Full-automatic reactor coaming bolt replacement device and method

Abstract

The invention belongs to the field of reactor coaming bolt replacement, and particularly relates to a full-automatic reactor coaming bolt replacement device and method.The device is characterized in that a vertical conveying platform is installed on an upper operation platform, a tail end carrying platform is installed on the vertical conveying platform in a sliding mode, and a visual monitoring and lighting system is installed on the upper operation platform; the tail end execution module is installed on the tail end carrying platform. The upper operation platform is used for primarily positioning the tail end carrying platform; the vertical conveying platform is used for up-down movement and conveying of the tail end carrying platform; the tail end carrying platform is used for accurately positioning the tail end execution module; and the visual monitoring and illuminating system is used for assisting in positioning the mounting position of the coaming bolt replacement device on the reactor coaming and monitoring the initial positioning of the tail end carrying platform. According to the underwater bolt replacement device, the bolt replacement accuracy and consistency can be improved, the replacement efficiency is improved, the safety risk is reduced, and automatic underwater replacement of the coaming bolt is achieved.

Description

Technical Field

[0001] The invention belongs to the field of reactor coaming bolt replacement, and in particular relates to a fully automatic reactor coaming bolt replacement device and method. Background Art

[0002] The enclosure of the lower internal components of the M310 and CPR1000 nuclear power units is mainly assembled from multiple enclosures, with forming plates in the height direction of the enclosure, and the enclosures and forming plates are connected by bolts, such as Figure 3 As shown. Bolts can deteriorate due to one or more of the following factors: radiation-assisted stress corrosion cracking, loss of preload, thermal and radiation embrittlement, fatigue, steady-state pressure gradient on the baffle, etc. The deterioration of bolts directly affects the safety of nuclear power units, so the deteriorated coaming bolts need to be replaced. Currently, to replace coaming bolts, the coaming bolts must first be removed for anti-loosening, then removed and installed, and finally the locking keys are welded on the bolts for anti-loosening. Each work step requires a lot of manual participation, including professional operation, safety monitoring, and detailed records and inspections.

[0003] Manual replacement of coaming bolts has the following shortcomings: manual operation is prone to errors due to misoperation and fatigue, which affects the accuracy and consistency of bolt replacement; manual operation is limited in speed and time-consuming, which may affect the operation and maintenance progress of the reactor and reduce overall work efficiency; the internal environment of a nuclear reactor is complex and carries radiation, and manual operation will increase the risk of radiation exposure to workers and pose a potential threat to health. Summary of the invention

[0004] The object of the present invention is to provide a fully automatic reactor coaming bolt replacement device and method, which can improve the accuracy and consistency of bolt replacement, improve replacement efficiency, reduce safety risks, and realize automatic replacement of coaming bolts underwater.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] A fully automatic reactor coaming bolt replacement device comprises an upper operating platform, a vertical conveying platform, a terminal carrying platform, a visual monitoring and lighting system and a terminal execution module; the vertical conveying platform is installed on the upper operating platform, the terminal carrying platform is slidably installed on the vertical conveying platform, the visual monitoring and lighting system is installed on the upper operating platform, and the terminal execution module is installed on the terminal carrying platform; the upper operating platform is used for preliminary positioning of the terminal carrying platform and adjusting the terminal carrying platform in the X, Y, Z directions and the rotation angle; the vertical conveying platform is used for the up and down movement and transportation of the terminal carrying platform; the terminal carrying platform is used for accurately positioning the terminal execution module and extending and rotating the terminal execution module to facilitate the terminal execution module to realize electrode or tool head replacement and cooperate with the terminal execution module to complete corresponding operations; the visual monitoring and lighting system is used for auxiliary positioning of the installation position of the coaming bolt replacement device on the reactor coaming and monitoring the preliminary positioning of the terminal carrying platform.

[0007] The upper operating platform includes: an end beam, a main beam, a trolley drive, a trolley platform, a trolley platform, a trolley drive, a control cabinet and a lifting sleeve; the end beam is installed on the lower surface of the trolley platform, and the end beam is slidably installed on the track of the loader to achieve movement in the X direction. The trolley drive is connected to the end beam to drive the end beam to move along the X direction; the main beam is symmetrically installed on the upper surface of the trolley platform, and the main beam is vertically arranged with the end beam. The trolley platform is slidably installed on the main beam to achieve movement in the Y direction. The trolley drive is connected to the trolley platform to drive the trolley platform to move along the Y direction; the lifting sleeve is installed on the lower surface of the trolley platform and connected to the vertical conveying platform to lift and rotate the vertical conveying platform; the control cabinet is respectively connected to the trolley drive, the trolley drive, and the lifting sleeve to control the trolley drive, the trolley drive, and the lifting sleeve.

