement position of the functional rods 402 on the relevant component 4. Thus, the functional rods 402 on the type-I relevant component 401 / type-II relevant component 403 can be inserted into the limiting cavity one by one to perform a certain degree of limiting and fixing on the relevant component 4, ensuring a certain attitude stability of the relevant component 4 during the milling process, and further ensuring the accuracy of the milling position to a certain extent; the rod temporary storage barrel 205 has a number of accommodating cavities suitable for accommodating the rods. The shape and size of the accommodating cavity can be adapted to the shape and size of the functional rods 402. Thus, after the functional rods 402 are transported to the rod temporary storage barrel 205, they can have a certain attitude stability, preventing the functional rods 402 from colliding with the rod temporary storage barrel 205 due to vibration during the milling process.

[0070] In the embodiment of the present application, through the setting of the storage station and the milling station on the support rack 201, the milling process of the relevant component 4 and the storage process of the separated functional rods 402 are separated from each other. After the relevant component 4 is separated in the component temporary storage barrel 202, it does not need to be immediately transported out of the water environment. Instead, the separated functional rods 402 are transported to the closer rod temporary storage barrel 205 by the rod grasping component. Thus, the component temporary storage barrel 202 can quickly be in an idle state to perform the underwater disassembly of the next relevant component 4, thereby improving the overall efficiency of the underwater disassembly of the relevant component 4.

[0071] In some alternative embodiments, reference can be made to Figure 8, the component limiting and clamping device 3 may include a component limiting plate 301 and a clamping component; the component limiting plate 301 may be generally in the shape of a cuboid, and the component limiting plate 301 may be connected to the component temporary storage barrel 202 through support columns 204. Among them, the number of support columns 204 may be set to four and may be arranged in a manner located at the four corner points of the component limiting plate 301. One end of the support column 204 is welded to the component limiting plate 301, and the other end is welded to the support frame 201. An avoidance hole corresponding to the position of the limiting cavity is provided on the component limiting plate 301. The avoidance hole is configured to be suitable for the axial passing of the functional rod piece 402 to enter the limiting cavity. That is to say, in the axial view of the limiting cavity, each limiting cavity and each avoidance hole can form a corresponding position relationship. The shapes and sizes of the avoidance hole and the limiting cavity may be the same or different. In actual implementation, the shapes and sizes of the avoidance hole and the limiting cavity are the same. Thus, the avoidance hole can also impose a certain attitude limitation on the functional rod piece 402 on the related component 4, which is beneficial to improving the attitude stability of the related component 4 during the milling process. The clamping component is connected to the component limiting plate 301, and the clamping component is used to clamp the related component 4. Thus, the clamping component, in cooperation with the avoidance hole and the limiting cavity, can form a good limiting effect on the related component 4, and then ensure that the related component 4 can maintain good attitude stability during the milling process.

[0072] In the embodiment of the present application, the component limiting and clamping device 3 is welded to the component temporary storage barrel 202 through the support column 204. During the milling process, the vibration transmitted from the related component 4 on the component limiting and clamping device 3 can be quickly transmitted to the component temporary storage barrel 202 through the support column 204. The component limiting and clamping device 3, the related component 4, and the component temporary storage barrel 202 form a high structural integrity, which can greatly prevent the failure of the limiting and clamping due to a large attitude difference between the component limiting and clamping device 3 and the functional rod piece 402 or the component temporary storage barrel 202.

[0073] In the embodiment of the present application, the "axial passing" refers to the process in which the functional rod piece 402 passes through along its own axis.

[0074] In some alternative embodiments, reference may be made to Figure 7, the underwater disassembly system for radioactive related components may further include a core rod 203 of the component storage barrel disposed in the component storage barrel 202. Wherein, the core rod 203 of the component storage barrel is movably connected to the component storage barrel 202 so that the core rod 203 of the component storage barrel can slide freely in the component storage barrel 202. The length direction of the core rod 203 of the component storage barrel is parallel to the length direction of the component storage barrel 202. One end of the core rod 203 of the component storage barrel is located outside the component storage barrel 202 for being clamped / connected by a lifting tool, and the other end is located inside the component storage barrel 202 and is used to carry the functional rod piece 402 separated from the related component 4. Thus, through the lifting of the lifting tool, the core rod 203 of the component storage barrel can drive the functional rod piece 402 to move in the length direction of the component storage barrel 202, and the end of the functional rod piece 402 can be away from the component limiting plate 301 so that the rod piece gripping tool 8 can more conveniently grip the functional rod piece 402. The component limiting plate 301 and the component storage barrel 202 are arranged at intervals, and an avoidance notch suitable for the lifting tool to pass through is formed thereon.

