An automatic detection device and method for fuel rod cavities

Abstract

This invention specifically relates to an automatic fuel rod cavity detection device, comprising a fuel tray platform (1), a panel (19), an aluminum profile frame (23), a cavity length measuring mechanism, and a lengthening mechanism; the fuel tray platform (1) and the panel (19) are both bolted to the aluminum profile frame (23), and the fuel tray platform (1) and the panel (19) are aligned and leveled; the cavity length measuring mechanism is used to measure the length of the fuel rod cavity to obtain the measured value of the fuel rod cavity length; the lengthening mechanism is used to compare the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length, and when the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, removes excess core blocks from the fuel rod, and when the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, takes a compensation core block and pushes it into the fuel rod. This invention also relates to an automatic fuel rod cavity detection method. This invention realizes the automated measurement of fuel rod cavities.

Description

Technical Field

[0001] This invention relates to the field of fuel rod manufacturing technology, and in particular to an automatic detection device and method for fuel rod cavities. Background Technology

[0002] After fuel rod pellets are loaded into tubing, fuel rod cavity measurement is required. Currently, there are several methods for fuel rod cavity measurement:

[0003] 1. The method of manually measuring with a measuring fixture and adjusting the fuel rod according to the scale on the measuring fixture is inconsistent and cannot obtain fuel rod cavity length data.

[0004] 2. By adding independent pellet length and adjustment stations, this method has the problem that when pellets fall off or spill during the loading of the cladding tube after the pellet length is completed, it cannot be guaranteed that the length of the pellets loaded into the fuel rod is consistent with the adjusted length. Summary of the Invention

[0005] One of the objectives of this invention is to provide an automatic fuel rod cavity detection device and method, which solves the problems of poor consistency and inability to obtain fuel rod cavity length data when manually measuring fuel rod cavities. This invention achieves automated measurement of fuel rod cavities, with the cooperation of a force sensor, a floating mechanism, and a servo motor ensuring the consistency of fuel rod cavity measurement conditions for each measurement, and automatically storing the measurement data for each fuel rod cavity.

[0006] The second objective of this invention is to provide an automatic detection device and method for fuel rod cavities, which solves the problem that when fuel rods fall out or spill during the loading process of the cladding tube due to the addition of independent fuel rod length and adjustment station, it is impossible to ensure that the length of the fuel rod currently loaded is consistent with the adjusted length. The invention achieves automatic identification of the adjusted fuel rod position and automatic loading into the cladding tube.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An automatic detection device for fuel rod cavities includes a fuel tray platform, a panel, an aluminum profile frame, a cavity length measuring mechanism, and a length matching mechanism; the fuel tray platform and the panel are both bolted to the aluminum profile frame, and the fuel tray platform and the panel are aligned and leveled.

[0009] A cavity length measuring mechanism is used to measure the length of the fuel rod cavity and obtain the measured value of the fuel rod cavity length.

[0010] The lengthening mechanism is used to compare the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; when the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the excess pellet is removed from the fuel rod; when the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, a compensation pellet is taken and pushed into the fuel rod.

[0011] In this invention, the cavity length measuring mechanism includes a detection rod moving servo motor, a fuel rod inlet guide support and an inlet detection sensor, a measuring rod, a detection rod moving electric cylinder, a displacement detection sensor, a detection rod fixing seat assembly, a detection disk, a linear slider and a linear guide rail, a detection mechanism fixing seat, an electric cylinder fixing seat, a buffer mechanism, a thrust sensor, a Festo pneumatic clamp and an inlet support roller bracket;

[0012] The detection rod moving servo motor is mounted on the detection rod moving electric cylinder, which is mounted on the electric cylinder fixing base; the electric cylinder fixing base is connected to the panel and is positioned by the stop on the panel;

[0013] The fuel rod inlet guide support and inlet detection sensor are connected to the inlet roller bracket; the measuring rod is mounted on the inlet roller bracket, with a detection disc installed at one end; the inlet roller bracket is bolted to the panel; the Festo pneumatic clamp is mounted on the panel;

[0014] The displacement detection sensor is fixed to the detection rod fixing seat assembly by bolts. The detection rod fixing seat assembly is connected to the linear slider and linear guide rail by bolts. The linear slider and linear guide rail are connected to the detection mechanism fixing seat by bolts. The detection mechanism fixing seat is connected to the detection rod moving electric cylinder by bolts.