[0008] The vertical conveying platform includes: a basic frame, a linear slide rail, a transmission rack, a tool head storage rack, and a temporary storage container for discarded bolts; the linear slide rails are symmetrically installed on both sides of the basic frame; the end carrying platform is slidably installed on the linear slide rails and moves in the vertical direction on the linear slide rails; the transmission rack is installed on the back of the linear slide rail on one side, and cooperates with the end carrying platform to ensure the movement of the end carrying platform in the vertical direction; the temporary storage container for discarded bolts is installed behind the middle back plate of the basic frame, and is used to introduce the replaced discarded bolts from the entrance ramp in the basic frame; the execution end tool head storage rack is installed in the middle position of the back plate of the basic frame, and is used to store various tool heads and new bolts.

[0009] The terminal carrying platform includes: a lifting frame, a linear sliding base bearing, a lifting drive, a transverse screw assembly, a rotating table, and an integrated frame for an end execution module; the linear sliding base bearing is installed on the rear side of the lifting frame, and cooperates with the linear slide rail on the vertical conveying platform for guidance to realize the movement of the terminal carrying platform in the vertical direction; the lifting drive is installed on the rear side of the lifting frame, and is connected to the transmission rack on the vertical conveying platform to provide lifting driving power for the terminal carrying platform; the transverse screw assembly is installed below the lifting frame, the rotating table is installed below the transverse screw assembly, the integrated frame for the end execution module is installed below the rotating table, and the end execution module is installed on the integrated frame for the end execution module; the transverse screw assembly provides a lateral movement function for the end execution module; the rotating table provides a rotational movement function for the end execution module when the tool head is replaced.

[0010] The end execution module includes an EDM processing end and a rotating operation end, which are used for normal bolt removal, new bolt processing, bolt abnormality processing and screw hole repair.

[0011] A fully automatic reactor coaming bolt replacement method, the method comprising:

[0012] S1: First, complete the installation of the upper operating platform on the reactor coaming, install the terminal carrying platform carrying each terminal execution module on the vertical transportation platform, then install the vertical transportation platform on the upper operating platform, arrange the underwater visual monitoring and lighting systems in sequence, and complete the device installation;

[0013] S2: Through manual operation and visual monitoring and lighting system assisted positioning, the calibration of the coaming bolt replacement device is completed, and the relationship between the device coordinate system and the coaming coordinate system is unified;

[0014] S3: Determine all the bolts that need to be replaced, then specify the bolts that need to be replaced currently, and position them through the upper operating platform, vertical conveying platform and terminal carrying platform. Under the guidance of underwater visual monitoring and lighting system, they are automatically positioned in sequence, and the vertical conveying platform is adjusted to a suitable direction to ensure that the terminal execution module is aligned with the target enclosure, and the vertical conveying platform is inserted into the corresponding water flow hole of the lower grid plate; the terminal execution module grabs the corresponding electrode or tool head on the tool head storage rack of the vertical conveying platform through the terminal carrying platform, and finally aligns it with the target bolt hole;

[0015] S4: The locking pin on the panel bolt is cut off by the locking pin cutting electrode at the end of EDM processing, and then the panel bolt is disassembled by rotating the sleeve at the end of the operation, and the disassembled waste bolts are stored in the temporary container of waste bolts by moving the end carrying platform;

[0016] S5: The end-carrying platform moves and rotates the operation end to grab the new enclosure bolt and install it to the target bolt hole. If necessary, the end-carrying platform moves the corresponding end to weld the locking pin or expand the newly installed sleeve screw to prevent loosening, and complete the replacement of the target bolt; move to the next station to replace the next bolt;

[0017] S6: When all bolts are replaced, the temporary storage container for discarded bolts is transferred to the permanent storage container for discarded bolts through the auxiliary long rod, and stored in the grid of the spent fuel pool through the fuel assembly gripper, completing the replacement of the shroud bolts.

[0018] In S3, if wire breakage occurs during the disassembly process, the end-carrying platform moves the EDM processing end carrying the corresponding EDM electrode to process the center of the broken wire hole, and the broken wire is removed by rotating the end carrying the broken wire removal tool head.

[0019] In S3, if the thread is stuck or defective during the disassembly process, different electrodes are carried at the end of the EDM processing to remove the stuck bolts or defective threads, and the corresponding enclosure plate holes and the bottom holes of the forming plate are simultaneously expanded and deepened. Finally, the tap carried at the end of the rotating operation is used to complete the thread processing of the expanded bottom hole, which is convenient for the subsequent installation of the enlarged bolts.