[0075] In some alternative embodiments, as the milling process progresses, the number of functional rod pieces 402 connected to the connecting plate component becomes smaller and smaller. If the connecting plate component is unevenly stressed at this time, coupled with the force applied during the feeding of the underwater milling moving platform 1 during the milling process, a single functional rod piece 402 is likely to be deformed, which may cause the functional rod piece 402 to get stuck in the avoidance hole / limiting cavity. Therefore, the clamping component can be configured as a jacking mechanism. Wherein, the number of the jacking mechanisms is configured to be an even number and is circumferentially evenly distributed, and the jacking mechanism is used to jack the connecting plate component in the related component 4.

[0076] In the embodiments of the present application, the jacking mechanism can provide a relatively large jacking force. Each jacking mechanism can precisely adjust the jacking force. The forces on the related component 4 in all directions can be more balanced, and each jacking mechanism can be adjusted as needed to achieve fine adjustment and control of the clamping force, ensuring that the related component 4 is stably clamped.

[0077] In some alternative embodiments, reference can be made to Figures 9 to 10, the top extension mechanism may include a fixture housing 305, a transmission shaft 308, a transmission worm gear 306, a transmission worm 314, a slider 307, and a guide rail 311; the fixture housing 305 may be fixedly connected to the component limit plate 301 by bolts; the transmission shaft 308 is movably connected to the fixture housing 305 to enable it to rotate about its own axis. Specifically, the fixture housing 305 may be configured as an L-shaped block structure. Two adjacent inner surfaces of the fixture housing 305 are respectively configured as a first mounting surface and a second mounting surface. The transmission shaft 308 is vertically and movably inserted into the fixture housing 305 perpendicular to the first mounting surface. A bearing may be arranged between the transmission shaft 308 and the fixture housing 305 to ensure the smooth rotation of the transmission shaft 308; the transmission worm gear 306 may be coaxially fitted with the transmission shaft 308 through a flat key to drive the transmission shaft 308 to rotate; the transmission worm 314 is movably connected to the fixture housing 305 and is in transmission cooperation with the transmission worm gear 306. Thus, by rotating the transmission worm 314, the transmission worm gear 306 is driven to rotate, and then the transmission shaft 308 is driven to rotate; the slider 307 is in threaded cooperation with the transmission shaft 308. Thus, when the transmission shaft 308 rotates driven by the transmission worm gear 306, the slider 307 can move along the axial direction of the transmission shaft 308. A pressing block 310 may extend from the slider 307 along a direction parallel to the axial direction of the transmission shaft 308. A clamping block 309 for abutting against the connecting plate component in the relevant component 4 is arranged on the pressing block 310. Among them, the clamping block 309 may be configured as an arc-shaped plate to adapt to the shape of the connecting plate component on the relevant component 4; the guide rail 311 may be connected to the second mounting surface. The number of the guide rails 311 may be set to two and arranged in parallel at intervals. The length direction of the guide rail 311 is parallel to the axial direction of the transmission shaft 308. Both guide rails 311 are in transmission cooperation with the slider 307. Among them, the cross-section of the guide rail 311 may be configured as a dovetail shape to ensure its good guiding function.

[0078] In the embodiment of the present application, the worm and worm gear mechanism is used as the transmission structure of the slider 307. When the clamping block 309 abuts against the connecting plate component, the worm and worm gear mechanism has a self-locking performance. During the milling process of the relevant component 4, the clamping block 309 is not likely to retract and cause clamping failure. Particularly, a positioning pin 315 may also be arranged on the fixture housing 305 to limit the transmission shaft 308. Thus, the situation that the transmission shaft 308 rotates accidentally during the milling process can be prevented.

