A deep hole measuring device for nuclear power steam generator tube sheet

Abstract

The invention discloses a deep hole measuring device for tube sheet of nuclear power steam generator, comprising a tube sheet installation and posture adjustment component, a three-axis carrying measurement component, a deep hole and hole position measurement component and a control and data acquisition component; the tube sheet installation and posture adjustment component is used to install the tube sheet to be measured and realize the preliminary positioning of the tube sheet, and to perform pitch and yaw adjustment so that the measured deep hole of the tube sheet is parallel to the deep hole and hole position measurement component; the three-axis carrying measurement component is used to install the deep hole and hole position measurement component, and realize the movement and measurement of the horizontal and vertical positions of the deep hole and hole position measurement component; the deep hole and hole position measurement component is used to measure the deep hole parameters; the control and data acquisition component is used to realize the movement control of the tube sheet installation and posture adjustment system, the three-axis carrying measurement component, the deep hole and hole position measurement component, and the collection and processing of measurement data. The invention can realize the automatic and efficient measurement of the aperture, straightness, position and the like of the tube sheet of nuclear power steam generator.

Description

Technical Field

[0001] The invention belongs to the field of manufacturing industry measurement and detection, and in particular relates to a nuclear power steam generator tube plate deep hole measuring device. Background Art

[0002] The steam generator tube sheet is used to install U-shaped heat transfer tubes. To ensure the non-destructive penetration and service life of the U-shaped heat transfer tubes, the tube sheet hole position must be accurate, the hole size must strictly meet the requirements, and no damage must occur. In order to dissipate heat, more than 10,000 deep holes with a diameter of about 18mm and a depth of about 600mm need to be processed on the tube sheet. After the deep hole processing, all deep holes need to be inspected. The inspection content includes: hole diameter, straightness, verticality / position and other parameters. The current deep hole diameter size measurement uses handheld gauges and caliper gauges to measure, and the straightness / verticality parameters are measured using a verticality measurement tool composed of a micrometer and a pin shaft. The hole position is measured using a laser tracker in conjunction with a pin seat. Due to the large number of holes, manual inspection takes 6 to 10 days, and the measurement efficiency is low. In addition, manual measurement is affected by human factors and has poor traceability.

[0003] In order to solve the measurement problems of parameters such as hole diameter, straightness, verticality / position of steam generator tube sheet, which need to be measured manually, with low efficiency and poor traceability, a nuclear power steam generator tube sheet deep hole measuring device is needed. Summary of the invention

[0004] The purpose of the present invention is to provide a nuclear power steam generator tube sheet deep hole measuring device, which can realize automatic and efficient measurement of parameters such as hole diameter, straightness, position and the like of the nuclear power steam generator tube sheet.

[0005] One aspect of the present invention provides a nuclear power steam generator tube sheet deep hole measurement device, comprising a tube sheet installation and posture adjustment component, a three-axis carrying measurement component, a deep hole and hole position measurement component, and a control and data acquisition component;

[0006] The tube sheet installation and posture adjustment assembly is used to install the tube sheet to be measured and realize the preliminary positioning of the tube sheet, and to perform pitch and yaw adjustments so that the measured depth hole of the tube sheet is parallel to the deep hole and hole position measurement assembly;

[0007] The three-axis carrying and measuring assembly is used to install the deep hole and hole position measuring assembly and realize the movement and measurement of the horizontal and vertical positions of the deep hole and hole position measuring assembly;

[0008] The deep hole and hole position measurement component is used to measure deep hole parameters;

[0009] The control and data acquisition component is used to realize the motion control of the tube sheet installation and posture adjustment system, the three-axis carrying measurement component, and the deep hole and hole position measurement component, as well as the collection and processing of measurement data.