[0020] In S5, if a prototype bolt is used during the installation process, the end carrying platform carries a rotating working end, replaces the prototype bolt installation tool head, and grabs a new prototype bolt to complete the installation of the prototype bolt; the end carrying platform carries a welding end tool to complete the welding of the locking rod to prevent loosening.

[0021] In S5, if a new type of bolt is used during the installation process, the end carrying platform carries an EDM processing end, grabs the EDM electrode for processing the new countersunk holes of the enclosure, and completes the processing of the new countersunk holes of the enclosure; the end carrying platform carries a rotating operating end, replaces the new bolt installation tool head, and grabs the new new bolt to complete the installation of the new bolt; the end carrying platform carries a rotating operating end, grabs the new bolt expansion and anti-loosening tool head, and completes the expansion and anti-loosening.

[0022] The beneficial technical effects of the present invention are:

[0023] 1. The present invention provides a fully automatic reactor panel bolt replacement device, which can realize automatic replacement of panel bolts through visual monitoring and lighting systems, visual auxiliary positioning cameras, and emergency response decisions during the manhole bolt replacement process. It has automatic mode, manual mode and emergency mode.

[0024] 2. The present invention provides a fully automatic reactor enclosure bolt replacement device, which completes the preliminary positioning of the terminal execution module through the preliminary positioning of the upper operating platform; the upper operating platform is arranged on the guide rail of the construction pool loading and changing machine, which does not affect the original structure of the power plant, and reduces the travel requirements of the vertical conveying platform through the preliminary positioning of the upper operating platform; the bottom of the vertical conveying platform lands on the lower grid plate through the positioning pins, which not only has a good positioning effect, but also effectively avoids the cantilever of the vertical conveying platform, and improves the positioning stiffness and accuracy of the vertical conveying platform; the parts of the entire device that are in direct contact with the enclosure or the hanging basket are protected by nylon, such as the positioning pins of the water flow holes of the lower grid plate, so as to avoid protective measures for the reactor body and the equipment itself.

[0025] 3. In a fully automatic reactor panel bolt replacement device provided by the present invention, a vertical conveying platform carries different terminal execution modules, temporary storage containers for discarded bolts, and tool head storage racks. Through the movement of the terminal carrying platform, the replacement of different tool heads, storage of discarded bolts and grabbing of new nuts can be automatically realized underwater. While automatically completing multiple operations, the operating capacity and work efficiency of the device are improved, and at the same time, the radiation dose brought to personnel when replacing tool heads out of water is reduced.

[0026] 4. In a fully automatic reactor panel bolt replacement device provided by the present invention, the electrical components of the upper operating platform are all arranged above water, and the electrical components of other modules are all underwater. The relevant motors are all inflated and sealed with good sealing performance, which can meet the sealing requirements in the boric acid water working environment.

[0027] 5. In a fully automatic reactor panel bolt replacement device provided by the present invention, the upper operating platform has the functions of overall rotation and horizontal movement, and can move the vertical conveying platform to different positions of the lower grid plate and rotate in different directions. Combined with the vertical movement of the vertical conveying platform and the compact and symmetrical arrangement structure of the carrying platform, 100% replacement of all bolts of the core panel can be achieved.

[0028] 6. The present invention provides a fully automatic reactor panel bolt replacement device, which can complete the disassembly and assembly of prototype bolts in sequence through EDM processing end and rotating operation end, in conjunction with different electrodes and tool heads, and can handle emergency situations such as bolt breakage, bolt seizure and thread repair, and can also complete the installation, disassembly and anti-loosening treatment of new bolts, and has high emergency handling capabilities and operational flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of a fully automatic reactor coaming bolt replacement device provided by the present invention installed on a reactor coaming;

[0030] Figure 2A schematic diagram of a top view of a fully automatic reactor coaming bolt replacement device provided by the present invention installed on a reactor coaming;

[0031] Figure 3 It is a schematic diagram of the structure of the enclosure and the formed plate;

[0032] Figure 4 This is a structural schematic diagram of a fully automatic reactor coaming bolt replacement device provided by the present invention;

[0033] Figure 5 A schematic diagram of the structure of the upper operating platform in a fully automatic reactor coaming bolt replacement device provided by the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of a vertical conveying platform in a fully automatic reactor coaming bolt replacement device provided by the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of the terminal carrying platform in a fully automatic reactor coaming bolt replacement device provided by the present invention;

[0036] Figure 8 The present invention provides a flow chart of a fully automatic reactor shroud bolt replacement method.