[0079] In some alternative embodiments, reference may be made to Figure 4, the underwater disassembly system for radioactive-related components may further include a sleeve tool 7. Wherein, an adjusting head 313 suitable for the sleeve tool 7 to be sleeved is arranged on the driving worm 314 to rotate under the drive of the sleeve tool 7. As mentioned above, the worm and worm gear mechanism has a self-locking performance. After combining with the positioning pin 315, the transmission shaft 308 basically will not rotate accidentally during the milling process. That is to say, the transmission shaft 308 does not need to be fixed in posture by other means such as a motor. That is, the jacking mechanism can be configured without a power source, but the driving worm 314 is rotated by the sleeve tool 7 when needed. In this way, the overall size of the jacking mechanism can be reduced, which can reserve a larger operating space for the component grasping tool / underwater milling moving platform 1 and at the same time has a lower cost.

[0080] In some alternative embodiments, the adjusting head 313 is configured with a socket guiding member 312. The socket guiding member 312 can be connected to the fixture housing 305 or the driving worm gear 306. A guiding conical surface arranged around the adjusting head 313 is constructed on the socket guiding member 312. Preferably, the socket guiding member 312 can be constructed in the shape of a flared opening. After the small end of the socket guiding member 312 is sleeved on the adjusting head 313, the inner side surface of the socket guiding member 312 serves as the guiding conical surface. Through the setting of the socket guiding member 312, when the alignment operation between the sleeve tool 7 and the adjusting head 313 is carried out, the guiding conical surface can guide the sleeve tool 7, thereby improving the alignment efficiency between the sleeve tool 7 and the adjusting head 313.

[0081] In some alternative embodiments, refer to Figure 8 , the orifice of the avoidance hole on the component limiting plate 301 can be constructed as a chamfered structure. The setting of the chamfered structure can guide the functional rod 402 on the related component 4 during the alignment process between the related component 4 and the component temporary storage barrel 202, so as to realize the rapid alignment between the related component 4 and the component temporary storage barrel 202.

[0082] In some alternative embodiments, continue to refer to Figure 8, a positioning component is arranged on the component limiting plate 301. The positioning component can be connected to the component limiting plate 301 through the positioning column 304. The positioning component can include a positioning plate 303 and a guiding plate 302. The side surface of the guiding plate 302 is welded to the plate surface of the positioning plate 303. An included angle is formed between the plate surface of the guiding plate 302 and the plate surface of the positioning plate 303, so that the plate surface of the guiding plate 302 can play a guiding role for the component grasping tool. Among them, one end of the positioning column 304 is welded to the positioning plate 303, and the other end is welded to the component limiting plate 301. A plurality of positioning holes suitable for the positioning rods on the component grasping tool to be inserted are arranged on the positioning component. Specifically, the number of the positioning plates 303 and the positioning columns 304 can be set to four respectively. One positioning plate 303 is connected to each positioning column 304, and two guiding plates 302 are connected to each positioning plate 303. The positioning holes are arranged on the positioning plate 303, and the arrangement positions of the four positioning holes correspond to the positions of the positioning rods on the component grasping tool.