[0015] The buffer mechanism is installed inside the detection rod mounting assembly, and the thrust sensor is connected to the detection rod mounting assembly by bolts.

[0016] In this invention, the Festo pneumatic clamp includes a clamping cylinder, a clamping pad, and a workpiece clamping fixture; the clamping cylinder is bolted to the clamping pad; the clamping pad is connected to the panel and positioned by a stop on the panel; the workpiece clamping fixture is bolted to the clamping cylinder; the Festo pneumatic clamping contact material is polyurethane.

[0017] In this invention, the lengthening mechanism includes a material tray, a transfer robot, a pellet collection box, a fuel rod positioning fixture, a negative pressure adsorption interface, a pellet identification and detection sensor, a vacuum suction cup, a suction cup bracket, and a computing system.

[0018] A calculation system is used to compare the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length;

[0019] The material tray is placed on the material tray platform, and the positioning is achieved by the material tray alignment detection sensors installed on both sides of the material tray platform;

[0020] The transfer robot, pellet collection box, and fuel rod positioning fixture are all connected to the panel and are positioned through the stop on the panel;

[0021] The negative pressure adsorption interface is connected to the detection rod fixing seat assembly via threads; the core block identification and detection sensor and the vacuum suction cup are both mounted on the suction cup bracket, which is connected to the transfer robot.

[0022] In this invention, the negative pressure adsorption interface is connected to an external vacuum system, and the fuel rod positioning fixture is equipped with a spare cartridge placement slot; the cartridge identification and detection sensor is an optical fiber detection sensor.

[0023] The present invention also provides an automatic detection method for fuel rod cavities, comprising the following steps:

[0024] The cavity length measuring mechanism measures the length of the fuel rod cavity to obtain the measured value of the fuel rod cavity length.

[0025] The lengthening mechanism compares the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; when the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the excess pellet is removed from the fuel rod; when the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, a compensation pellet is taken and pushed into the fuel rod.

[0026] After the fuel pellets are adjusted, the cavity length of the fuel rods is measured a second time using a cavity length measuring mechanism to confirm that the cavity length of the fuel rods meets the standard value.

[0027] In this invention, the cavity length measuring mechanism measures the cavity length of the fuel rod to obtain the measured value of the fuel rod cavity length, including the following steps:

[0028] Once the fuel rod inlet guide support and inlet detection sensor detect that the fuel rod is in place, the Festo pneumatic clamp holds the fuel rod.

[0029] The electric cylinder that moves the measuring rod drives the measuring rod to extend into the casing tube. One end of the measuring rod is connected to the thrust detection sensor through a buffer mechanism to detect the clamping force after the measuring rod contacts the core block inside the casing tube.

[0030] The measuring rod moves to the contact core block and stops after reaching the set clamping force. The excessive distance before reaching the set clamping force is absorbed by the displacement of the buffer mechanism.

[0031] A detection plate is installed at one end of the measuring rod. When the displacement sensor contacts the detection plate, the displacement distance on the displacement sensor is the deviation between the current cavity length of the fuel rod and the theoretical cavity length.

[0032] The actual length of the fuel rod cavity is equal to the sum of the standard fixed distance the measuring rod extends into the cladding tube and the displacement distance measured by the displacement sensor; the standard fixed distance the measuring rod extends into the cladding tube is measured by a fixed-length calibration rod.

[0033] In this invention, the calculation system compares the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length;

[0034] When the measured length of the fuel rod cavity exceeds the standard value, the vacuum system is activated to pick up and remove the excess fuel rod through the measuring rod, and the excess fuel rod is picked up by the transfer robot and placed into the fuel rod collection box.

[0035] When the measured length of the fuel rod cavity is less than the standard value, the transfer robot takes the compensation block and places it into the fuel rod positioning seat inlet, and pushes the compensation block into the fuel rod through the measuring rod.

