A full-automatic reactor containment plate bolt replacement device and method

Abstract

The present application belongs to the field of reactor closure bolt replacement, and particularly relates to a full-automatic reactor closure bolt replacement device and method. The device comprises: a vertical conveying platform installed on an upper operation platform, a terminal loading platform slidingly installed on the vertical conveying platform, a visual monitoring and lighting system installed on the upper operation platform, and a terminal execution module installed on the terminal loading platform. The upper operation platform is used for preliminary positioning of the terminal loading platform. The vertical conveying platform is used for up-and-down movement and conveying of the terminal loading platform. The terminal loading platform is used for accurate positioning of the terminal execution module. The visual monitoring and lighting system is used for assisting positioning of the installation position of the reactor closure bolt replacement device on the reactor closure plate and monitoring the preliminary positioning of the terminal loading platform. The present application can improve the accuracy and consistency of bolt replacement, improve the replacement efficiency, reduce the safety risk, and realize automatic replacement of the closure bolt under water.

Description

Technical Field

[0001] This invention belongs to the field of reactor cofferdam bolt replacement, specifically relating to a fully automatic reactor cofferdam bolt replacement device and method. Background Technology

[0002] The lower in-reactor cladding of the M310 and CPR1000 nuclear power units is mainly composed of multiple cladding panels, with formed plates along the height of the cladding panels. The cladding panels and formed plates are connected by bolts. Figure 3 As shown, bolts can deteriorate due to one or more of the following factors: radiation-assisted stress corrosion cracking, preload loss, thermal and radiation embrittlement, fatigue, and steady-state pressure gradients on the baffle. Bolt deterioration directly affects the safety of the nuclear power unit, therefore, deteriorated baffle bolts need to be replaced. Currently, replacing baffle bolts involves first removing the anti-loosening treatment, then dismantling and installing them, and finally welding locking keys to the bolts for anti-loosening treatment. Each step requires significant manual intervention, including operation by specialized personnel, safety monitoring, and detailed recording and inspection.

[0003] The following drawbacks exist in manually replacing the enclosure bolts: human operation carries the risk of errors due to misoperation and fatigue, affecting 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 contains radiation, and manual operation increases the radiation exposure risk of workers, posing a potential threat to their health. Summary of the Invention

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

[0005] Technical solution to achieve the purpose of this invention:

[0006] A fully automated reactor enclosure bolt replacement device includes an upper operating platform, a vertical conveying platform, an end-mounted platform, a visual monitoring and lighting system, and an end-effector module. The vertical conveying platform is mounted on the upper operating platform, the end-mounted platform is slidably mounted on the vertical conveying platform, the visual monitoring and lighting system is mounted on the upper operating platform, and the end-effector module is mounted on the end-mounted platform. The upper operating platform is used for initial positioning of the end-mounted platform and for adjusting its X, Y, Z directions and rotation angle. The vertical conveying platform is used for the vertical movement and conveying of the end-mounted platform. The end-mounted platform is used for precise positioning of the end-effector module and for extending and rotating the end-effector module, facilitating electrode or tool head replacement and enabling the end-effector module to complete corresponding operations. The visual monitoring and lighting system is used to assist in positioning the reactor enclosure bolt replacement device on the reactor enclosure and to monitor the initial positioning of the end-mounted platform.

[0007] The upper operating platform includes: end beams, main crossbeams, a trolley drive, a trolley platform, a trolley platform, a trolley drive, a control cabinet, and a lifting sleeve. The end beams are mounted on the lower surface of the trolley platform and slide on the loading / changing machine track to achieve movement in the X direction. The trolley drive is connected to the end beams and drives their movement in the X direction. The main crossbeams are symmetrically mounted on the upper surface of the trolley platform and are perpendicular to the end beams. The trolley platform slides on the main crossbeams to achieve movement in the Y direction. The trolley drive is connected to the trolley platform and drives its movement in the Y direction. The lifting sleeve is mounted on the lower surface of the trolley platform and connected to the vertical conveying platform for lifting and rotating the vertical conveying platform. The control cabinet is connected to the trolley drive, trolley drive, and lifting sleeve to control these components.