[0010] Preferably, the installation and attitude adjustment assembly comprises a heavy-load support beam, a pitch axis, a pitch axis mounting beam, a rotating disk, a slewing guide, a rotating fixed seat, an angle encoder mounting shaft, an angle encoder, a yaw adjustment drive, a pitch ball head seat mounting support plate, a yaw guide mounting plate, a bottom mounting plate, and a pitch drive;

[0011] The heavy-load support beam has a partial cylindrical surface and a partial inclined support positioning surface, which is used to install the tube sheet and realize the preliminary positioning of the tube sheet. The two pitch axes are installed on the pitch axis mounting beam to provide pitch rotation positioning. The pitch axis mounting beam is installed on the rotating disk, and the rotating disk is installed on the rotating fixed seat through the rotating guide.

[0012] The stationary end of the angle encoder is installed on the rotating fixed seat, and the rotating end of the angle encoder is connected to the rotating disk through the angle encoder mounting shaft, which can provide angle information of the rotating disk and provide angle feedback for the yaw adjustment. The yaw adjustment drive is installed on the bottom mounting plate to drive the heavy-load support beam to achieve yaw adjustment;

[0013] A pitch ball head seat is installed on the pitch drive, and a pitch ball head seat mounting support plate is used to support the pitch ball head seat to realize pitch adjustment support. The yaw guide mounting plate is connected to the bottom mounting plate, and is used to release the change of radial displacement during pitch adjustment and yaw calibration. The pitch drive is installed on the heavy-load support beam, and is connected to the pitch ball head seat mounting support plate through the pitch ball head seat, so as to realize the pitch adjustment drive.

[0014] Preferably, the three-axis carrying and measuring assembly comprises a transverse mounting seat, a transverse driving member, a transverse guide rail and a measuring member, a transverse motion slide, a vertical driving member, a vertical motion slide and a mounting seat, a vertical guide rail and a measuring member, and a vertical mounting seat;

[0015] The transverse mounting seat is used to install the transverse guide rail, the measuring piece and the transverse driving piece. The transverse driving piece is used to realize the driving of the transverse motion slide. The transverse guide rail and the measuring piece are used to realize the transverse guidance and position measurement of the deep hole and hole position measurement component.

[0016] The transverse driving member is used to realize the transverse drive of the transverse motion slide. The vertical driving member is installed in the vertical mounting seat to drive the vertical motion slide and the mounting seat. The vertical motion slide and the mounting seat are used to install the deep hole and hole position measurement component. The vertical guide rail and the measuring member are installed on the vertical mounting seat to realize the vertical guidance and position measurement of the deep hole and hole position measurement component.

[0017] Preferably, the deep hole and hole position measurement assembly includes an integrated probe for aperture and defect, a CCD and lighting component, a non-contact displacement sensor, a measuring rod guide seat, a measuring rod guide sleeve, a drive screw, a measuring rod guide rail and a measuring component, a measuring rod, a measuring rod mounting seat, a drive motor mounting seat, a drive motor, and an integrated mounting seat;

[0018] The measuring rod can be extended forward and backward, and the integrated aperture and defect measuring head is used to realize the integrated measurement of the inner hole diameter and the defect. The integrated aperture and defect measuring head is installed on the measuring rod, and the driving screw is used to realize the driving of the measuring rod to extend forward and backward. The driving motor is installed on the driving motor mounting seat and is used to provide a rotational torque for the driving screw, thereby driving the measuring rod mounting seat to move forward and backward;

[0019] The measuring rod mounting seat is used to install the measuring rod, the measuring rod guide rail and the measuring piece are used to guide and measure the position of the measuring rod, and the measuring rod guide seat is used to install two measuring rod guide sleeves, and the front end guidance of the measuring rod is achieved through the two measuring rod guide sleeves and the measuring rod guide seat;

[0020] The CCD and lighting components are used for hole position measurement, the non-contact displacement sensor is used for distance measurement, and the integrated mounting base is used for mounting the measuring rod guide rail and measuring components, the CCD and lighting components, the non-contact displacement sensor and the measuring rod guide base.

[0021] Preferably, the transverse guide rail and measuring piece, the vertical guide rail and measuring piece, the measuring rod guide rail and measuring piece all use grating rulers to measure the position of the deep hole and hole position measuring assembly.

