A nuclear power evaporator tube hole straightness measurement device, system and method

Abstract

The present invention discloses a device, system and method for measuring the straightness of a tube hole of a nuclear power evaporator. The device includes a hard tube endoscope, and an auxiliary support is arranged on the surface of the hard tube endoscope in the length direction; a side mirror is also arranged on the surface of the hard tube endoscope in the length direction; a laser is arranged at one end of the hard tube endoscope, and the laser emitted by the laser is expanded and collimated by a laser collimator group, and the collimated light beam passes through an optical diffraction element to form an annular aperture on the inner wall of the tube hole; an alignment laser is arranged at the other end of the hard tube endoscope; and the section of the hard tube endoscope where the alignment laser is arranged is also connected to a tail pipe. The present invention uses laser as a measurement reference, designs a self-centering hard tube endoscope as a tube hole internal detection component, and measures the inside of the tube hole. At the same time, based on the measurement data, the actual three-dimensional model of a single tube hole can be fitted through software to realize visualization and intelligent detection.

Description

Technical Field

[0001] The invention relates to a measuring device, and in particular to a nuclear power evaporator tube hole straightness measuring device, system and method. Background Art

[0002] When processing deep-hole parts, the tool performs drilling, boring, grinding and other processes on the inner surface of the workpiece. The continuous wear of the tool will cause changes in the size and shape of the workpiece. In addition, the tool bar is affected by the axial force during the processing, and is prone to a certain degree of vibration and deformation, which affects the processing accuracy. In addition, the processing of deep-hole parts will produce many difficult-to-control processing errors. These processing errors will directly affect the diameter, cross-sectional roundness and straightness of deep-hole parts. The cross-sectional roundness error and axis straightness error of deep-hole parts are their important technical indicators. These errors will affect their assembly and use functions. Therefore, ensuring the precise measurement and manufacturing accuracy of deep-hole parts is of great significance to improving the stability and life of deep-hole parts in use.

[0003] For example, the tube hole diameter of the nuclear power evaporator tube bundle is (16-20) mm, the depth is (600-1000) mm, and the number of tube holes ranges from (8000 to 20000). It has the characteristics of small diameter, deep hole and large number. The traditional detection method of the tube bundle tube hole cross-section roundness, axis straightness, etc. involves manual operation of multiple instruments and visual readings, which is inefficient, labor-intensive, and requires high experience from engineers. Therefore, in order to improve detection efficiency, measurement accuracy and reduce labor intensity.

[0004] Patent document CN106979741A discloses a device for detecting the straightness of the inner hole of a steel pipe, which includes a slide rail, a slider disposed above the slide rail, and a dial indicator disposed in the middle of the slider, a push rod bracket disposed above one end of the slide rail, a rolling bearing disposed below the other end of the slide rail, an oblong hole disposed in the middle of the slide rail, the lower end of the dial indicator penetrates the oblong hole, a push rod is connected to one side of the slider, and the push rod penetrates the push rod bracket. When in use, the slider is pushed by the push rod to slide on the slide rail, the lower end of the dial indicator abuts against the inner wall of the steel pipe, and the straightness of the inner hole of the steel pipe is measured in real time. This patent improves production efficiency, makes the detection results more intuitive, and has high detection accuracy, but this patent still requires manual participation, and the degree of automation is not high. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and to provide a nuclear power evaporator tube hole straightness measurement device, system and method.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] In a first aspect, the present invention provides a nuclear power evaporator tube hole straightness measuring device, comprising a hard tube endoscope, an auxiliary support is arranged on the surface of the hard tube endoscope in the length direction; a side mirror is also arranged on the surface of the hard tube endoscope in the length direction;

[0008] A laser is arranged at one end of the rigid tube endoscope, and the laser emitted by the laser is expanded and collimated by a laser collimator group, and the collimated light beam passes through an optical diffraction element to form an annular aperture on the inner wall of the tube hole;

[0009] An aiming laser is arranged at the other end of the rigid tube endoscope; and a tail pipe is also connected to the section of the rigid tube endoscope where the aiming laser is arranged.

[0010] Furthermore, the laser collimating lens group includes an aspheric negative lens and an aspheric positive lens. The laser emitted by the laser first passes through the aspheric negative lens for laser beam expansion, and then passes through the aspheric positive lens to obtain a collimated beam.