[0036] In this invention, the vacuum system is activated to pick up and remove excess cartridges via a measuring rod, and a transfer robot picks up the excess cartridges and places them into a cartridge collection box, comprising the following steps:

[0037] The measuring rod remains in its current contact position with the fuel cell. The vacuum system is activated, and the measuring rod sucks up the fuel cell. Once the vacuum reaches the set value, the electric cylinder moves the measuring rod outward until the fuel cell is moved onto the fuel rod positioning seat and then stops. The transfer robot picks up the fuel cell and places it into the fuel cell collection box. Once the fuel cell collection box is full to the set value, the staff is alerted to remove it.

[0038] In this invention, a transfer robot picks up a compensation pellet and places it into the fuel rod positioning seat inlet, then pushes the compensation pellet into the fuel rod using a measuring rod, comprising the following steps:

[0039] Manually remove the compensation core block and place it on the material tray; place the material tray on the material tray platform and use the material tray alignment detection sensors installed on both sides of the material tray platform for positioning;

[0040] After the feed tray is positioned, the pellet identification and detection sensor sequentially detects each column of pellets from beginning to end. At the same time as the pellet identification and detection sensor detects a pellet, a vacuum suction cup picks up the detected pellet and places it into the spare pellet placement slot on the fuel rod positioning fixture. The transfer robot picks up the pellet from the spare pellet placement slot and places it into the fuel rod positioning seat inlet. The detection rod moving electric cylinder drives the measuring rod to push the pellet into the fuel rod.

[0041] Beneficial technical effects of the present invention:

[0042] The automatic fuel rod cavity detection device and method of the present invention uses a displacement sensor to measure the measured point by equivalent translation to the outside, which is fixed and has high measurement accuracy. It adopts a combination of force sensor and floating mechanism to achieve measurement under constant force to ensure the consistency of measurement conditions and ensure measurement accuracy. The measuring rod and the negative pressure adsorption of the fuel rod are integrated into a design, and the fuel rod can be extracted and adjusted directly after measurement without the need for station switching, which further improves efficiency. The positioning of the casing tube and the fuel rod adjustment table are combined into a design, so that the extraction and adjustment of the fuel rod can be completed in one station. Attached Figure Description

[0043] Figure 1 This is a top view of an embodiment of the automatic fuel rod cavity detection device of the present invention;

[0044] Figure 2 This is a side view of an embodiment of the automatic fuel rod cavity detection device of the present invention;

[0045] Figure 3 This is a partial enlarged view of an embodiment of the automatic fuel rod cavity detection device of the present invention.

[0046] In the diagram: 1. Material tray / platform; 2. Material tray; 3. Material tray alignment detection sensor; 4. Transfer robot; 5. Chip collection box; 6. Detection rod movement servo motor; 7. Fuel rod positioning fixture; 8. Clamping cylinder; 9. Fuel rod inlet guide support and inlet detection sensor; 10. Measuring rod; 11. Workpiece clamping fixture; 12. Detection rod movement electric cylinder; 13. Displacement detection sensor; 14. Detection rod fixing seat assembly; 15. Negative pressure adsorption interface; 16. Detection tray; 17. Linear slider and linear guide rail; 18. Detection mechanism fixing seat; 19. Panel; 20. Electric cylinder fixing seat; 21. Profile mounting component; 22. Cable protection chain; 23. Aluminum profile frame; 24. Chip identification detection sensor; 25. Vacuum suction cup; 26. Suction cup bracket; 27. Support wheel; 28. Buffer mechanism; 29. ​​Thrust sensor. Detailed Implementation

[0047] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] In the description of this invention, it should be understood that the terms "left end", "right end", "above", "below", "outer side", "inner side", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] join Figure 1-3 This embodiment provides an automatic detection device for fuel rod cavities, including a fuel tray platform 1, a panel 19, an aluminum profile frame 23, a cavity length measuring mechanism, and a length matching mechanism; the fuel tray platform 1 and the panel 19 are both bolted to the aluminum profile frame 23, and the fuel tray platform 1 and the panel 19 are aligned and leveled.

[0051] A cavity length measuring mechanism is used to measure the length of the fuel rod cavity and obtain the measured value of the fuel rod cavity length.