[0022] Preferably, the deep hole parameters include the diameter, straightness and position of the deep hole.

[0023] The nuclear power steam generator tube sheet deep hole measuring device according to the above aspect of the present invention can realize automatic and efficient measurement of parameters such as hole diameter, straightness, position and the like of the nuclear power steam generator tube sheet. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0025] Figure 1 It is a structural schematic diagram of a nuclear power steam generator tube sheet deep hole measuring device according to an embodiment of the present invention;

[0026] Figure 2 It is a structural schematic diagram of a tube sheet installation and posture adjustment assembly according to one embodiment of the present invention;

[0027] Figure 3 is a schematic structural diagram of a three-axis transport measurement assembly according to an embodiment of the present invention;

[0028] Figure 4 It is a structural schematic diagram of a deep hole and hole position measurement assembly according to an embodiment of the present invention;

[0029] In the figure: 1-tube sheet installation and posture adjustment component, 2-three-axis carrying measurement component, 3-deep hole and hole position measurement component, 4-control and data acquisition component;

[0030] 101-heavy load support beam, 102-pitch axis, 103-pitch axis mounting beam, 104-rotating disk, 105-slewing guide, 106-rotating fixed seat, 107-angle encoder mounting shaft, 108-angle encoder, 109-yaw adjustment drive, 110-pitch ball head mounting support plate, 111-yaw guide mounting plate, 112-bottom mounting plate, 113-pitch drive;

[0031] 201-lateral mounting seat, 202-lateral driving member, 203-lateral guide rail and measuring member, 204-lateral motion slide, 205-vertical driving member, 206-vertical motion slide and mounting seat, 207-vertical guide rail and measuring member, 208-vertical mounting seat;

[0032] 301- integrated probe for aperture and defect, 302- CCD and lighting components, 303- non-contact displacement sensor, 304- measuring rod guide seat, 305- measuring rod guide sleeve, 306- driving screw, 307- measuring rod guide rail and measuring parts, 308- measuring rod, 309- measuring rod mounting seat, 310- driving motor mounting seat, 311- driving motor, 312- integrated mounting seat. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The embodiment of the present invention provides a nuclear power steam generator tube sheet deep hole measuring device, which is used for automatic measurement of parameters such as diameter, straightness, and position of nuclear power steam generator tube sheet deep holes. Figure 1 As shown, the nuclear power steam generator tube sheet deep hole measuring device of the embodiment of the present invention includes a tube sheet installation and posture adjustment component 1, a three-axis carrying measurement component 2, a deep hole and hole position measurement component 3, and a control and data acquisition component 4.

[0035] The tube sheet installation and posture adjustment component 1 is used to install the tube sheet to achieve the initial positioning of the tube sheet, and at the same time, the pitch and yaw adjustments are made according to the initial measurement results, so that the measured deep hole of the tube sheet is parallel to the deep hole and hole position measurement component 3, laying the foundation for the measurement of the hole position and internal dimensions of the deep hole of the tube sheet. The three-axis carrying measurement component 2 is used to install the deep hole and hole position measurement component 3, and realize the movement and measurement of the horizontal and vertical positions of the deep hole and hole position measurement component 3. The deep hole and hole position measurement component 3 is used to measure the deep hole parameters and realize the collection of deep hole, hole position and tube sheet posture data. The control and data acquisition component 4 is used to realize the movement control of the tube sheet installation and posture adjustment system 1, the three-axis carrying measurement component 2, and the deep hole and hole position measurement component 3, as well as the collection and processing of measurement data.

[0036] like Figure 2 As shown, the tube sheet installation and attitude adjustment assembly 1 includes a heavy-load support beam 101, a pitch axis 102, a pitch axis mounting beam 103, a rotating disk 104, a rotary guide 105, a rotating fixed seat 106, an angle encoder mounting shaft 107, an angle encoder 108, a yaw adjustment drive 109, a pitch ball head seat mounting support plate 110, a yaw guide mounting plate 111, a bottom mounting plate 112, and a pitch drive 113.