[0008] The vertical conveying platform includes: a base frame, linear guide rails, a transmission rack, a tool head storage rack, and a temporary storage container for waste bolts; the linear guide rails are symmetrically installed on both sides of the base frame; the end-mounted platform is slidably installed on the linear guide rails and moves vertically along the linear guide rails; the transmission rack is installed on the back of one side of the linear guide rail and cooperates with the end-mounted platform to ensure that the end-mounted platform moves vertically; the temporary storage container for waste bolts is installed behind the back plate in the middle of the base frame and is used to guide the replaced waste bolts from the inlet ramp inside the base frame; the end-mounted tool head storage rack is installed in the middle of the back plate of the base frame and is used to store various tool heads and new bolts.

[0009] The end-effector platform includes: a lifting frame, a linear sliding base bearing, a lifting drive, a transverse screw assembly, a rotary table, and an integrated frame for the end-effector 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, enabling the end-effector platform to move vertically. The lifting drive is installed on the rear side of the lifting frame and is connected to the transmission rack and pinion on the vertical conveying platform to provide lifting drive power for the end-effector platform. The transverse screw assembly is installed below the lifting frame, the rotary table is installed below the transverse screw assembly, the integrated frame for the end-effector module is installed below the rotary table, and the end-effector module is installed on the integrated frame for the end-effector module. The transverse screw assembly provides lateral movement for the end-effector module. The rotary table provides rotational movement for the end-effector module when changing tool heads.

[0010] The end effector module includes an EDM processing end and a rotary operation end, used for normal bolt disassembly, new bolt processing, bolt abnormality handling, and bolt hole repair.

[0011] A fully automated method for replacing reactor enclosure bolts, the method comprising:

[0012] S1: First, complete the installation of the upper operating platform on the reactor enclosure. Then, install the end-mounted platform carrying each end-execution module on the vertical transport platform. Next, install the vertical transport platform on the upper operating platform and arrange the underwater visual monitoring and lighting systems in sequence to complete the installation of the device.

[0013] S2: The calibration of the enclosure bolt replacement device is completed through manual operation, visual monitoring and lighting system-assisted positioning, and the relationship between the device coordinate system and the enclosure coordinate system is unified.

[0014] S3: Identify all bolts that need to be replaced, then specify the bolts that need to be replaced. Position the bolts using the upper operating platform, vertical transport platform, and end-mounted platform. Under the guidance of the underwater visual monitoring and lighting system, automatically position the bolts sequentially. Adjust the vertical transport platform to the appropriate orientation to ensure that the end-mounted module is aligned with the target enclosure. Insert the vertical transport platform into the corresponding water flow hole in the lower grid plate. The end-mounted module uses the end-mounted platform to grab the corresponding electrode or tool head from the tool head storage rack on the vertical transport platform and finally aligns it with the target bolt hole.

[0015] S4: The locking pin on the cofferdam bolt is cut off by the EDM processing end carrying the locking pin cutting electrode. Then, the cofferdam bolt is disassembled by the rotating operation end carrying the sleeve. The disassembled waste bolt is stored in the waste bolt temporary container by the end-mounted platform.

[0016] S5: The end-mounted platform moves and rotates to pick up new side plate bolts and install them into the target bolt holes. If necessary, the end-mounted platform moves to the corresponding end to perform locking pin welding or expansion jointing on the newly installed sleeve screws to prevent loosening, thus completing the replacement of the target bolt; then it moves to the next station to carry out the replacement of the next bolt.

[0017] S6: After all bolts have been replaced, the temporary storage container for the waste bolts is transferred to the permanent storage container for the waste bolts using an auxiliary long pole, and then stored in the spent fuel pool grid using a fuel assembly grabber, thus completing the cofferdam bolt replacement operation.