[0052] The lengthening mechanism is used to compare the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; when the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the excess pellet is removed from the fuel rod; when the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, a compensation pellet is taken and pushed into the fuel rod.

[0053] In this embodiment, the cavity length measuring mechanism includes a detection rod moving servo motor 6, a fuel rod inlet guide support and an inlet detection sensor 9, a measuring rod 10, a detection rod moving electric cylinder 12, a displacement detection sensor 13, a detection rod fixing seat assembly 14, a detection disk 16, a linear slider and a linear guide rail 17, a detection mechanism fixing seat 18, an electric cylinder fixing seat 20, a buffer mechanism 28, a thrust sensor 29, a Festo pneumatic clamp and an inlet support roller bracket;

[0054] The detection rod moving servo motor 6 is mounted on the detection rod moving electric cylinder 12, and the detection rod moving electric cylinder 12 is mounted on the electric cylinder fixing seat 20; the electric cylinder fixing seat 20 is connected to the panel 19 and is positioned by the stop on the panel 19;

[0055] The fuel rod inlet guide support and inlet detection sensor 9 are connected to the inlet roller bracket; the measuring rod 10 is mounted on the inlet roller bracket, with a detection disc 16 mounted at one end; the inlet roller bracket is bolted to the panel 19; the Festo pneumatic clamp is mounted on the panel 19;

[0056] The displacement detection sensor 13 is fixed to the detection rod fixing seat assembly 14 by bolts. The detection rod fixing seat assembly 14 is connected to the linear slider and linear guide rail 17 by bolts. The linear slider and linear guide rail 17 are connected to the detection mechanism fixing seat 18 by bolts. The detection mechanism fixing seat 18 is connected to the detection rod moving electric cylinder 12 by bolts.

[0057] The buffer mechanism 28 is installed inside the detection rod fixing seat assembly 14, and the thrust sensor 29 is connected to the detection rod fixing seat 14 by bolts.

[0058] In this embodiment, the detection rod moving servo motor 6 is mounted on the detection rod moving electric cylinder 12 via a length measuring moving motor mount; the detection rod moving servo motor 6 is connected to the length measuring moving motor mount via bolts, and the length measuring moving motor mount is fixed to the detection rod moving electric cylinder 12 via bolts.

[0059] In this embodiment, the detection rod moving electric cylinder 12 is mounted on the electric cylinder fixing seat 20 via the profile mounting part 21.

[0060] In this embodiment, the detection rod fixing seat assembly 14 includes a detection rod guide shaft, a spring, and a sliding bearing.

[0061] In this embodiment, the measuring rod 10 is mounted on the inlet support roller bracket via a support wheel 27, and the support wheel 27 is connected to the inlet support roller bracket via a support bearing.

[0062] In this embodiment, the Festo pneumatic clamp includes a clamping cylinder 8, a clamping pad, and a workpiece clamping fixture 11; the clamping cylinder 8 is bolted to the clamping pad; the clamping pad is connected to the panel 19 and positioned by the stop on the panel 19; the workpiece clamping fixture 11 is bolted to the clamping cylinder 8.

[0063] In this embodiment, the Festo pneumatic gripper uses polyurethane as the clamping contact material.

[0064] Working principle of the cavity length measuring mechanism: After the fuel rod inlet guide support and inlet detection sensor 9 detect that the fuel rod is in place, Festo pneumatic clamp clamps the fuel rod; throughout the entire fuel rod cavity length measurement process, clamp cylinder 8 keeps clamping the fuel rod to ensure the accuracy and stability of the fuel rod cavity length measurement value.

[0065] The electric cylinder 12 moves the measuring rod to extend the measuring rod 10 into the casing tube. One end of the measuring rod 10 is connected to the thrust detection sensor 29 through the buffer mechanism 28, so as to detect the clamping force after the measuring rod 10 contacts the core block inside the casing tube.

[0066] The measuring rod 10 moves to the contact core block and stops after reaching the set clamping force. The excessive distance before reaching the set clamping force is absorbed by the displacement of the buffer mechanism 28, so that the current clamping force remains stable.

[0067] When the displacement sensor 13 contacts the detection disk 30, the displacement distance on the displacement sensor 13 is the deviation between the current cavity length of the fuel rod and the theoretical cavity length.