[0083] In some alternative embodiments, reference may be made to Figures 12 to 13, the underwater milling mobile platform 1 may include a bottom plate 106, a support frame 101, a manipulator, and a milling mechanism. The bottom plate 106 may be configured as a square plate, and an active notch is provided on the bottom plate 106; the support frame 101 may be welded to the bottom plate 106, and the support frame 101 is used to connect the mobile trolley. Specifically, a first support plate 103 and a second support plate 105 may be welded on the support frame 101, and a first positioning pin 102 and a second positioning pin 104 are respectively welded on the first support plate 103 and the second support plate 105. The support frame 101 may form a pin connection with the mobile trolley through the first positioning pin 102 and the second positioning pin 104; the manipulator is arranged on the bottom plate 106 and located within the support frame 101. Specifically, the manipulator may include an X-axis waterproof servo motor 107, an X-axis coupling 108, an X-axis lead screw 109, an X-axis slider 110, an X-axis guide rail 111, an X-axis lead screw nut 112, a Y-axis waterproof servo motor 113, a Y-axis coupling 114, a Y-axis lead screw 115, a Y-axis lead screw nut 116, a Y-axis guide rail 117, a Y-axis slider 118, a Y-axis moving support plate 119, a Z-axis waterproof servo motor 123, a Z-axis guide rail 121, a Z-axis drive plate 122, a Z-axis coupling, a Z-axis lead screw 125, a spindle platform support plate 126, and an X-axis moving support plate 129; the X-axis waterproof servo motor 107 and the X-axis guide rail 111 are installed on the surface of the bottom plate 106 by bolts. The X-axis lead screw 109 is connected to the X-axis waterproof servo motor 107 through the X-axis coupling 108. The X-axis lead screw nut 112 is engaged with the X-axis lead screw 109 and connected to the X-axis moving support plate 129 by bolts. The X-axis slider 110 slides cooperatively on the X-axis guide rail 111 and is connected to the X-axis moving support plate 129 by bolts; the Y-axis waterproof servo motor 113 and the Y-axis guide rail 117 are installed on the plane of the X-axis moving support plate 129 by bolts. The Y-axis lead screw 115 is connected to the Y-axis waterproof servo motor 113 through the Y-axis coupling 114. The Y-axis lead screw nut 116 is engaged with the Y-axis lead screw 115 and connected to the Y-axis moving support plate 119 by bolts. The Y-axis slider 118 slides cooperatively on the Y-axis guide rail 117 and is connected to the Y-axis moving support plate 119 by bolts; the Z-axis waterproof servo motor 123 is installed on the spindle platform support plate 126 by bolts. The Z-axis lead screw 125 is connected to the Z-axis waterproof servo motor 123 through the Z-axis coupling. The Z-axis drive plate 122 is engaged with the Z-axis lead screw 125 and slides on the Z-axis guide rail 121; the milling mechanism is connected to the spindle platform support plate 126 of the manipulator. The milling mechanism may include a spindle waterproof motor 120, a tool quick-change chuck 127, a tool 128, and a spindle coupling 130; the spindle waterproof motor 120 is connected to the Z-axis drive plate 122 by bolts. The tool quick-change chuck 127 is connected to the spindle waterproof motor 120 through the spindle coupling 130. The tool 128 is clamped by the tool quick-change chuck 127. The tool 128 passes through the active notch and moves within the active notch under the drive of the manipulator.

[0084] In the embodiments of the present application, under the drive of the X-axis waterproof servo motor 107, the Y-axis waterproof servo motor 113, and the Z-axis waterproof servo motor 123, the cutting tool 128 can complete precise positioning in three-dimensional space, so as to accurately mill the spot welding structure of the connecting bolts on the relevant component 4.

[0085] In a second aspect, the present application provides a method for underwater disintegration of radioactive related components, which is implemented based on the underwater disintegration system of radioactive related components in the first aspect, and includes the following:

[0086] S1. Transport the relevant component 4 to the component temporary storage bucket 202 through the relevant component 4 grasping tool.

[0087] After the relevant component 4 grasping tool grasps the relevant component 4, it drives the relevant component 4 to move directly above the underwater disintegration temporary bench. The component grasping tool continues to move towards the direction of the underwater disintegration temporary bench. When the component grasping tool contacts the positioning component, the guide plate 302 on the positioning component can play a guiding role for the component grasping tool so that the positioning rod on the component grasping tool can quickly correspond to the position of the positioning hole on the positioning plate 303. After the positioning rod cooperates with the positioning hole, the functional rod member 402 on the relevant component 4 corresponds to the position of the avoidance hole / limiting cavity one by one. Then, through the relevant component 4 grasping tool, the relevant component 4 is moved downward so that the functional rod member 402 passes through the avoidance hole and is located in the limiting cavity.

[0088] S2. Limit and clamp the relevant component 4 through the component limit clamping device 3.

[0089] Among them, the sleeve tool 7 can be sleeved on the adjustment head 313 of the transmission worm 314, and the sleeve tool 7 is rotated clockwise / counterclockwise to rotate the transmission worm 314. The transmission worm 314 drives the transmission worm gear 306 to rotate accordingly, so that the transmission shaft 308 can rotate to make the slider 307 move in the axial direction of the transmission shaft 308. Then, the clamping block 309 on the slider 307 can form an abutment with the connecting plate component of the relevant component 4. Then, the sleeve tool 7 is used to adjust other jacking mechanisms so that all the clamping blocks 309 abut against the head of the relevant component 4.

[0090] S3. Mill the spot welding structure of the connecting nut on the relevant component 4 through the underwater milling moving platform 1.