[0018] In S3, if a broken wire occurs during the disassembly process, the end-mounted 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 working end carrying the broken wire removal tool head.

[0019] In S3, if thread seizure or thread defects occur during disassembly, the seizure bolt or defective thread is removed by carrying different electrodes at the EDM processing end. Simultaneously, the corresponding side plate hole and the bottom hole of the forming plate are enlarged and deepened. Finally, the thread processing of the enlarged bottom hole is completed by carrying a tap at the rotating operation end, which facilitates the subsequent installation of enlarged bolts.

[0020] In S5, if a prototype bolt is used during installation, the end-mounted platform carries a rotating end-effector to replace the prototype bolt installation tool head and grab a new prototype bolt to complete the prototype bolt installation; the end-mounted platform carries a welding end-effector to complete the welding of the locking rod to prevent loosening.

[0021] In S5, if a new type of bolt is used during installation, the end-mounted platform carries an EDM processing end, which picks up the new countersunk hole of the enclosure plate to process the EDM electrode, thus completing the processing of the new countersunk hole of the enclosure plate; the end-mounted platform carries a rotary working end, which replaces the new bolt installation tool head and picks up the new bolt, thus completing the installation of the new bolt; the end-mounted platform carries a rotary working end, which picks up the new bolt expansion and anti-loosening tool head, thus completing the expansion and anti-loosening.

[0022] The beneficial technical effects of this invention are as follows:

[0023] 1. The present invention provides a fully automatic reactor cofferdam bolt replacement device, which can automatically replace cofferdam bolts through a visual monitoring and lighting system, a visual-assisted positioning camera, and emergency response decision-making during the bolt replacement process in conjunction with a manhole. It has an automatic mode, as well as a manual mode and an emergency mode.

[0024] 2. The fully automatic reactor enclosure bolt replacement device provided by this invention completes the initial positioning of the end-effector module through the initial positioning of the upper operating platform. The upper operating platform is arranged on the guide rail of the refueling machine in the build pool, without affecting the original structure of the power plant. The initial positioning of the upper operating platform reduces the stroke requirement of the vertical conveying platform. The bottom of the vertical conveying platform rests on the lower grid plate through 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 rigidity and accuracy of the vertical conveying platform. All parts of the device that come into direct contact with the enclosure or the basket are protected with nylon, such as the positioning pins of the drainage holes of the lower grid plate, to avoid the need for protective measures for the reactor body and the equipment itself.

[0025] 3. In the fully automatic reactor cofferdam bolt replacement device provided by the present invention, the vertical conveying platform carries different end-effector modules, a temporary storage container for waste bolts, and a tool head storage rack. Through the movement of the end-mounted platform, the device can automatically perform the replacement of different tool heads, storage of waste bolts, and grabbing of new nuts underwater. While automatically completing multiple tasks, the device's operational capacity and work efficiency are improved, and the radiation dose to personnel caused by tool head replacement in the water is reduced.

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

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

[0028] 6. The fully automatic reactor enclosure bolt replacement device provided by the present invention can sequentially complete the disassembly and assembly of prototype bolts through EDM processing end and rotary operation end, in conjunction with different electrodes and tool heads. It can also handle emergency situations such as bolt breakage, bolt seizure and thread repair, and can simultaneously complete the installation, disassembly and anti-loosening treatment of new bolts. It has a high emergency response capability and operational flexibility. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a fully automatic reactor enclosure bolt replacement device provided by the present invention, installed on the reactor enclosure.

[0030] Figure 2A top view of the fully automatic reactor enclosure bolt replacement device provided by the present invention, installed on the reactor enclosure.

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

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

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

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

[0035] Figure 7 This is a schematic diagram of the end-mounted platform structure in a fully automated reactor cofferdam bolt replacement device provided by the present invention;

[0036] Figure 8 This invention provides a flowchart of a fully automated reactor cofferdam bolt replacement method.