[0037] The heavy-duty support beam 101 is used to install the tube sheet to be tested to achieve its preliminary positioning. In order to stabilize the support target, the local cylindrical surface and the local inclined surface support positioning surface are adopted. The overall frame structure and the local cylindrical surface and local inclined surface support scheme are adopted to evenly support the force and prevent the support surface from being damaged. Two pitch axes 102 are installed on the pitch axis mounting beam 103 to provide pitch rotation positioning. The pitch axis mounting beam 103 is installed on the rotating disk 104, and the rotating disk 104 is installed on the rotating fixed seat 106 through the rotating guide 105, and is used together to provide yaw support. The stationary end of the angle encoder 108 is installed on the rotating fixed seat 106 through the mounting disk, and the rotating end of the angle encoder 108 is connected to the rotating disk 104 through the angle encoder mounting shaft 107, so that the angle information of the rotating disk 104 can be provided, and then the angle feedback amount can be provided for the yaw adjustment. The yaw adjustment drive 109 is installed on the bottom mounting plate 112 to drive the heavy-duty support beam 101 to achieve the yaw adjustment. The pitch ball head mounting support plate 110 is used to mount the ball head mounted on the pitch drive 113 to achieve pitch adjustment support. The yaw guide mounting plate 111 is connected to the bottom mounting plate 112. The yaw guide mounting plate 111 is used to mount the yaw guide rail and the slider that is also used to connect the rail mounted on the bottom mounting plate 112, and is used to release the change of radial displacement during pitch adjustment and yaw calibration. The pitch drive 113 is mounted on the heavy-duty support beam 101, which is connected to the pitch ball head mounting support plate 110 through the ball head, and is used to achieve pitch adjustment drive.

[0038] Preferably, the yaw adjustment drive 109 and the pitch drive 113 in the tube sheet installation and attitude adjustment system 1 can be driven by a finished worm gear screw elevator, providing yaw and pitch drive forces while achieving self-locking.

[0039] like Figure 3 As shown, the three-axis carrying and measuring assembly 2 includes a transverse mounting seat 201, a transverse driving member 202, a transverse guide rail and a measuring member 203, a transverse motion slide 204, a vertical driving member 205, a vertical motion slide and a mounting seat 206, a vertical guide rail and a measuring member 207, a vertical mounting seat 208 and other components. The transverse mounting seat 201 is used to install the transverse guide rail and the measuring member 203 and the transverse driving member 202. It adopts a hollow structure, the bottom is connected to the foundation, and the top processing surface is used to install the guide rail. The transverse motion slide 204 is driven by the transverse driving member 202, and the transverse position is positioned and measured by the grating ruler of the transverse guide rail and the measuring member 203. The transverse driving member 202 adopts a screw drive or a gear rack drive to realize the transverse drive of the transverse motion slide 204. The vertical driving member 205 is installed in the vertical mounting seat 208 and is used to drive the vertical motion slide and the mounting seat 206. The vertical motion slide and mounting seat 206 are used to install the deep hole and hole position measurement component 3, and are installed on the vertical mounting seat 208 through the vertical guide rail and measuring piece 207 to achieve vertical guidance and position measurement of the deep hole and hole position measurement component 3.

[0040] Preferably, the rotary guide 105 in the three-axis transport measurement assembly 2 can use a finished rotary support to improve integration and achieve axial and radial guidance. The transverse guide rail and measuring piece 203, the vertical guide rail and measuring piece 207 in the three-axis transport measurement assembly 2 all use grating rulers for displacement position measurement to achieve accurate position measurement of the deep hole and hole position measurement assembly 3.