[0037] In the figure: 1. Coaming bolt replacement device; 2. Reactor; 3. Storage tank;

[0038] 2-1, forming plate B; 2-2, enclosure 1; 2-3, key enclosure B; 2-4, enclosure 3; 2-5, enclosure 4; 2-6, enclosure 5; 2-7, enclosure 2; 2-8, key enclosure A; 2-9, forming plate A;

[0039] 1-1. Upper operating platform; 1-2. Vertical transport platform; 1-3. Terminal loading platform; 1-4. Visual monitoring and lighting system;

[0040] 1-1-1, control cabinet; 1-1-2, trolley platform; 1-1-3, trolley drive; 1-1-4, main beam; 1-1-5, end beam; 1-1-6, lifting sleeve; 1-1-7, trolley platform; 1-1-8, trolley drive;

[0041] 1-2-1, basic frame; 1-2-2, tool head storage rack; 1-3, end loading platform; 1-2-4, end execution module; 1-2-5, temporary storage container for discarded bolts;

[0042] 4-1. Lifting frame; 4-2. Filtering and suction system; 4-3. Transverse screw assembly; 4-4. Visual monitoring camera; 4-5. Rotating operation end; 4-6. EDM processing end; 4-7. Filtering and suction system inlet; 4-8. Visual assisted positioning camera; 4-9. End execution module integrated frame; 4-10. Rotating table; 4-11. Lifting drive; 4-12. Linear sliding base bearing. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0044] like Figure 4 As shown, the present invention provides a fully automatic reactor panel bolt replacement device, including an upper operating platform 1-1, a vertical conveying platform 1-2, a terminal carrying platform 1-3, a visual monitoring and lighting system 1-4, and a terminal execution module 1-2-4. The vertical conveying platform 1-2 is installed on the upper operating platform 1-1, the terminal carrying platform 1-3 is slidably installed on the vertical conveying platform 1-2, the visual monitoring and lighting system 1-4 is installed on the upper operating platform 1-1, and the terminal execution module 1-2-4 is installed on the terminal carrying platform 1-3. The upper operating platform 1-1 moves the vertical conveying platform 1-2 to the target position according to the screws to be replaced and repaired, adjusts it to the target posture, and preliminarily positions the terminal carrying platform 1-3. The top of the vertical conveying platform 1-2 is connected to the lower end of the lifting sleeve 1-1-6 of the upper operating platform 1-1 to realize the up and down movement and transportation of the terminal carrying platform 1-3. The terminal carrying platform 1-3 accurately positions the terminal execution module 1-2-4, and extends and rotates the terminal execution module 1-2-4 to facilitate the terminal execution module 1-2-4 to replace the electrode or tool head, and cooperate with the terminal execution module 1-2-4 to complete the corresponding operation. The terminal execution module 1-2-4 can replace tool heads with different functions, disassemble normal bolts, repair abnormal bolts or screw holes, and complete the automatic replacement of the enclosure bolts. The visual monitoring and lighting system 1-4 is used to assist in locating the installation position of the enclosure bolt replacement device on the reactor enclosure and monitor the initial positioning of the terminal carrying platform 1-3.

[0045] like Figure 5As shown, the upper operating platform 1-1 includes: end beam 1-1-5, main cross beam 1-1-4, trolley drive 1-1-8, trolley platform 1-1-7, trolley platform 1-1-2, trolley drive 1-1-3, control cabinet 1-1-1 and lifting sleeve 1-1-6. An end beam 1-1-5 is installed on the lower surface of the trolley platform 1-1-7, and the end beam 1-1-5 is slidably installed on the loader track to achieve movement in the X direction. The trolley drive 1-1-8 is connected to the end beam 1-1-5 and is used to drive the end beam 1-1-5 to move along the X direction; the main beam 1-1-4 is symmetrically installed on the upper surface of the trolley platform 1-1-7, and the main beam 1-1-4 and the end beam 1-1-5 are vertically arranged. The trolley platform 1-1-2 is slidably installed on the main beam 1-1-4 to achieve movement in the Y direction. The trolley drive 1-1-3 is connected to the trolley platform 1-1-2 to drive the trolley platform 1-1-2 to move along the Y direction; the lifting sleeve 1-1-6 is installed on the lower surface of the trolley platform 1-1-2 and is connected to the vertical conveying platform 1-2 to lift and rotate the vertical conveying platform 1-2. The control cabinet 1-1-1 is connected to the trolley drive 1-1-8, the trolley drive 1-1-3, and the lifting sleeve 1-1-6 respectively, and is used to control the trolley drive 1-1-8, the trolley drive 1-1-3, and the lifting sleeve 1-1-6. By adjusting the upper operating platform 1-1 in the X, Y, Z directions and the rotation angle, the end carrying platform 1-3 is adjusted to the position of the bolt to be replaced for preliminary positioning.