[0091] The underwater milling mobile platform 1 can first be driven by the main platform track to be directly above the underwater disassembly temporary storage platform 2 of the component. Then, the position of the tool 128 can be adjusted in the X direction first. The waterproof servo motor 107 of the X axis rotates to drive the X axis lead screw 109 to rotate, and the X axis lead screw nut 112 drives the X axis moving support plate 129 to move linearly along the X axis guide rail 111. At the same time, the X axis moving support plate 129 drives the Y axis moving support plate 119, the Z axis drive plate 122, the spindle platform support plate 126, and the tool 128 to move together. Then, the position of the tool 128 is adjusted in the Y direction. The waterproof servo motor 113 of the Y axis rotates to drive the Y axis lead screw 115 to rotate, and the Y axis lead screw nut 116 drives the Y axis moving support plate 119 to move linearly along the Y axis guide rail 117. At the same time, the Y axis moving support plate 119 drives the Z axis drive plate 122, the spindle platform support plate 126, and the tool 128 to move together. The X / Y axis movement completes the horizontal positioning of the connecting nut on the relevant component 4 by the tool 128. Finally, the position of the tool 128 is adjusted in the Z direction. The waterproof servo motor 123 of the Z axis rotates to drive the Z axis lead screw 125 to rotate, and the Z axis drive plate 122 drives the spindle component to move linearly along the Z axis guide rail 121. Driving the tool 128 close to the welding point position of the connecting nut on the relevant component 4. Start the waterproof motor 120 of the spindle, the tool 128 rotates at high speed, and continue to adjust the position of the tool 128 in the X direction and the Y direction as needed to achieve the feed amount of the tool 128 in the X and Y directions, complete the cutting of the welding point of the connecting nut on the relevant component 4, and then turn off the waterproof motor 120 of the spindle. Repeat the above content to mill the welding point structures of other connecting nuts.

[0092] S4. Transport the functional rod 402 in the component temporary storage barrel 202 to the rod temporary storage barrel 205 through the rod grabbing tool 8.

[0093] Among them, the head of the relevant component 4 can be grabbed by the component grabbing tool first to transport the connecting plate component separated from the relevant component 4 to the designated position, then the core rod 203 of the component temporary storage barrel is lifted by the lifting tool to move the functional rod 402 upward, then the end of the functional rod 402 is grabbed by the rod grabbing tool 8 to completely separate the functional rod 402 from the component temporary storage barrel 202, move the rod grabbing tool 8 so that the functional rod 402 on it corresponds to the accommodating cavity position on the rod temporary storage barrel 205, and then put the functional rod 402 into the rod temporary storage barrel 205.

[0094] After all the functional rods 402 in the component temporary storage barrel 202 are transported to the rod temporary storage barrel 205, repeat the above content to perform underwater disassembly on the next relevant component 4.

[0095] After the number of functional rods 402 in the rod storage barrel 205 reaches the storage capacity, the rod gripper tool 8 can grab the lifting head 206 of the rod storage barrel, and lift the rod gripper tool 8 to separate the rod storage barrel 205 from the support frame 201, completing the transfer of the functional rods 402.

[0096] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present application. It should be understood that the above description is only the specific embodiments of the present application and is not used to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater disintegration system for radioactive-related components, characterized in that, Comprising: An underwater disassembly and temporary storage bench for components (2), which has a component temporary storage barrel (202) for storing relevant components (4) and a rod temporary storage barrel (205) for storing functional rods (402) separated from the relevant components (4); A component grasping tool, which is used to grasp the relevant components (4) and transport the relevant components (4) into the component temporary storage barrel (202); An underwater milling mobile platform (1), which is used to mill the spot welding structure of the connecting nuts on the relevant components (4) in the component temporary storage barrel (202); A rod grasping tool (8), which is used to transport the functional rods (402) separated from the relevant components (4) in the component temporary storage barrel (202) into the rod temporary storage barrel (205); A component limiting and clamping device (3), which is connected to the underwater disassembly and temporary storage bench for components (2) and is used to limit and clamp the relevant components (4) in the component temporary storage barrel (202); Wherein, the underwater disassembly and temporary storage bench for components (2) includes a support bench (201), and the support bench (201) has a storage station and a milling station; Wherein, the component temporary storage barrel (202) is located at the milling station, and the component temporary storage barrel (202) has a limiting cavity corresponding to the arrangement position of the functional rods (402) on the relevant components (4); the rod temporary storage barrel (205) is located at the storage station, and the rod temporary storage barrel (205) has a number of accommodating cavities suitable for accommodating the rods.