[0068] The actual length of the fuel rod cavity is equal to the sum of the standard fixed distance of the measuring rod 10 extending into the cladding tube and the displacement distance measured by the displacement sensor 13; the standard fixed distance of the measuring rod 10 extending into the cladding tube is measured by a fixed-length calibration rod.

[0069] In this embodiment, the lengthening mechanism includes a material tray 2, a transfer robot 4, a pellet collection box 5, a fuel rod positioning fixture 7, a negative pressure adsorption interface 15, a pellet identification and detection sensor 24, a vacuum suction cup 25, a suction cup bracket 26, and a computing system.

[0070] A calculation system is used to compare the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length;

[0071] The material tray 2 is placed on the material tray platform 1, and is positioned by the material tray alignment detection sensors 3 installed on both sides of the material tray platform 1;

[0072] The transfer robot 4, the pellet collection box 5, and the fuel rod positioning fixture 7 are all connected to the panel 19 and are positioned through the stop on the panel 19.

[0073] The negative pressure adsorption interface 15 is connected to the detection rod fixing seat assembly 14 by threads; the core block identification detection sensor 24 and the vacuum suction cup 25 are both mounted on the suction cup bracket 26, which is connected to the transfer robot 4.

[0074] In this embodiment, the negative pressure adsorption interface 15 is connected to an external vacuum system.

[0075] In this embodiment, the fuel rod positioning fixture 7 is provided with a spare pellet placement slot.

[0076] In this embodiment, the chip identification and detection sensor 24 is an optical fiber detection sensor.

[0077] Working principle of the lengthening mechanism: The calculation system compares the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; when the measured value of the fuel rod cavity length is greater than the standard value, the vacuum system is activated to pick up and remove the excess fuel rod through the measuring rod 10, and the transfer robot 4 picks up the excess fuel rod and puts it into the fuel rod collection box 5; when the measured value of the fuel rod cavity length is less than the standard value, the transfer robot 4 picks up the compensation fuel rod and puts it into the fuel rod positioning seat inlet, and pushes the compensation fuel rod into the fuel rod through the measuring rod 10.

[0078] The vacuum system is activated to pick up and remove excess fuel pellets via measuring rod 10. The transfer robot 4 then picks up the excess fuel pellets and places them into the fuel pellet collection box 5. The process includes the following steps: Measuring rod 10 maintains its current contact position with the fuel pellet; the vacuum system is activated to hold the fuel pellet via measuring rod 10; once the vacuum level reaches the set value, the electric cylinder 12 moves the measuring rod 10 outwards until the fuel pellet is moved onto the fuel rod positioning seat and then stops; the transfer robot 4 picks up the fuel pellet and places it into the fuel pellet collection box 5; once the fuel pellet collection box 5 is full to the set value, the operator is alerted to remove it.

[0079] The transfer robot 4 picks up the compensation pellet and places it into the fuel rod positioning seat inlet. The measuring rod 10 then pushes the compensation pellet into the fuel rod, including the following steps:

[0080] Manually remove the compensation core block and place it on the material tray 2; place the material tray 2 on the material tray platform 1, and use the material tray alignment detection sensor 3 installed on both sides of the material tray platform 1 for positioning;

[0081] After the feed tray 2 is positioned, the pellet identification and detection sensor 24 starts to detect each column of pellets from beginning to end. To save time, at the same time as the pellet identification and detection sensor 24 detects the pellets, the vacuum suction cup 25 picks up the detected pellets and places them into the spare pellet placement slot on the fuel rod positioning fixture 7. The transfer robot 4 picks up the pellets from the spare pellet placement slot and places them into the fuel rod positioning seat inlet. The detection rod moving electric cylinder 12 drives the measuring rod 10 to push the pellets into the fuel rod.

[0082] The present invention also provides an automatic detection method for fuel rod cavities, comprising the following steps:

[0083] The cavity length measuring mechanism measures the length of the fuel rod cavity to obtain the measured value of the fuel rod cavity length.

[0084] The lengthening mechanism compares the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; when the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the excess pellet is removed from the fuel rod; when the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, a compensation pellet is taken and pushed into the fuel rod.