[0041] like Figure 4As shown, the deep hole and hole position measurement assembly 3 includes an integrated probe for aperture and defects 301, a CCD and lighting component 302, a non-contact displacement sensor 303, a measuring rod guide seat 304, a measuring rod guide sleeve 305, a drive screw 306, a measuring rod guide rail and a measuring component 307, a measuring rod 308, a measuring rod mounting seat 309, a drive motor mounting seat 310, a drive motor 311, and an integrated mounting seat 312. The integrated probe for aperture and defects 301 is composed of a micro CCD and a micro diameter measurement sensor connected to form an integrated probe, which is used to realize the integrated measurement of the inner hole diameter and defects. The integrated probe for aperture and defects 301 is mounted on the measuring rod 308. In order to solve the problem of bending and deformation of the measuring rod 308, the measuring rod 308 is guided and position measured by the measuring rod guide rail and the measuring piece 307 after the rear end is driven. The front end guide is composed of two measuring rod guide sleeves 305 and the measuring rod guide seat 304. The double guide scheme is used to prevent the movement vibration caused by the cantilever beam structure of the guide rod, and at the same time, the accurate measurement of the inner hole diameter is ensured after the guide is stable. The measuring rod guide seat 304 is used to install two measuring rod guide sleeves 305 to guide the measuring rod 308. The driving screw member 306 is used to drive the measuring rod 308 to extend forward and backward, which is achieved by the motor drive using the screw drive screw nut method. The driving motor 311 is installed on the driving motor mounting seat 310, which is used to provide rotational torque to the driving screw member 306 through the coupling, and then drive the measuring rod mounting seat 309 installed with the screw nut to move forward and backward. The CCD and lighting member 302 are used as hole position measurement sensors for hole position measurement, and the non-contact displacement sensor 303 is used as a posture adjustment feedback distance measurement sensor for distance measurement. The integrated mounting seat 312 is respectively mounted with the measuring rod guide rail and measuring component 307 , CCD and lighting component 302 , non-contact displacement sensor 303 , and measuring rod guide seat 304 to realize the integrated connection of the internal components of the deep hole and hole position measuring assembly 3 .

[0042] Preferably, the measuring rod guide rail and measuring member 307 in the deep hole and hole position measurement assembly 3 use a grating ruler for position measurement to achieve accurate measurement of the deep hole diameter position. The non-contact displacement sensor 303 in the deep hole and hole position measurement assembly 3 uses a triangulation displacement sensor to achieve real-time displacement measurement, while improving the yaw and pitch adjustment measurement accuracy, improving adjustment efficiency, and reducing costs.

[0043] The control and data acquisition component 4 includes an image data acquisition card, an industrial computer, and a controller, which are used to realize data acquisition and motion control of the tube sheet installation and posture adjustment system 1, the three-axis carrying measurement component 2, and the deep hole and hole position measurement component 3, and realize measurement data processing.

[0044] The working method of the nuclear power steam generator tube sheet deep hole measuring device according to the embodiment of the present invention is as follows:

[0045] Before measuring the tube sheet, the device of the present invention is in the initial state, that is, the vertical mounting seat 208 of the three-axis carrying measurement assembly 2 is at one end, and the measuring rod 308 in the deep hole and hole position measurement assembly 3 is in a retracted state. The measured tube sheet is hoisted to the heavy-load support beam 101 of the installation and posture adjustment assembly 1 by the hoisting equipment. Since there are local cylindrical and local inclined support positioning surfaces on the heavy-load support beam 101, the preliminary positioning of the tube sheet can be achieved. After the tube sheet to be measured is initially positioned, a precise adjustment procedure needs to be performed. Before the procedure is performed, an accurate pitch and yaw amount needs to be obtained. For this purpose, the horizontal driving member 202 is controlled by a manual control adjustment method to drive the horizontal motion slide 204 installed on the guide rail of the horizontal mounting seat 201, thereby driving the horizontal movement of the vertical mounting seat 208 on the horizontal motion slide 204; the vertical driving member 205 is controlled to drive the vertical motion slide and the mounting seat 206 installed on the vertical mounting seat 208 to move vertically under the guidance of the vertical guide rail and the measuring member 207, thereby driving the deep hole and hole position measuring assembly 3 to move to the four positions of the upper, lower, left and right of the front end of the tube sheet. At the same time, the position of the deep hole and hole position measuring assembly 3 is measured at the four positions of the upper, lower, left and right through the horizontal guide rail and the measuring member 203, and the vertical guide rail and the measuring member 207. The distance is obtained through the non-contact displacement sensor 303 installed on the deep hole and hole position measuring assembly 3, and the pitch adjustment amount and the yaw adjustment amount can be calculated through the four distance values ​​and the data of the four positions of the upper, lower, left and right. After the pitch adjustment amount is obtained, the pitch drive 113 installed on the heavy-load support beam 101 can be used to drive the pitch ball head seat to move, and then the pitch adjustment of the heavy-load support beam 101 around the two pitch axes 102 installed on the pitch axis mounting beam 103 can be achieved through the reaction force of the pitch ball head seat mounting support plate 110. After the yaw adjustment amount is obtained, the yaw adjustment drive 109 installed on the bottom mounting plate 112 can be used to drive the heavy-load support beam 101 to achieve yaw adjustment around the slewing support. Since both pitch adjustment and yaw adjustment involve equal diameter requirements, a yaw guide rail and a slider used to connect the rail installed on the bottom mounting plate 112 are installed through the yaw guide mounting plate 111 to release the change in radial displacement during pitch adjustment and yaw calibration. The feedback of pitch adjustment is directly obtained through the motor drive of pitch drive 113, and the feedback of yaw adjustment is obtained through the angle encoder 108 installed on the rotating fixed seat 106. After the pitch and yaw are adjusted in place, they are re-measured at four positions, up, down, left and right, to see whether the four distance values ​​are within the allowable range. If not, repeat the above process. If they are in the allowable position, start measuring.

[0046] To start the measurement, it is necessary to define the horizontal and vertical coordinate systems. To do this, it is necessary to use the CCD and lighting components 302 in the deep hole and hole position measurement component 3, measure the holes of the two tube sheets on the left and right ends respectively through manual control, and establish a coordinate system based on this hole, align it with the hole position on the model, and then provide a positioning basis for all hole position measurements. Based on the CCD and lighting components 302, the position of the end hole can be measured, and to measure the internal size and defects of the hole, it is necessary to insert the aperture and defect integrated probe 301 into the deep hole for measurement. To do this, first calculate the hole position through the CCD and lighting components 302 to determine the hole position center, and then automatically adjust the position of the deep hole and hole position measurement component 3 by adjusting the three-axis carrier measurement component 2, so that the center of the aperture and defect integrated probe 301 can be located at the center of the measured hole, and then the deep hole measurement can be carried out. The process of deep hole measurement is that the drive motor 311 installed on the drive motor mounting seat 310 drives the drive screw 306 to drive the measuring rod 308 to extend forward and backward. In order to solve the problem of bending and deformation of the measuring rod 308, the measuring rod 308 is driven by the rear end and guided and displacement measured by the measuring rod guide rail and the measuring piece 307. The front end guide composed of two measuring rod guide sleeves 305 and the measuring rod guide seat 304 is used. Through the double guiding scheme, the movement vibration caused by the cantilever beam structure of the guide rod is prevented, and the inner hole diameter measurement is ensured to be accurate after the guiding is stable. The integrated probe 301 for the aperture and defect installed in front of the measuring rod can start measuring after entering the hole. Through the control and data acquisition component 4, the diameter size of the inner hole, the defect image and the distance of the probe penetration can be collected while moving, and then the deep hole point cloud data can be constructed, based on which the inner diameter and straightness of the deep hole can be measured. After the measurement is completed, the subsequent holes are measured. Since the remaining hole positions can be obtained through the model after the coordinate system is aligned, automatic measurement can be achieved, which can greatly improve the measurement efficiency. Since the collected inner hole data contains both the inner hole diameter and defects, digital processing, analysis and positioning of defects can be achieved.