[0037] In the diagram: 1. Sheet bolt replacement device; 2. Reactor; 3. Storage pool;

[0038] 2-1. Forming plate B; 2-2. Enclosure 1; 2-3. Critical enclosure B; 2-4. Enclosure 3; 2-5. Enclosure 4; 2-6. Enclosure 5; 2-7. Enclosure 2; 2-8. Critical enclosure A; 2-9. Forming plate A;

[0039] 1-1. Upper operating platform; 1-2. Vertical conveying platform; 1-3. End-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 crossbeam; 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-Edge Mounting Platform; 1-2-4 End-Edge Execution Module; 1-2-5 Temporary Storage Container for Waste Bolts;

[0042] 4-1 Lifting frame; 4-2 Filtering and suction system; 4-3 Transverse lead screw assembly; 4-4 Visual monitoring camera; 4-5 Rotary end effector; 4-6 EDM processing end effector; 4-7 Filtering and suction system inlet; 4-8 Visual auxiliary positioning camera; 4-9 End effector module integrated frame; 4-10 Rotary table; 4-11 Lifting drive; 4-12 Linear sliding base bearing. Detailed Implementation

[0043] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0044] like Figure 4 As shown, the present invention provides a fully automatic reactor cofferdam bolt replacement device, comprising an upper operating platform 1-1, a vertical conveying platform 1-2, an end-mounted platform 1-3, a visual monitoring and lighting system 1-4, and an end-effector module 1-2-4. The vertical conveying platform 1-2 is mounted on the upper operating platform 1-1, the end-mounted platform 1-3 is slidably mounted on the vertical conveying platform 1-2, the visual monitoring and lighting system 1-4 is mounted on the upper operating platform 1-1, and the end-effector module 1-2-4 is mounted on the end-mounted platform 1-3. The upper operating platform 1-1 moves the vertical conveying platform 1-2 to the target position and adjusts it to the target posture according to the bolt to be replaced or repaired, thus initially positioning the end-mounted 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, enabling the vertical movement and conveying of the end-mounted platform 1-3. The end-mounted platform 1-3 precisely positions the end-effector module 1-2-4 and extends and rotates it to facilitate electrode or tool head replacement, enabling the end-effector module 1-2-4 to complete corresponding tasks. The end-effector module 1-2-4 can use different functional tool heads to disassemble normal bolts and repair abnormal bolts or bolt holes, thus automatically replacing the reactor coaxial bolts. The visual monitoring and lighting system 1-4 assists in locating the installation position of the coaxial bolt replacement device on the reactor coaxial plate and monitors the initial positioning of the end-mounted platform 1-3.

[0045] like Figure 5As shown, the upper operating platform 1-1 includes: end beam 1-1-5, main crossbeam 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. The end beam 1-1-5 is slidably installed on the loading and changing machine 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 in the X direction. A main cross beam 1-1-4 is symmetrically installed on the upper surface of the trolley platform 1-1-7. The main cross beam 1-1-4 is set perpendicular to the end beam 1-1-5. The trolley platform 1-1-2 is slidably installed on the main cross 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 and is used to drive the trolley platform 1-1-2 to move in 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, and Z directions and the rotation angle, the end mounting platform 1-3 is adjusted to the position of the bolt to be replaced for initial positioning.

[0046] like Figure 6 As shown, the vertical conveyor platform 1-2 includes a base frame 1-2-1, linear guide rails, a transmission rack, a tool head storage rack 1-2-2, and a temporary storage container for waste bolts 1-2-5. The base frame 1-2-1 is constructed from welded stainless steel sheets, with its lower bearing surface and upper connecting surface ensuring parallelism and flatness during machining, thus guaranteeing the verticality of the vertical conveyor platform 1-2. The linear guide rails utilize aluminum alloy linear bearings and sliding aluminum shafts, symmetrically installed on both sides of the base frame 1-2-1. The end-mounted platform 1-3 is slidably mounted on the linear guide rails, moving vertically along them. The transmission rack, made of purchased stainless steel, is installed on the back of one side of the linear guide rail, cooperating with the end-mounted platform 1-3 to ensure its vertical movement. The temporary storage container for waste bolts 1-2-5 is installed behind the back plate in the middle of the base frame 1-2-1 to facilitate the operation of long-handled tools, allowing replaced waste bolts to be introduced through the inlet ramp inside the base frame 1-2-1. The end effector tool head storage rack 1-2-2 is installed in the middle of the back plate of the base frame 1-2-1. It is mainly used to store various tool heads and new bolts, so that the end effector module 1-2-4 can quickly change tool heads and grab new bolts when performing different operations.