2. The underwater disintegration system for radioactive-related components according to claim 1, wherein, The component limiting and clamping device (3) includes: A component limiting plate (301) welded to the component temporary storage barrel (202), and the component limiting plate (301) is provided with an avoidance hole corresponding to the position of the limiting cavity, and the avoidance hole is configured to be suitable for the axial passing of the functional rod (402) to enter the limiting cavity; A clamping component connected to the component limiting plate (301), and the clamping component is used to clamp the relevant components (4).

3. The underwater disintegration system for radioactive-related components according to claim 2, wherein It further includes a component temporary storage barrel core rod (203) arranged in the component temporary storage barrel (202), wherein the component temporary storage barrel core rod (203) is movably connected to the component temporary storage barrel (202) so that the component temporary storage barrel core rod (203) can freely slide in the component temporary storage barrel (202), one end of the component temporary storage barrel core rod (203) is located outside the component temporary storage barrel (202), and the other end is located inside the component temporary storage barrel (202) and is used to bear the functional rods (402) separated from the relevant components (4), and the component limiting plate (301) and the component temporary storage barrel (202) are arranged at intervals and are configured with an avoidance notch suitable for the lifting tool to pass through.

4. The underwater disintegration system for radioactive-related components according to claim 2, wherein The clamping component is configured as a jacking mechanism, wherein the number of the jacking mechanisms is configured to be an even number and is evenly distributed in a circle, and the jacking mechanism is used to jack the relevant components (4).

5. The underwater disintegration system for radioactive-related components according to claim 4, wherein The jacking mechanism includes: A fixture box body (305) connected to the component limiting plate (301); A transmission shaft (308), and the transmission shaft (308) is movably connected to the fixture box body (305) so that it can rotate around its own axis; A transmission worm gear (306), the transmission worm gear (306) is coaxially fitted with the transmission shaft (308) to drive the transmission shaft (308) to rotate; A transmission worm (314), the transmission worm (314) is movably connected to the fixture housing (305) and is in transmission cooperation with the transmission worm gear (306); A slider (307) threadedly fitted with the transmission shaft (308), and a clamping block (309) for abutting against the relevant component (4) is provided on the slider (307); A guide rail (311) connected to the fixture housing (305), the guide rail (311) is arranged in parallel with the transmission shaft (308) and is in transmission cooperation with the slider (307).

6. The underwater disintegration system for radioactive-related components according to claim 5, characterized in that, It further includes a socket tool (7), wherein, an adjustment head (313) suitable for being sleeved by the socket tool (7) is provided on the transmission worm (314) to rotate under the drive of the socket tool (7).

7. The underwater disintegration system for radioactive-related components according to claim 6, characterized in that, The adjustment head (313) is configured with a socket guide (312), and a guide conical surface arranged around the adjustment head (313) is constructed on the socket guide (312).

8. The underwater disintegration system for radioactive-related components according to claim 2, characterized in that, The orifice of the avoidance hole is configured as a chamfered structure.

9. The underwater disintegration system for radioactive-related components according to claim 2, characterized in that A positioning component is configured on the component limiting plate (301), and a plurality of positioning holes suitable for the positioning rods on the component grasping tool to be inserted are provided on the positioning component.

10. The underwater disintegration system for radioactive-related components according to claim 9, wherein, A guide plate (302) arranged around the positioning holes is provided on the positioning component.

11. The underwater disintegration system for radioactive-related components according to claim 1, characterized in that, The underwater milling mobile platform (1) includes: A bottom plate (106), and a movable notch is provided on the bottom plate (106); A support frame (101) connected to the bottom plate (106), and the support frame (101) is used to connect a mobile cart; A manipulator arranged on the bottom plate (106), and the manipulator is located inside the support frame (101); A milling mechanism connected to the manipulator, the milling mechanism is configured with a tool (128) for milling the relevant component (4), and the tool (128) passes through the movable notch and moves in the movable notch under the drive of the manipulator.

12. A method for underwater disassembly of radioactive-related components, which is implemented based on the underwater disassembly system of radioactive-related components described in any one of claims 1 to 11, characterized in that, It includes the following contents: Transport the relevant component (4) to the component temporary storage barrel (202) by the relevant component (4) grasping tool; Limit and clamp the relevant component (4) by the component limiting and clamping device (3); Mill the spot welding structure of the connecting nut on the relevant component (4) by the underwater milling mobile platform (1); Transport the functional rod (402) in the component temporary storage barrel (202) to the rod temporary storage barrel (205) by the rod grasping tool (8).

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