[0085] After the fuel pellets are adjusted, the cavity length of the fuel rods is measured a second time using a cavity length measuring mechanism to confirm that the cavity length of the fuel rods meets the standard value.

[0086] In this embodiment, the cavity length measuring mechanism measures the length of the fuel rod cavity to obtain the measured value of the fuel rod cavity length, including the following steps:

[0087] Once the fuel rod inlet guide support and inlet detection sensor 9 detect that the fuel rod is in place, the Festo pneumatic clamp holds the fuel rod.

[0088] The electric cylinder 12 moves the measuring rod to extend the measuring rod 10 into the casing tube. One end of the measuring rod 10 is connected to the thrust detection sensor 29 through the buffer mechanism 28, so as to detect the clamping force after the measuring rod 10 contacts the core block inside the casing tube.

[0089] The measuring rod 10 moves to the contact core block and stops after reaching the set clamping force. The excessive distance before reaching the set clamping force is absorbed by the displacement of the buffer mechanism 28, so that the current clamping force remains stable.

[0090] A detection disk 30 is installed at one end of the measuring rod 10. When the displacement sensor 13 contacts the detection disk 30, the displacement distance on the displacement sensor 13 is the deviation value between the current cavity length of the fuel rod and the theoretical cavity length.

[0091] The actual length of the fuel rod cavity is equal to the sum of the standard fixed distance of the measuring rod 10 extending into the cladding tube and the displacement distance measured by the displacement sensor 13; the standard fixed distance of the measuring rod 10 extending into the cladding tube is measured by a fixed-length calibration rod.

[0092] In this embodiment, the calculation system compares the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length;

[0093] When the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the vacuum system is activated to pick up and remove the excess fuel rod through the measuring rod 10, and the excess fuel rod is picked up by the transfer robot 4 and placed into the fuel rod collection box 5.

[0094] When the measured length of the fuel rod cavity is less than the standard value, the transfer robot 4 takes the compensation block and puts it into the fuel rod positioning seat inlet, and pushes the compensation block into the fuel rod through the measuring rod 10.

[0095] In this embodiment, the vacuum system is activated to pick up and remove excess core blocks via the measuring rod 10, and the transfer robot 4 picks up the excess core blocks and places them into the core block collection box 5, including the following steps:

[0096] The measuring rod 10 maintains its current contact position with the fuel cell. The vacuum system is activated, and the measuring rod 10 sucks up the fuel cell. Once the vacuum reaches the set value, the electric cylinder 12 moves the measuring rod 10 outward until the fuel cell is moved onto the fuel rod positioning seat and then stops. The transfer robot 4 picks up the fuel cell and puts it into the fuel cell collection box 5. Once the fuel cell collection box 5 is full to the set value, the staff is reminded to remove it.

[0097] In this embodiment, the transfer robot 4 picks up the compensation pellet and places it into the fuel rod positioning seat inlet, and pushes the compensation pellet into the fuel rod through the measuring rod 10, including the following steps:

[0098] Manually remove the compensation core block and place it on the material tray 2; place the material tray 2 on the material tray platform 1, and use the material tray alignment detection sensor 3 installed on both sides of the material tray platform 1 for positioning;

[0099] After the feed tray 2 is positioned, the pellet identification and detection sensor 24 starts to detect each column of pellets from beginning to end. To save time, at the same time as the pellet identification and detection sensor 24 detects the pellets, the vacuum suction cup 25 picks up the detected pellets and places them into the spare pellet placement slot on the fuel rod positioning fixture 7. The transfer robot 4 picks up the pellets from the spare pellet placement slot and places them into the fuel rod positioning seat inlet. The detection rod moving electric cylinder 12 drives the measuring rod 10 to push the pellets into the fuel rod.

[0100] In this embodiment, a maximum of 3 fuel rods can be placed in the spare fuel rod placement slot on the fuel rod positioning fixture 7.

[0101] In this embodiment, the Festo pneumatic clamp holds the fuel rod throughout the entire fuel rod cavity length measurement process to ensure the accuracy and stability of the fuel rod cavity length measurement value.