[0011] Furthermore, the optical diffraction element includes a convex reflector and an annular cylindrical lens. The collimated light beam passes through the convex reflector, which disperses the light beam and redirects the light beam. The redirected light beam is converged by the annular cylindrical lens to form an annular aperture on the inner wall of the tube hole.

[0012] Furthermore, the laser is a He-Ne laser, emitting a frequency-stabilized laser with a line width of <0.5 nm and a stability of <10 -9 .

[0013] Furthermore, the field of view of the side-view mirror is approximately 90°.

[0014] Furthermore, the auxiliary supports are provided with at least two.

[0015] Furthermore, the tail tube and the hard tube endoscope are flexibly connected.

[0016] In a second aspect, the present invention provides a nuclear power evaporator tube hole straightness measurement system, comprising the nuclear power evaporator tube hole straightness measurement device mentioned above;

[0017] It also includes a first assisting robot arm, a second assisting robot arm, and an auxiliary supporting sleeve;

[0018] The auxiliary support sleeve is sleeved on the auxiliary support, the auxiliary support sleeve is installed on the first assisting robot arm, and a positioning CCD is arranged in the auxiliary support sleeve;

[0019] The second assisting robot arm is connected to the tail pipe so as to push the tail pipe through the second assisting robot arm;

[0020] The first assisting robot arm and the second assisting robot arm are both provided with an area scanning CCD.

[0021] Furthermore, the nuclear power evaporator tube hole straightness measurement system also includes a machine base, and the first assisting robot arm and the second assisting robot arm are both arranged on the machine base.

[0022] In a third aspect, the present invention provides a method for measuring the straightness of a tube hole of a nuclear power evaporator. Based on the above system, the method comprises:

[0023] Install three laser positioning components at any position on the end surface of the tube sheet in advance, and measure the angle and distance between the three positioning components;

[0024] The first collaborative robot arm uses its own surface scanning CCD to scan the surface finish of the tube sheet end face and simultaneously obtains the position coordinates of each tube hole. Based on the position coordinates, the first collaborative robot arm aligns the auxiliary support sleeve with the hole to be measured;

[0025] After the second collaborative robot arm pushes the hard tube endoscope into the hole to be measured along the auxiliary support sleeve, the laser positioning component receives the angle information from the hard tube endoscope and calculates its position;

[0026] The second collaborative robot arm continues to push the rigid tube endoscope until the entire root hole depth is scanned, the rigid tube endoscope withdraws, and the measurement is completed.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention adopts laser as the measurement reference and designs a self-centering hard tube endoscope as the internal detection component of the tube hole to measure the inside of the tube hole. At the same time, based on the measurement data, the actual three-dimensional model of a single tube hole can be fitted through software to realize visualization and intelligent detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the composition of a nuclear power evaporator tube hole straightness measuring device provided in Example 1 of the present invention;

[0030] Figure 2 A schematic diagram of the composition of a nuclear power evaporator tube hole straightness measurement system provided in Example 1 of the present invention;

[0031] Figure 3 It is a schematic diagram of the arrangement of laser positioning components;

[0032] Figure 4 Schematic diagram of the inspection application of the nuclear power evaporator tube hole straightness measurement system;

[0033] In the figure: 1. rigid tube endoscope; 2. auxiliary support; 3. auxiliary support tube sleeve; 4. side view mirror; 5. laser; 6. laser collimator lens group; 7. optical diffraction element; 8. quasi-laser; 9. tail pipe; 10. first auxiliary robot arm; 11. second auxiliary robot arm; 12. surface scanning CCD; 13. machine base; 14. support plate bracket. DETAILED DESCRIPTION

[0034] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0035] Embodiment 1:

[0036] See also Figure 1 As shown, the nuclear power evaporator tube hole straightness measuring device provided in this embodiment mainly includes a hard tube endoscope 1, and two groups of rigid auxiliary supports 2 are arranged on the surface of the hard tube endoscope in the length direction, so as to facilitate the insertion of the auxiliary support tube sleeve 3, so that the hard tube endoscope is concentric with the inner diameter of the tube hole during the moving detection process; a side mirror 4 is also arranged on the side of the length direction of the hard tube endoscope 1 to observe the surface quality of the inner wall of the tube hole and the halo image; a laser 5 is arranged at one end of the hard tube endoscope 1, and the laser emitted by the laser 5 is expanded and collimated by the laser collimator group 6, and the collimated light beam passes through the optical diffraction element 7 to form an annular aperture on the inner wall of the tube hole. An alignment laser 8 is arranged at the other end of the hard tube endoscope 1, which is used to align the positioning CCD (Charge coupled Device) of the auxiliary support tube sleeve 3, so that the straightness can be corrected according to the offset algorithm; the section of the hard tube endoscope 1 where the alignment laser 7 is arranged is also connected to a tail pipe 9, and the tail pipe 9 and the hard tube endoscope 1 are flexibly connected.