[0046] like Figure 6 As shown, the vertical conveying platform 1-2 includes a basic frame 1-2-1, a linear slide rail, a transmission rack, a tool head storage rack 1-2-2, and a temporary storage container for discarded bolts 1-2-5. The basic frame 1-2-1 is made of stainless steel plates welded together to form a frame structure. The lower bearing surface and the upper connecting surface are processed to ensure parallelism and flatness, thereby ensuring the verticality of the vertical conveying platform 1-2. The linear slide rail adopts an aluminum alloy linear bearing sliding aluminum shaft form and is symmetrically installed on both sides of the basic frame 1-2-1. The end loading platform 1-3 is slidably installed on the linear slide rail and moves in the vertical direction on the linear slide rail. The transmission rack adopts a stainless steel material purchased finished product and is installed on the back of one side of the linear slide rail to cooperate with the end loading platform 1-3 to ensure the movement of the end loading platform 1-3 in the vertical direction. The temporary storage container for discarded bolts 1-2-5 is installed behind the back plate in the middle of the basic frame 1-2-1 to facilitate the operation of long-pole tools and to introduce the replaced discarded bolts from the entrance ramp inside the basic frame 1-2-1. The execution end tool head storage rack 1-2-2 is installed in the middle position of the back plate of the basic frame 1-2-1, and is mainly used to store various tool heads and new bolts, so as to facilitate the rapid replacement of tool heads and grabbing of new bolts when the end execution module 1-2-4 performs different operations.

[0047] like Figure 7As shown, the terminal loading platform 1-3 includes a lifting frame 4-1, a linear sliding base bearing 4-12, a lifting drive 4-11, a lateral screw assembly 4-3, a rotating table 4-10, and an end execution module integrated frame 4-9. The tool lifting frame 4-1 is made of stainless steel plate welded together, which is the structural foundation of the entire terminal loading platform 1-3. The linear sliding base bearing 4-12 is installed on the rear side of the lifting frame 4-1, and cooperates with the linear slide rail on the vertical conveying platform 1-2 for guidance to realize the movement of the terminal loading platform 1-3 in the vertical direction; the lifting drive 4-11 adopts a gear rack transmission method, and the motor reducer is designed with an underwater sealing structure, which is installed on the rear side of the lifting frame 4-1 and is connected to the transmission rack on the vertical conveying platform 1-2 to provide lifting and driving power for the terminal loading platform 1-3. The lateral screw assembly 4-3 is installed below the lifting frame 4-1 and adopts a screw transmission structure. The rotating table 4-10 adopts a gear bearing structure, and the motor reducer is designed with an underwater sealing structure. The rotating table 4-10 is installed below the traverse screw assembly 4-3; the end execution module integrated frame 4-9 is installed below the rotating table 4-10, and the end execution module 1-2-4 is installed on the end execution module integrated frame 4-9. The traverse screw assembly 4-3 provides a lateral movement function for the end execution module 1-2-4; the rotating table 4-10 provides a rotational movement function for the end execution module 1-2-4 when replacing the tool head. Through the displacement and angle adjustment of the end carrying platform 1-3, the tool head can be aligned with the bolt to be replaced to achieve alignment.

[0048] The terminal carrying platform 1-3 also includes an underwater filtering and suction system 4-2, which is installed at the front end of the lifting frame 4-1. A suction system inlet 4-7 is provided next to each terminal execution module 1-2-4 to absorb dust and foreign matter generated when each terminal execution module 1-2-4 is working.

[0049] The terminal loading platform 1-3 also includes a visual monitoring camera 4-4 and a visual auxiliary positioning camera 4-8. The visual monitoring camera 4-4 is installed on the terminal execution module integrated frame 4-9 to monitor the operation process and status of the terminal execution module 1-2-4. The visual auxiliary positioning camera 4-8 is installed on the terminal loading platform 1-3, facing the bolt holes and threaded holes of the enclosure. By visually identifying the bolt holes and bolts, the position deviation between the camera optical center and the center of the extracted threaded hole in the unified coordinate system is calculated, and then the position deviation between the tool head and the center of the bolt hole or bolt head is calculated based on the hand-eye calibration result to achieve auxiliary positioning.

[0050] The end execution module 1-2-4 includes an EDM processing end 4-6 and a rotating operation end 4-5. Through the EDM processing end 4-6 and the rotating operation end 4-5, different electrodes and tool heads are replaced, and the corresponding axial feed, axial load detection and load detection are coordinated to complete the cutting, rotation and feeding actions in the bolt replacement and related repair operations. The EDM processing end 4-6 and the rotating operation end 4-5 are used for normal bolt removal, new bolt processing, bolt abnormality processing and screw hole repair. Through the cooperation between different tool heads, the automatic replacement process of the enclosure bolts can be realized.