[0047] The nuclear power steam generator tube sheet deep hole measuring device according to the embodiment of the present invention has the following beneficial effects:

[0048] 1. The present invention can drive the non-contact displacement sensor 303 installed on the deep hole and hole position measurement component 3 through the three-axis carrier measurement component 2 to realize the rapid measurement of the deflection and posture of the tube sheet end. The tube sheet installation and posture adjustment component 1 can realize the rapid alignment of the tube sheet and the overall measuring device according to the measurement results of the deflection and posture, thereby improving the measurement efficiency and providing a position reference for automated measurement.

[0049] 2. The deep hole and hole position measurement component 3 of the present invention is integrated with an aperture and defect integrated probe 301, a CCD and an illumination component 302. The aperture and defect integrated probe 301 can realize data collection of inner hole diameter and defects, and the CCD and the illumination component 302 can realize rapid measurement of the hole position. Synchronous collection can realize synchronous collection of hole internal size and defect data and hole position data, thereby realizing measurement automation, shortening the measurement time to less than 10 hours, greatly improving measurement efficiency, and solving the problem of poor traceability of manual measurement.

[0050] 3. The present invention increases the depth of deep hole measurement by installing a measuring rod 308 on the deep hole and hole position measurement assembly 3.

[0051] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A nuclear power steam generator tube sheet deep hole measuring device, characterized in that: It includes tube sheet installation and posture adjustment components, three-axis carrying measurement components, deep hole and hole position measurement components, and control and data acquisition components; The tube sheet installation and posture adjustment assembly is used to install the tube sheet to be measured and realize the preliminary positioning of the tube sheet, and to perform pitch and yaw adjustments so that the measured depth hole of the tube sheet is parallel to the deep hole and hole position measurement assembly; The three-axis carrying and measuring assembly is used to install the deep hole and hole position measuring assembly and realize the movement and measurement of the horizontal and vertical positions of the deep hole and hole position measuring assembly; The deep hole and hole position measurement component is used to measure deep hole parameters; The control and data acquisition component is used to realize the motion control of the tube sheet installation and posture adjustment component, the three-axis carrying measurement component, and the deep hole and hole position measurement component, as well as the collection and processing of measurement data; The tube sheet installation and attitude adjustment assembly includes a heavy-load support beam, a pitch axis, a pitch axis mounting beam, a rotating disk, a slewing guide, a rotating fixed seat, an angle encoder mounting shaft, an angle encoder, a yaw adjustment drive, a pitch ball head seat mounting support plate, a yaw guide mounting plate, a bottom mounting plate, and a pitch drive; The heavy-load support beam has a partial cylindrical surface and a partial inclined support positioning surface, which are used to install the tube sheet and realize the preliminary positioning of the tube sheet. The two pitch axes are installed on the pitch axis mounting beam to provide pitch rotation positioning; the pitch axis mounting beam is installed on the rotating disk, and the rotating disk is installed on the rotating fixed seat through the rotating guide, which are used together to provide yaw support; The stationary end of the angle encoder is installed on the rotating fixed seat, and the rotating end of the angle encoder is connected to the rotating disk through the angle encoder mounting shaft, which can provide angle information of the rotating disk and provide angle feedback for the yaw adjustment. The yaw adjustment drive is installed on the bottom mounting plate to drive the heavy-load support beam to achieve yaw adjustment; A pitch ball head seat is installed on the pitch drive, and a pitch ball head seat mounting support plate is used to support the pitch ball head seat to realize pitch adjustment support. The yaw guide mounting plate is connected to the bottom mounting plate. The yaw guide mounting plate is used to install the yaw guide rail and a slider that is simultaneously used to connect the rail mounted on the bottom mounting plate, and is used to release the change of radial displacement during pitch adjustment and yaw calibration. The pitch drive is installed on the heavy-load support beam, and is connected to the pitch ball head seat mounting support plate through the pitch ball head seat, and is used to realize the drive of pitch adjustment; The deep hole and hole position measurement assembly includes a non-contact displacement sensor, and the non-contact displacement sensor adopts a triangulation displacement sensor; The deep hole and hole position measuring assembly is used to measure the four positions of the top, bottom, left and right of the front end of the tube sheet, obtain the distance through the non-contact displacement sensor, and calculate the pitch adjustment amount and the yaw adjustment amount through the four distance values ​​and the data of the four positions of the top, bottom, left and right; According to the pitch adjustment amount, the pitch ball head seat is driven to move by the pitch drive, and then the pitch adjustment of the heavy-load support beam around the two pitch axes installed on the pitch axis mounting beam is realized by the reaction force of the pitch ball head seat mounting support plate; according to the yaw adjustment amount, the yaw adjustment drive installed on the bottom mounting plate is used to drive the heavy-load support beam to realize the yaw adjustment around the yaw support; The deep hole and hole position measurement assembly also includes an integrated probe for aperture and defect, a CCD and lighting component, a measuring rod guide seat, a measuring rod guide sleeve, a drive screw component, a measuring rod guide rail and a measuring component, a measuring rod, a measuring rod mounting seat, a drive motor mounting seat, a drive motor, and an integrated mounting seat; The measuring rod can be extended forward and backward. The integrated aperture and defect measuring head is used to realize the integrated measurement of the inner hole diameter and defects. The integrated aperture and defect measuring head is composed of a micro CCD and a micro diameter measurement sensor connected to form an integrated measuring head. The integrated aperture and defect measuring head is installed on the measuring rod. The driving screw is used to realize the driving of the measuring rod to extend forward and backward. The driving motor is installed on the driving motor mounting seat to provide a rotational torque for the driving screw, thereby driving the measuring rod mounting seat to move forward and backward. The measuring rod mounting seat is used to install the measuring rod, the measuring rod guide rail and the measuring piece are used to guide and measure the position of the measuring rod, and the measuring rod guide seat is used to install two measuring rod guide sleeves, and the front end guidance of the measuring rod is achieved through the two measuring rod guide sleeves and the measuring rod guide seat; The CCD and lighting components are used to measure the hole position at the front end of the tube sheet, and the integrated mounting seat is used to install the measuring rod guide rail and measuring components, CCD and lighting components, non-contact displacement sensor and measuring rod guide seat.