[0037] In a specific embodiment, the laser 5 is a He-Ne laser, which emits a frequency-stabilized laser with a wavelength of 638 nm, a spectral line width of <0.5 nm, and a stability of <10 -9 The laser collimator lens group 6 includes an aspheric negative lens and an aspheric positive lens. The laser emitted by the laser first passes through the first aspheric negative lens for laser beam expansion, and then passes through the second aspheric positive lens. In this way, a laser collimated beam with a larger beam waist and a divergence angle of less than 1° can be obtained to ensure the accuracy of the detection result.

[0038] The optical diffraction element 7 includes a convex reflector and an annular cylindrical lens. The collimated light beam passes through the convex reflector, which disperses the light beam and redirects the light beam. The redirected light beam is converged by the annular cylindrical lens to form an aperture with a width of 20um on the inner wall of the tube hole. The focal depth is about 0.01mm to ensure the accuracy of the detection result.

[0039] Embodiment 2:

[0040] See also Figure 2 As shown, it is a schematic diagram of the composition of the nuclear power evaporator tube hole straightness measurement system provided in this embodiment, which mainly includes the nuclear power evaporator tube hole straightness measurement device described in Example 1, the first assisting robot arm 10, the second assisting robot arm 11 and the auxiliary supporting pipe sleeve 3.

[0041] The auxiliary support sleeve 3 is sleeved on the auxiliary support 2, and the auxiliary support sleeve 3 is installed on the first auxiliary robot arm 10, and a positioning CCD is arranged inside the auxiliary support sleeve; the second auxiliary robot arm 11 is connected to the tail pipe 9 so that the tail pipe is pushed by the second auxiliary robot arm 11; a surface scanning CCD 12 is arranged on both the first auxiliary robot arm 10 and the second auxiliary robot arm 10.

[0042] In addition, the first assisting robot arm 10 and the second assisting robot arm 11 are both disposed on a machine base 13 , so that the first assisting robot arm 10 and the second assisting robot arm 11 are on the same reference plane. A support plate bracket 14 is also disposed on the machine base 13 .

[0043] Accordingly, based on the nuclear power evaporator tube hole straightness measurement system of this embodiment, this embodiment also provides a nuclear power evaporator tube hole straightness measurement method, which mainly includes:

[0044] Step 1: Install three laser positioning components at any position on the tube sheet end surface in advance, and measure the angle and distance between the three positioning components (one angle and two adjacent sides or two angles and one opposite side can be measured, and the measurement content depends on the difficulty of the operation). Figure 3 shown.

[0045] Step 2: The first collaborative robot arm uses its own surface scanning CCD to scan the surface finish of the tube sheet end face and simultaneously obtains the position coordinates of each tube hole. According to the position coordinates, the first collaborative robot arm aligns the auxiliary support sleeve with the hole to be measured. Figure 4 shown.

[0046] Step 3: After the second collaborative robot arm pushes the rigid tube endoscope into the hole to be measured along the auxiliary support sleeve, the laser positioning component will receive the angle information from the rigid tube endoscope and calculate its position; the optical diffraction element 7 illuminates a circular ring on the inner wall of the tube hole, and the circular ring is used to characterize the roundness and position (including radial and axial) of the inner wall of the pipeline. The side mirror 4 scans and takes pictures of the circular ring for later software fitting of the straightness and the position of each layer of the pipeline, thereby realizing the measurement of radial section roundness and axial straightness; at the same time, since the auxiliary support sleeve has its own positioning CCD, when the tip of the rigid tube endoscope enters the pipeline, the auxiliary support sleeve will no longer be disturbed, and the straightness of the rigid tube endoscope movement can be accurately compensated.

[0047] Step 4: The second collaborative robot arm continues to push the hard tube endoscope until the full root hole depth is scanned. Since the tail rod of the hard tube endoscope is flexibly connected to the head, the pushing angle does not affect the eccentricity of the head movement. The scanning is carried out and the relevant parameters are automatically recorded until the full root hole depth is scanned. The hard tube endoscope withdraws and the measurement is completed. In the process of pushing the hard tube endoscope, the side mirror scans and takes pictures of the inner wall as a whole to detect the quality of the inner wall of the tube hole (such as roughness). The image can be observed by the operator on the electronic screen or by the software algorithm for learning and observation;

[0048] Finally, based on the measured data, the software can fit the actual three-dimensional model of a single pore, compare it with the theoretical model of the pore, and correct the theoretical model to achieve visual and intelligent detection.