[0051] like Figure 8 As shown, the present invention provides a fully automatic reactor coaming bolt replacement method, which specifically includes the following steps:

[0052] S1: First, complete the installation of the upper operating platform 1-1 on the reactor coaming, install the terminal carrying platform 1-3 carrying each terminal execution module 1-2-4 on the vertical transportation platform 1-2, and then install the vertical transportation platform 1-2 on the upper operating platform 1-1, and arrange the underwater visual monitoring and lighting system 1-4 in sequence to complete the device installation, such as Figure 1-3 shown.

[0053] S2: Through manual operation and visual monitoring and auxiliary positioning of lighting systems 1-4, the calibration of the enclosure bolt replacement device is completed, and the relationship between the device coordinate system and the enclosure coordinate system is unified.

[0054] S3: Determine all the bolts that need to be replaced, then specify the bolts that currently need to be replaced, and position them through the upper operating platform 1-1, the vertical conveying platform 1-2 and the terminal loading platform 1-3. Under the guidance of the underwater visual monitoring and lighting system 1-4, they are automatically positioned in sequence, and the vertical conveying platform 1-2 is adjusted to the appropriate direction to ensure that the terminal execution module 1-2-4 is aligned with the target enclosure, and the vertical conveying platform 1-2 is inserted into the corresponding water flow hole of the lower grid plate; the terminal execution module 1-2-4 grabs the corresponding electrode or tool head on the tool head storage rack 1-2-2 of the vertical conveying platform 1-2 through the terminal loading platform 1-3, and finally aligns it with the target bolt hole.

[0055] S4: The locking pin on the enclosure bolt is cut off by the EDM processing end 4-6 carrying the locking pin cutting electrode, and then the enclosure bolt is disassembled by rotating the operation end 4-5 carrying the sleeve, and the disassembled waste bolts are stored in the waste bolt temporary container 1-2-5 through the end carrying platform 1-3.

[0056] If wire breaks during the disassembly process, the end-carrying platform 1-3 moves the EDM processing end 4-5 carrying the corresponding EDM electrode to process the center of the broken wire hole, and the broken wire is removed by rotating the working end 4-5 carrying the broken wire removal tool head;

[0057] If the thread is stuck or defective during the disassembly process, the EDM processing end 4-6 carries different electrodes to remove the stuck bolts or defective threads, and simultaneously expand and deepen the corresponding enclosure plate holes and the bottom holes of the forming plate. Finally, the tap carried by the rotating operation end 4-5 is used to complete the thread processing of the expanded bottom hole, which is convenient for the subsequent installation of the enlarged bolts.

[0058] S5: Move and rotate the working end 4-5 through the end carrying platform 1-3 to grab the new enclosure bolt and install it to the target bolt hole. If necessary, the end carrying platform 1-3 moves the corresponding end to weld the locking pin or expand the newly installed sleeve screw to prevent loosening, and complete the replacement of the target bolt; move to the next station to replace the next bolt.

[0059] If a prototype bolt is used during the installation process, the end-carrying platform 1-3 carries the rotating working end 4-5, replaces the prototype bolt installation tool head, and grabs the new prototype bolt to complete the installation of the prototype bolt; the end-carrying platform 1-3 carries the welding end tool to complete the welding of the locking rod to prevent loosening.

[0060] If new bolts are used during the installation process, the end-carrying platform 1-3 carries the EDM processing terminal 4-6, grabs the EDM electrode for processing the new countersunk holes of the enclosure, and completes the processing of the new countersunk holes of the enclosure; the end-carrying platform 1-3 carries the rotating operation terminal 4-5, replaces the new bolt installation tool head, and grabs the new new bolts to complete the installation of the new bolts; the end-carrying platform 1-3 carries the rotating operation terminal 4-5, grabs the new bolt expansion and anti-loosening tool head, and completes the expansion and anti-loosening.

[0061] S6: When all bolts are replaced, the temporary storage container 1-2-5 for discarded bolts is transferred to the permanent storage container for discarded bolts through the auxiliary long rod, and is stored in the grid of the spent fuel pool through the fuel assembly gripper, completing the replacement of the shroud bolts.

[0062] The present invention is described in detail above with reference to the accompanying drawings and embodiments, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the field without departing from the purpose of the present invention. The contents not described in detail in the present invention can adopt the existing technology.