2. The nuclear power steam generator tube sheet deep hole measuring device according to claim 1, characterized in that: The three-axis carrying and measuring assembly includes a transverse mounting seat, a transverse driving member, a transverse guide rail and a measuring member, a transverse motion slide, a vertical driving member, a vertical motion slide and a mounting seat, a vertical guide rail and a measuring member, and a vertical mounting seat; The transverse mounting seat is used to install the transverse guide rail, the measuring piece and the transverse driving piece. The transverse driving piece is used to realize the transverse drive of the transverse motion slide. The transverse guide rail and the measuring piece are used to realize the transverse guidance and position measurement of the deep hole and hole position measurement component. The vertical driving component is installed in the vertical mounting seat, and is used to drive the vertical motion slide and the mounting seat. The vertical motion slide and the mounting seat are used to install the deep hole and hole position measurement component. The vertical guide rail and the measuring component are installed on the vertical mounting seat, and are used to realize the vertical guidance and position measurement of the deep hole and hole position measurement component. The horizontal driving component is controlled to drive the horizontal motion slide installed on the guide rail of the horizontal mounting seat, thereby driving the horizontal movement of the vertical mounting seat on the horizontal motion slide.

3. The nuclear power steam generator tube sheet deep hole measuring device according to claim 2, characterized in that: The transverse guide rail and measuring piece, the vertical guide rail and measuring piece, the measuring rod guide rail and measuring piece all use grating rulers to measure the position of the deep hole and hole position measuring component.

4. The nuclear power steam generator tube sheet deep hole measuring device according to claim 1 or 2, characterized in that: The deep hole parameters include the diameter, straightness and position of the deep hole.

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