[0049] When the support plate needs to be inspected, the support plate only needs to be fixed on the support plate bracket, and the second assisting robot arm will use its surface scanning CCD to measure it.

[0050] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable ordinary technicians in the field to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made based on the essence of the content of the present invention should be included in the protection scope of the present invention.

Claims

1. A nuclear power evaporator tube hole straightness measurement system, characterized in that: It includes a nuclear power evaporator tube hole straightness measuring device, a first auxiliary robot arm, a second auxiliary robot arm and an auxiliary support tube sleeve; a positioning CCD is arranged in the auxiliary support tube; The nuclear power evaporator tube hole straightness measuring device comprises a hard tube endoscope, an auxiliary support is arranged on the surface of the hard tube endoscope in the length direction, so as to be sleeved with the auxiliary support sleeve, so that the hard tube endoscope is concentric with the inner diameter of the tube hole during the tube hole movement detection process; a side mirror is also arranged on the surface of the hard tube endoscope in the length direction; A laser is arranged at one end of the rigid tube endoscope, and the laser emitted by the laser is expanded and collimated by a laser collimator group, and the collimated light beam passes through an optical diffraction element to form an annular aperture on the inner wall of the tube hole; An alignment laser is provided at the other end of the rigid tube endoscope for aligning the positioning CCD of the auxiliary support sleeve, so as to correct the straightness according to the offset algorithm; a tail tube is also connected to the section of the rigid tube endoscope where the alignment laser is provided, and the tail tube is flexibly connected to the rigid tube endoscope; The auxiliary support sleeve is sleeved on the auxiliary support, and the auxiliary support sleeve is installed on the first assisting robot arm; The second assisting robot arm is connected to the tail pipe so as to push the tail pipe through the second assisting robot arm; The first assisting robot arm and the second assisting robot arm are both provided with an area scanning CCD.

2. The nuclear power evaporator tube hole straightness measurement system according to claim 1, characterized in that: The laser collimating lens group includes an aspheric negative lens and an aspheric positive lens. The laser emitted by the laser first passes through the aspheric negative lens for laser beam expansion, and then passes through the aspheric positive lens to obtain a collimated beam.

3. The nuclear power evaporator tube hole straightness measurement system according to claim 1, characterized in that: The optical diffraction element comprises a convex reflector and an annular cylindrical lens. The collimated light beam passes through the convex reflector, which disperses the light beam and redirects the light beam. The redirected light beam is converged by the annular cylindrical lens to form an annular aperture on the inner wall of the tube hole.

4. The nuclear power evaporator tube hole straightness measurement system according to claim 1, characterized in that: The laser is a He-Ne laser, which emits a stable frequency laser with a spectral line width of <0.5nm and a stability of <10 -9 .

5. The nuclear power evaporator tube hole straightness measurement system according to claim 1, characterized in that: The side mirror has a viewing angle of approximately 90°.

6. The nuclear power evaporator tube hole straightness measurement system according to claim 1, characterized in that: The auxiliary supports are provided with at least two.

7. The nuclear power evaporator tube hole straightness measurement system according to claim 1, characterized in that: It also includes a machine base, and the first assisting robot arm and the second assisting robot arm are both arranged on the machine base.

8. A method for measuring the straightness of tube holes of a nuclear power evaporator, based on the system of claim 1, characterized in that: The method comprises: Install three laser positioning components at any position on the end surface of the tube sheet in advance, and measure the angle and distance between the three positioning components; The first collaborative robot arm uses its own surface scanning CCD to scan the surface finish of the tube sheet end face and simultaneously obtains the position coordinates of each tube hole. Based on the position coordinates, the first collaborative robot arm aligns the auxiliary support sleeve with the hole to be measured; After the second collaborative robot arm pushes the hard tube endoscope into the hole to be measured along the auxiliary support sleeve, the laser positioning component receives the angle information from the hard tube endoscope and calculates its position; The second collaborative robot arm continues to push the rigid tube endoscope until the entire root hole depth is scanned, the rigid tube endoscope withdraws, and the measurement is completed.

Images