[0047] like Figure 7As shown, the end-effector platform 1-3 includes a lifting frame 4-1, a linear sliding base bearing 4-12, a lifting drive 4-11, a transverse lead screw assembly 4-3, a rotary table 4-10, and an end-effector module integrated frame 4-9. The tool lifting frame 4-1 is made of welded stainless steel plates and forms the structural foundation of the entire end-effector 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 guide rail on the vertical conveying platform 1-2 for guidance, enabling the end-effector platform 1-3 to move vertically. The lifting drive 4-11 uses a rack and pinion transmission method, with an underwater-sealed motor reducer. It is installed on the rear side of the lifting frame 4-1 and connected to the rack and pinion transmission on the vertical conveying platform 1-2, providing lifting drive power for the end-effector platform 1-3. The transverse lead screw assembly 4-3 is installed below the lifting frame 4-1 and uses a lead screw transmission structure. The rotary table 4-10 adopts a gear-supported bearing structure, and the motor reducer is designed with an underwater sealing structure. The rotary table 4-10 is mounted below the transverse lead screw assembly 4-3; the end effector module integrated frame 4-9 is mounted below the rotary table 4-10, and the end effector module 1-2-4 is mounted on the end effector module integrated frame 4-9. The transverse lead screw assembly 4-3 provides lateral movement for the end effector module 1-2-4; the rotary table 4-10 provides rotational movement for the end effector module 1-2-4 when changing tool heads. By adjusting the displacement and angle of the end-mounted platform 1-3, the tool head can be aligned with the bolt to be replaced, achieving alignment.

[0048] The end-mounted platform 1-3 also includes an underwater filtration and suction system 4-2, which is installed at the front end of the lifting frame 4-1. Each end-execution module 1-2-4 is provided with a suction system inlet 4-7 to absorb the dust and foreign objects generated by each end-execution module 1-2-4 during operation.

[0049] The end-effector 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 mounted on the end-effector module integration frame 4-9 to monitor the operation and status of the end-effector module 1-2-4. The visual auxiliary positioning camera 4-8 is mounted on the end-effector platform 1-3, facing the bolt holes and threaded holes of the enclosure. It performs visual recognition of the bolt holes and bolts, calculates the positional deviation between the camera's optical center and the extracted threaded hole center in a unified coordinate system, and then calculates the positional deviation between the tool head and the center of the bolt hole or bolt head based on the hand-eye calibration results, thus achieving auxiliary positioning.

[0050] The end effector module 1-2-4 includes an EDM machining end effector 4-6 and a rotary working end effector 4-5. By changing different electrodes and tool heads, and coordinating with corresponding axial feed, axial load detection, and load detection, the EDM machining end effector 4-6 and the rotary working end effector 4-5 complete the cutting, rotation, and feed actions in bolt replacement and related repair operations. The EDM machining end effector 4-6 and the rotary working end effector 4-5 are used for normal bolt disassembly, new bolt processing, bolt anomaly handling, and bolt hole repair. Through the coordination of different tool heads, an automated bolt replacement process for the flange can be achieved.

[0051] like Figure 8 As shown, the present invention provides a fully automated method for replacing reactor siding bolts, which specifically includes the following steps:

[0052] S1: First, install the upper operating platform 1-1 onto the reactor enclosure. Then, install the end-mounted platform 1-3, carrying each end-effector module 1-2-4, onto the vertical transport platform 1-2. Next, install the vertical transport platform 1-2 onto the upper operating platform 1-1. Arrange the underwater visual monitoring and lighting systems 1-4 sequentially to complete the installation. Figure 1-3 As shown.