[0102] In this embodiment, the clamping force is set to be between 0 and 80 N.

[0103] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An automatic detection device for fuel rod cavities, characterized in that, It includes a material tray and platform (1), a panel (19), an aluminum profile frame (23), a cavity length measuring mechanism, and a length matching mechanism; the material tray and platform (1) and the panel (19) are both installed on the aluminum profile frame (23) by bolts, and the material tray and platform (1) and the panel (19) are aligned and leveled; A cavity length measuring mechanism is used to measure the length of the fuel rod cavity and obtain the measured value of the fuel rod cavity length. The lengthening mechanism is used to compare the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; when the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the excess pellet is removed from the fuel rod; when the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, a compensation pellet is taken and pushed into the fuel rod. The cavity length measuring mechanism includes a detection rod moving servo motor (6), a fuel rod inlet guide support and an inlet detection sensor (9), a measuring rod (10), a detection rod moving electric cylinder (12), a displacement detection sensor (13), a detection rod fixing seat assembly (14), a detection disk (16), a linear slider and a linear guide rail (17), a detection mechanism fixing seat (18), an electric cylinder fixing seat (20), a buffer mechanism (28), a thrust sensor (29), a Festo pneumatic clamp and an inlet roller bracket; The detection rod moving servo motor (6) is installed on the detection rod moving electric cylinder (12), and the detection rod moving electric cylinder (12) is installed on the electric cylinder fixing seat (20); the electric cylinder fixing seat (20) is connected to the panel (19) and is positioned by the stop on the panel (19); The fuel rod inlet guide support and inlet detection sensor (9) are connected to the inlet roller bracket; the measuring rod (10) is installed on the inlet roller bracket, and the detection plate (16) is installed at one end; the inlet roller bracket is installed on the panel (19) by bolts; the Festo pneumatic clamp is installed on the panel (19); The displacement detection sensor (13) is fixed to the detection rod fixing seat assembly (14) by bolts. The detection rod fixing seat assembly (14) is connected to the linear slider and linear guide rail (17) by bolts. The linear slider and linear guide rail (17) are connected to the detection mechanism fixing seat (18) by bolts. The detection mechanism fixing seat (18) is connected to the detection rod moving electric cylinder (12) by bolts. The buffer mechanism (28) is installed inside the detection rod fixing seat assembly (14), and the thrust sensor (29) is connected to the detection rod fixing seat assembly (14) by bolts; The lengthening mechanism includes a material tray (2), a transfer robot (4), a pellet collection box (5), a fuel rod positioning fixture (7), a negative pressure adsorption interface (15), a pellet identification and detection sensor (24), a vacuum suction cup (25), a suction cup bracket (26), and a computing system; A calculation system is used to compare the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; The material tray (2) is placed on the material tray platform (1) and positioned by the material tray alignment detection sensors (3) installed on both sides of the material tray platform (1); The transfer robot (4), the pellet collection box (5) and the fuel rod positioning fixture (7) are all connected to the panel (19) and are positioned by the stop on the panel (19); The negative pressure adsorption interface (15) is connected to the detection rod fixing seat assembly (14) by threads; the core block identification detection sensor (24) and the vacuum suction cup (25) are both mounted on the suction cup bracket (26), which is connected to the transfer robot (4).

2. The automatic detection device for fuel rod cavities according to claim 1, characterized in that, Festo pneumatic clamps include clamping cylinders (8), clamping pads, and workpiece clamping fixtures (11); clamping cylinders (8) are bolted to clamping pads; clamping pads are connected to panels (19) and positioned by stops on panels (19); workpiece clamping fixtures (11) are bolted to clamping cylinders (8); Festo pneumatic clamps use polyurethane as the clamping contact material.

3. The automatic fuel rod cavity detection device according to claim 1, characterized in that, The negative pressure adsorption interface (15) is connected to the external vacuum system, and the fuel rod positioning fixture (7) is equipped with a spare pellet placement slot; the pellet identification and detection sensor (24) is an optical fiber detection sensor.