Claims

1. A fully automatic reactor coaming bolt replacement device, characterized in that: The invention comprises an upper operating platform (1-1), a vertical conveying platform (1-2), a terminal loading platform (1-3), a visual monitoring and lighting system (1-4) and a terminal execution module (1-2-4); the vertical conveying platform (1-2) is installed on the upper operating platform (1-1), the terminal loading platform (1-3) is slidably installed on the vertical conveying platform (1-2), the visual monitoring and lighting system (1-4) is installed on the upper operating platform (1-1), and the terminal execution module (1-2-4) is installed on the terminal loading platform (1-3); the upper operating platform (1-1) is used to perform preliminary positioning of the terminal loading platform (1-3) and to perform positioning of the terminal loading platform (1-3). (1-3) is used to adjust the X, Y, Z directions and the rotation angle; the vertical conveying platform (1-2) is used for the up and down movement and conveyance of the terminal carrying platform (1-3); the terminal carrying platform (1-3) is used to accurately position the terminal execution module (1-2-4), and to extend and rotate the terminal execution module (1-2-4), so as to facilitate the terminal execution module (1-2-4) to replace the electrode or tool head, and cooperate with the terminal execution module (1-2-4) to complete the corresponding operation; the visual monitoring and lighting system (1-4) is used to assist in locating the installation position of the enclosure bolt replacement device on the reactor enclosure, and monitor the initial positioning of the terminal carrying platform (1-3).

2. A fully automatic reactor coaming bolt replacement device according to claim 1, characterized in that: The upper operating platform (1-1) comprises: an end beam (1-1-5), a main cross beam (1-1-4), a trolley drive (1-1-8), a trolley platform (1-1-7), a trolley platform (1-1-2), a trolley drive (1-1-3), a control cabinet (1-1-1) and a lifting sleeve (1-1-6); the end beam (1-1-5) is installed on the lower surface of the trolley platform (1-1-7), the end beam (1-1-5) is slidably installed on the track of the loader and reloader to achieve movement in the X direction, and the trolley drive (1-1-8) is connected to the end beam (1-1-5) and is used to drive the end beam (1-1-5) to move along the X direction; the main cross beam (1-1-4) is symmetrically installed on the upper surface of the trolley platform (1-1-7), and the main cross beam (1-1-4) and the end beam (1-1-5) is vertically arranged, the trolley platform (1-1-2) is slidably installed on the main beam (1-1-4) to realize movement in the Y direction, the trolley drive (1-1-3) is connected to the trolley platform (1-1-2) and is used to drive the trolley platform (1-1-2) to move along the Y direction; the lifting sleeve (1-1-6) is installed on the lower surface of the trolley platform (1-1-2) and is connected to the vertical conveying platform (1-2) to lift and rotate the vertical conveying platform (1-2); the control cabinet (1-1-1) is respectively connected to the trolley drive (1-1-8), the trolley drive (1-1-3) and the lifting sleeve (1-1-6) and is used to control the trolley drive (1-1-8), the trolley drive (1-1-3) and the lifting sleeve (1-1-6).

3. The fully automatic reactor coaming bolt replacement device according to claim 1, characterized in that: The vertical conveying platform (1-2) comprises: a basic frame (1-2-1), a linear slide rail, a transmission rack, a tool head storage rack (1-2-2), and a temporary storage container for discarded bolts (1-2-5); the linear slide rails are symmetrically installed on both sides of the basic frame (1-2-1); the terminal carrying platform (1-3) is slidably installed on the linear slide rails and moves in a vertical direction on the linear slide rails; the transmission rack is installed on the back of one side of the linear slide rail and cooperates with the terminal carrying platform (1-3) to ensure the movement of the terminal carrying platform (1-3) in the vertical direction; the temporary storage container for discarded bolts (1-2-5) is installed behind the middle back plate of the basic frame (1-2-1) and is used to introduce the replaced discarded bolts from the entrance ramp inside the basic frame (1-2-1); the execution end tool head storage rack (1-2-2) is installed in the middle position of the back plate of the basic frame (1-2-1) and is used to store various tool heads and new bolts.

4. A fully automatic reactor coaming bolt replacement device according to claim 3, characterized in that: The terminal loading platform (1-3) comprises: a lifting frame (4-1), a linear sliding base bearing (4-12), a lifting drive (4-11), a traverse screw assembly (4-3), a rotating table (4-10), and an end execution module integrated frame (4-9); the linear sliding base bearing (4-12) is installed on the rear side of the lifting frame (4-1) and cooperates with the linear slide rail on the vertical conveying platform (1-2) for guidance to realize the movement of the terminal loading platform (1-3) in the vertical direction; the lifting drive (4-11) is installed on the rear side of the lifting frame (4-1) and is connected to the transmission rack on the vertical conveying platform (1-2) for transmission. , providing lifting driving power for the end loading platform (1-3); the traverse screw assembly (4-3) is installed below the lifting frame (4-1), the rotating table (4-10) is installed below the traverse screw assembly (4-3), the end execution module integrated frame (4-9) is installed below the rotating table (4-10), and the end execution module (1-2-4) is installed on the end execution module integrated frame (4-9); the traverse screw assembly (4-3) provides a lateral movement function for the end execution module (1-2-4); the rotating table (4-10) provides a rotational movement function for the end execution module (1-2-4) when replacing the tool head.