[0053] S2: Through manual operation and visual monitoring and lighting system 1-4 assisted positioning, complete the calibration of the enclosure bolt replacement device and unify the relationship between the device coordinate system and the enclosure coordinate system.

[0054] S3: Identify all bolts that need to be replaced, then specify the bolt that needs to be replaced. Position the bolts using the upper operating platform 1-1, vertical transport platform 1-2, and end mount platform 1-3. Under the guidance of the underwater visual monitoring and lighting system 1-4, automatically position the bolts in sequence. Adjust the vertical transport platform 1-2 to the appropriate direction to ensure that the end effector module 1-2-4 is aligned with the target enclosure. Insert the vertical transport platform 1-2 into the corresponding water flow hole in the lower grid plate. The end effector module 1-2-4 uses the end mount platform 1-3 to grab the corresponding electrode or tool head from the tool head storage rack 1-2-2 on the vertical transport platform 1-2, and finally aligns it with the target bolt hole.

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

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

[0057] If thread seizure or thread defects occur during disassembly, the seizure bolt or defective thread is removed by using different electrodes carried by the EDM machining end 4-6. Simultaneously, the corresponding side plate hole and the bottom hole of the forming plate are enlarged and deepened. Finally, the thread machining of the enlarged bottom hole is completed by using the rotating operation end 4-5 carrying a tap, which facilitates the subsequent installation of enlarged bolts.

[0058] S5: The end-mounted platform 1-3 moves and rotates the end-mounted platform 4-5 to pick up the new side plate bolts and install them into the target bolt holes. If necessary, the end-mounted platform 1-3 moves to the corresponding end to tighten the newly installed sleeve screws by welding the locking pin to prevent loosening or by expanding the joint to prevent loosening, thus completing the replacement of the target bolts; then it moves to the next work station to carry out the replacement of the next bolt.

[0059] If prototype bolts are used during installation, the end-mounted platform 1-3 carries the rotating end-mounted tool 4-5 to replace the prototype bolt installation tool head and grab the new prototype bolt to complete the prototype bolt installation; the end-mounted platform 1-3 carries the welding end-mounted tool to complete the welding of the locking rod to prevent loosening.

[0060] If a new type of bolt is used during installation, the end-mounted platform 1-3 carries the EDM processing end 4-6 to grasp the new countersunk hole of the enclosure plate and process the EDM electrode, thus completing the processing of the new countersunk hole of the enclosure plate; the end-mounted platform 1-3 carries the rotary working end 4-5 to replace the new bolt installation tool head and grasp the new new bolt, thus completing the installation of the new bolt; the end-mounted platform 1-3 carries the rotary working end 4-5 to grasp the new bolt expansion and anti-loosening tool head, thus completing the expansion and anti-loosening.

[0061] S6: After all bolts have been replaced, the temporary storage container 1-2-5 for waste bolts is transferred to the permanent storage container for waste bolts using an auxiliary long pole, and then stored in the spent fuel pool grid using a fuel assembly grabber, thus completing the cofferdam bolt replacement operation.

[0062] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. All contents not described in detail in the present invention can be derived from existing technologies.