4. An automatic detection method for fuel rod cavities, characterized in that, Using the automatic fuel rod cavity detection device according to any one of claims 1-3 includes the following steps: The cavity length measuring mechanism measures the length of the fuel rod cavity to obtain the measured value of the fuel rod cavity length. The lengthening mechanism compares the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; when the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the excess pellet is removed from the fuel rod; when the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, a compensation pellet is taken and pushed into the fuel rod. After the fuel pellets are adjusted, the cavity length of the fuel rods is measured a second time using a cavity length measuring mechanism to confirm that the cavity length of the fuel rods meets the standard value.

5. The automatic detection method for fuel rod cavities according to claim 4, characterized in that, The cavity length measuring mechanism measures the length of the fuel rod cavity to obtain the measured value, including the following steps: After the fuel rod inlet guide support and inlet detection sensor (9) detect that the fuel rod is in place, Festo pneumatic clamps hold the fuel rod. The electric cylinder (12) for moving the detection rod drives the measuring rod (10) to extend into the casing tube. One end of the measuring rod (10) is connected to the thrust detection sensor (29) through the buffer mechanism (28) to realize the detection of the clamping force after the measuring rod (10) contacts the core block inside the casing tube. The measuring rod (10) moves to the contact core block and stops after reaching the set clamping force. The excessive distance before reaching the set clamping force is absorbed by the displacement of the buffer mechanism (28). A detection disk (16) is installed at one end of the measuring rod (10). When the displacement sensor (13) contacts the detection disk (16), the displacement distance on the displacement sensor (13) is the deviation value between the current cavity length of the fuel rod and the theoretical cavity length. The actual length of the fuel rod cavity is equal to the sum of the standard fixed distance of the measuring rod (10) extending into the cladding tube and the displacement distance measured by the displacement sensor (13); the standard fixed distance of the measuring rod (10) extending into the cladding tube is measured by a fixed-length calibration rod.

6. The automatic detection method for fuel rod cavities according to claim 4, characterized in that, The calculation system compares the measured value of the fuel rod cavity length with the standard value of the fuel rod cavity length; When the measured value of the fuel rod cavity length is greater than the standard value of the fuel rod cavity length, the vacuum system is activated to pick up and remove the excess fuel rod through the measuring rod (10), and the excess fuel rod is picked up by the transfer robot (4) and placed into the fuel rod collection box (5); When the measured value of the fuel rod cavity length is less than the standard value of the fuel rod cavity length, the transfer robot (4) takes the compensation core block and puts it into the fuel rod positioning seat inlet, and pushes the compensation core block into the fuel rod through the measuring rod (10).

7. The automatic detection method for fuel rod cavities according to claim 6, characterized in that, The vacuum system is activated to pick up and remove excess core blocks via the measuring rod (10), and the excess core blocks are then picked up by the transfer robot (4) and placed into the core block collection box (5), including the following steps: The measuring rod (10) maintains its current contact position with the fuel block. The vacuum system is turned on and the measuring rod (10) sucks up the fuel block. After the vacuum reaches the set value, the electric cylinder (12) moves the measuring rod (10) outward until the fuel block is moved out onto the fuel rod positioning seat and then stops. The transfer robot (4) picks up the fuel block and puts it into the fuel block collection box (5). After the fuel block collection box (5) is filled to the set value, the staff is reminded to take it away.

8. The automatic detection method for fuel rod cavities according to claim 6, characterized in that, The transfer robot (4) takes the compensation pellet and places it into the fuel rod positioning seat inlet. The measuring rod (10) pushes the compensation pellet into the fuel rod, including the following steps: Manually take the compensation core block and place it on the material tray (2); place the material tray (2) on the material tray platform (1) and position it by the material tray alignment detection sensor (3) installed on both sides of the material tray platform (1); After the feed tray (2) is positioned, the pellet identification and detection sensor (24) starts to detect each column of pellets from beginning to end. At the same time as the pellet identification and detection sensor (24) detects the pellet, the vacuum suction cup (25) picks up the detected pellet and places it into the spare pellet placement slot on the fuel rod positioning fixture (7). The transfer robot (4) picks up the pellet from the spare pellet placement slot and places it into the fuel rod positioning seat inlet. The detection rod moving electric cylinder (12) drives the measuring rod (10) to push the pellet into the fuel rod.

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