5. The fully automatic reactor coaming bolt replacement device according to claim 1, characterized in that: The end execution module (1-2-4) comprises an EDM processing end (4-6) and a rotating operation end (4-5), and is used for normal bolt removal, new bolt processing, bolt abnormality processing and screw hole repair.

6. A fully automatic reactor coaming bolt replacement method, characterized in that: The method comprises: S1: First, the upper operating platform (1-1) is installed on the reactor coaming, and the terminal carrying platform (1-3) carrying each terminal execution module (1-2-4) is installed on the vertical transportation platform (1-2), and then the vertical transportation platform (1-2) is installed on the upper operating platform (1-1), and the underwater visual monitoring and lighting system (1-4) is arranged in sequence to complete the device installation; S2: Through manual operation and visual monitoring and lighting system (1-4) to assist positioning, the calibration of the coaming bolt replacement device is completed, and the relationship between the device coordinate system and the coaming coordinate system is unified; S3: Determine all bolts that need to be replaced, then specify the bolt that currently needs to be replaced, and position them through the upper operating platform (1-1), the vertical conveying platform (1-2) and the terminal carrying platform (1-3), and automatically position them in sequence under the guidance of the underwater visual monitoring and lighting system (1-4), adjust the vertical conveying platform (1-2) to a suitable direction to ensure that the terminal execution module (1-2-4) is aligned with the target enclosure, and insert the vertical conveying platform (1-2) into the corresponding water flow hole of the lower grid plate; the terminal execution module (1-2-4) grabs the corresponding electrode or tool head on the tool head storage rack (1-2-2) of the vertical conveying platform (1-2) through the terminal carrying platform (1-3), and finally aligns it with the target bolt hole; S4: The locking pin on the panel bolt is cut off by the EDM processing end (4-6) carrying the locking pin cutting electrode, and then the panel bolt is disassembled by the rotating operation end (4-5) carrying the sleeve, and the disassembled waste bolt is stored in the waste bolt temporary container (1-2-5) by moving the end carrying platform (1-3); S5: The end-carrying platform (1-3) is used to move the rotating operation end (4-5) to grab a new panel bolt and install it in the target bolt hole. If necessary, the end-carrying platform (1-3) moves the corresponding end to weld the locking pin or expand the newly installed sleeve screw to prevent loosening, thereby completing the replacement of the target bolt; the end-carrying platform (1-3) is moved to the next workstation to replace the next bolt; S6: When all bolts are replaced, the temporary storage container (1-2-5) of discarded bolts is transferred to the permanent storage container of discarded bolts through the auxiliary long rod, and stored in the grid of the spent fuel pool through the fuel assembly gripper, completing the replacement of the shroud bolts.

7. A fully automatic reactor shroud bolt replacement method according to claim 6, characterized in that: In S3, if a wire breaks during the disassembly process, the end carrying platform (1-3) moves the EDM processing end (4-5) carrying the corresponding EDM electrode to process the center of the broken wire hole, and the broken wire is removed by rotating the working end (4-5) carrying the broken wire removal tool head.

8. A fully automatic reactor coaming bolt replacement method according to claim 6, characterized in that: In S3, if the thread is stuck or defective during the disassembly process, the EDM processing end (4-6) carries different electrodes to remove the stuck bolts or defective threads, and the corresponding enclosure plate holes and the bottom holes of the forming plate are simultaneously expanded and deepened. Finally, the thread processing of the expanded bottom hole is completed by rotating the operating end (4-5) carrying a tap, so as to facilitate the subsequent installation of the enlarged bolt.

9. A fully automatic reactor shroud bolt replacement method according to claim 6, characterized in that: In S5, if a prototype bolt is used during the installation process, the end carrying platform (1-3) carries a rotating operation end (4-5), replaces the prototype bolt installation tool head, and grabs a new prototype bolt to complete the installation of the prototype bolt; the end carrying platform (1-3) carries a welding end tool to complete the welding of the locking rod to prevent loosening.

10. A fully automatic reactor shroud bolt replacement method according to claim 6, characterized in that: In S5, if a new type of bolt is used during the installation process, the end carrying platform (1-3) carries an EDM processing terminal (4-6) to grab the EDM electrode for processing the new countersunk hole of the enclosure to complete the processing of the new countersunk hole of the enclosure; the end carrying platform (1-3) carries a rotating operation terminal (4-5) to replace the new bolt installation tool head and grab the new new bolt to complete the installation of the new bolt; the end carrying platform (1-3) carries a rotating operation terminal (4-5) to grab the new bolt expansion and anti-loosening tool head to complete the expansion and anti-loosening.

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