Claims

1. A fully automatic reactor enclosure bolt replacement device, characterized in that, It includes an upper operating platform (1-1), a vertical conveying platform (1-2), an end-mounted platform (1-3), a visual monitoring and lighting system (1-4), and an end-effector module (1-2-4). The vertical conveying platform (1-2) is mounted on the upper operating platform (1-1), the end-mounted platform (1-3) is slidably mounted on the vertical conveying platform (1-2), the visual monitoring and lighting system (1-4) is mounted on the upper operating platform (1-1), and the end-effector module (1-2-4) is mounted on the end-mounted platform (1-3). The upper operating platform (1-1) is used for initial positioning of the end-mounted platform (1-3) and for positioning the end-mounted platform. (1-3) Adjust the X, Y, Z directions and rotation angle; the vertical conveying platform (1-2) is used for the up and down movement and conveying of the end-mounted platform (1-3); the end-mounted platform (1-3) is used to accurately position the end-effector module (1-2-4) and extend and rotate the end-effector module (1-2-4) to facilitate the replacement of electrodes or tool heads by the end-effector module (1-2-4) and to complete the corresponding operations in conjunction with the end-effector module (1-2-4); the visual monitoring and lighting system (1-4) is used to assist in positioning the installation position of the cofferdam bolt replacement device on the reactor cofferdam and to monitor the initial positioning of the end-mounted platform (1-3); The vertical conveying platform (1-2) includes: a base frame (1-2-1), linear slide rails, a transmission rack, a tool head storage rack (1-2-2), and a temporary storage container for waste bolts (1-2-5). The linear slide rails are symmetrically installed on both sides of the base frame (1-2-1). The end-mounted platform (1-3) is slidably installed on the linear slide rails and moves vertically along the linear slide rails. The transmission rack is installed on the back of one side of the linear slide rail and cooperates with the end-mounted platform (1-3) to ensure that the end-mounted platform (1-3) moves vertically. The temporary storage container for waste bolts (1-2-5) is installed behind the middle back plate of the base frame (1-2-1) and is used to guide the replaced waste bolts from the inlet ramp inside the base frame (1-2-1). The end-mounted tool head storage rack (1-2-2) is installed in the middle of the back plate of the base frame (1-2-1) and is used to store various tool heads and new bolts. The end-mounted platform (1-3) includes: a lifting frame (4-1), a linear sliding base bearing (4-12), a lifting drive (4-11), a transverse lead screw assembly (4-3), a rotary 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, thereby realizing the vertical movement of the end-mounted platform (1-3). The lifting drive (4-11) is installed on the rear side of the lifting frame (4-1) and is connected to the transmission rack and pinion drive on the vertical conveying platform (1-2). The system provides lifting and driving power for the end-mounted platform (1-3); the transverse lead screw assembly (4-3) is installed below the lifting frame (4-1), the rotary table (4-10) is installed below the transverse lead screw assembly (4-3), the end-execution module integration frame (4-9) is installed below the rotary table (4-10), and the end-execution module (1-2-4) is installed on the end-execution module integration frame (4-9); the transverse lead screw assembly (4-3) provides lateral movement function for the end-execution module (1-2-4); the rotary table (4-10) provides rotational movement function for the end-execution module (1-2-4) when changing tool heads.

2. The fully automatic reactor cofferdam bolt replacement device according to claim 1, characterized in that, The upper operating platform (1-1) includes: an end beam (1-1-5), a main crossbeam (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 mounted on the lower surface of the trolley platform (1-1-7). The end beam (1-1-5) is slidably mounted on the loading and changing machine 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 in the X direction. The main crossbeam (1-1-4) is symmetrically mounted on the upper surface of the trolley platform (1-1-7). The main crossbeam (1-1-4) is connected to the end beam... (1-1-5) Vertically set, the trolley platform (1-1-2) is slidably mounted on the main crossbeam (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 in the Y direction. The lifting sleeve (1-1-6) is mounted 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).

3. The fully automatic reactor cofferdam bolt replacement device according to claim 1, characterized in that, The end effector module (1-2-4) includes an EDM processing end (4-6) and a rotary operation end (4-5), used for normal bolt disassembly, new bolt processing, bolt abnormality handling, and bolt hole repair.

4. A fully automated method for replacing reactor cofferdam bolts, employing the fully automated reactor cofferdam bolt replacement device as described in any one of claims 1-3, characterized in that... The method includes: S1: First, install the upper operating platform (1-1) on the reactor enclosure. Then, install the terminal mounting platform (1-3) carrying each terminal execution module (1-2-4) on the vertical transport platform (1-2). Next, install the vertical transport platform (1-2) on the upper operating platform (1-1). Arrange the underwater visual monitoring and lighting system (1-4) in sequence to complete the installation of the device. S2: Through manual operation and visual monitoring and lighting system (1-4) to assist in positioning, complete the calibration of the enclosure bolt replacement device and unify the relationship between the device coordinate system and the enclosure coordinate system; S3: Identify all bolts that need to be replaced, then specify the bolt that needs to be replaced. Position the bolts using the upper operating platform (1-1), vertical transport platform (1-2), and end mount platform (1-3). Under the guidance of the underwater visual monitoring and lighting system (1-4), automatically position the bolts in sequence. Adjust the vertical transport platform (1-2) to the appropriate direction to ensure that the end effector module (1-2-4) is aligned with the target enclosure. Insert the vertical transport platform (1-2) into the corresponding water flow hole in the lower grid plate. The end effector module (1-2-4) uses the end mount platform (1-3) to grab the corresponding electrode or tool head from the tool head storage rack (1-2-2) on the vertical transport platform (1-2) and finally aligns it with the target bolt hole. S4: The locking pin on the plate bolt is cut off by the locking pin cutting electrode carried by the EDM processing end (4-6). Then, the plate bolt is disassembled by the sleeve carried by the rotating operation end (4-5). The disassembled waste bolt is stored in the waste bolt temporary storage container (1-2-5) by the end mounting platform (1-3). S5: Move the rotating end of the end-mounted platform (1-3) to grab the new side plate bolts and install them into the target bolt holes. If necessary, move the corresponding end of the end-mounted platform (1-3) to perform locking pin welding or expansion jointing on the newly installed sleeve screws to prevent loosening, thus completing the replacement of the target bolts; move to the next station to carry out the replacement of the next bolt. S6: After all bolts have been replaced, the temporary storage container (1-2-5) for waste bolts is transferred to the permanent storage container for waste bolts using an auxiliary long pole, and then stored in the spent fuel pool grid using a fuel assembly grabber, thus completing the cofferdam bolt replacement operation.

5. The fully automated reactor cofferdam bolt replacement method according to claim 4, characterized in that, In S3, if a broken wire occurs during the disassembly process, the end-mounted platform (1-3) moves the EDM processing end (4-6) to carry 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) to carry the broken wire removal tool head.

6. The fully automated reactor cofferdam bolt replacement method according to claim 4, characterized in that, In S3, if thread seizure or thread defects occur during disassembly, the seizure bolt or defective thread is removed by carrying different electrodes through the EDM processing end (4-6), and the corresponding side plate hole and forming plate bottom hole are enlarged and deepened simultaneously. Finally, the thread processing of the enlarged bottom hole is completed by carrying a tap through the rotating operation end (4-5), which facilitates the subsequent installation of enlarged bolts.

7. The fully automated reactor cofferdam bolt replacement method according to claim 4, characterized in that, In S5, if a prototype bolt is used during installation, the end-mounted platform (1-3) carries a rotating end-of-work device (4-5) to replace the prototype bolt installation tool head and grab a new prototype bolt to complete the prototype bolt installation; the end-mounted platform (1-3) carries a welding end-of-work device to complete the welding of the locking rod to prevent loosening.

8. The fully automated reactor cofferdam bolt replacement method according to claim 4, characterized in that, In S5, if a new type of bolt is used during installation, the end-mounted platform (1-3) carries an EDM processing end (4-6) to grab the EDM electrode for processing the new countersunk hole of the enclosure plate, and complete the processing of the new countersunk hole of the enclosure plate; the end-mounted platform (1-3) carries a rotary working end (4-5) to replace the new bolt installation tool head and grab the new new bolt, and complete the installation of the new bolt; the end-mounted platform (1-3) carries a rotary working end (4-5) to grab the new bolt expansion anti-loosening tool head, and complete the expansion anti-loosening.

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