Execution terminal positioning platform for replacing bolts of reactor coaming

Abstract

The invention belongs to the field of reactor coaming bolt replacement, and particularly relates to an execution tail end positioning platform for reactor coaming bolt replacement, which comprises a vertical conveying platform, a tail end carrying platform and a visual monitoring and auxiliary positioning system, the visual monitoring and auxiliary positioning system is installed on the tail end carrying platform, and the tail end execution module is installed on the tail end carrying platform. The vertical conveying platform is used for achieving movement of the tail end carrying platform in the vertical direction. The visual monitoring and auxiliary positioning system is used for performing visual identification and auxiliary positioning on bolt holes or bolts; the tail end carrying platform is used for sending the tail end execution module to a target working position in a pile, tool heads of all the modules are replaced, and accurate positioning of coaming bolts is achieved. The positioning error can be effectively reduced, and the risk of bolt replacement failure is reduced.

Description

Technical Field

[0001] The invention belongs to the field of reactor coaming bolt replacement, and in particular relates to an execution end positioning platform for reactor coaming bolt replacement. Background Art

[0002] The enclosure bolts of the lower internal components of the M310 and CPR1000 nuclear power units are located in an environment with high stress and high corrosion, and need to withstand repeated loads for a long time, which will cause corrosion cracking. The deterioration of the bolts directly affects the safe operation of the nuclear power unit, so the deteriorated enclosure bolts need to be replaced in time.

[0003] The current process for replacing baffle bolts is to first locate them and remove the anti-loosening device, then remove the deteriorated bolts, install new bolts, and finally anti-loosen the newly installed bolts. This repair process has complex procedures, involving multiple action requirements and multiple tool heads; long underwater distances, high radioactive doses; high bolt installation accuracy requirements; excessive reliance on manual labor in the positioning process, etc. During the replacement of the baffle bolts, it is necessary to achieve the same positioning accuracy for different tool heads, which places high demands on the system; in underwater and highly radioactive environments, the radiation resistance, corrosion resistance and signal transmission stability of the equipment will face great challenges; the bolt alignment positioning accuracy requirements are high, otherwise the bolt replacement will fail and even the replacement tool will be damaged. Summary of the invention

[0004] The purpose of the present invention is to provide an execution terminal positioning platform for replacing reactor coaming bolts, so as to achieve precise underwater positioning of the execution terminal and the coaming bolts, reduce positioning errors, and thus reduce the risk of bolt replacement failure.

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

[0006] A terminal positioning execution platform for replacing reactor coaming bolts comprises a vertical conveying platform, a terminal carrying platform and a visual monitoring and auxiliary positioning system, wherein the terminal carrying platform is slidably mounted on the vertical conveying platform, the visual monitoring and auxiliary positioning system is mounted on the terminal carrying platform, and the terminal execution module is mounted on the terminal carrying platform; the vertical conveying platform is used to realize the movement of the terminal carrying platform in the vertical direction; the visual monitoring and auxiliary positioning system is used to visually identify bolt holes or bolts, and then calculate the position deviation between the tool head and the bolt hole or bolt according to the hand-eye calibration result to realize auxiliary positioning; the terminal carrying platform is used to send the terminal execution module to the target working position in the reactor, and the tool heads of each module are replaced underwater according to work needs to realize accurate positioning with the coaming bolts.

[0007] The vertical conveying platform includes: a basic frame, a linear slide rail, and a transmission rack. The basic frame is symmetrically provided with linear slide rails in the vertical direction, and the end loading 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 the transmission rack cooperates with the end loading platform to ensure the movement of the end loading platform in the vertical direction on the linear slide rail.

[0008] The top of the vertical conveying platform is connected with an operating platform for realizing movement in the X direction, movement in the Y direction, and lifting and rotation in the vertical direction.

[0009] An inclination sensor is installed above the basic frame to ensure the verticality of the vertical conveying platform.

[0010] The vertical conveying platform also includes: a tool head storage rack and a temporary storage container for discarded bolts. The tool head storage rack and the temporary storage container for discarded bolts are respectively installed on the basic frame and are used to store tool heads and discarded bolts.

[0011] The end execution module includes a rotating operation end and an EDM processing end.

[0012] 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 of 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 the lifting drive 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, and the rotating table is installed below the transverse screw assembly; the integrated frame of the end execution module is installed below the rotating table, and the rotating operation terminal and the EDM processing terminal are installed on the integrated frame of the end execution module; the transverse screw assembly provides a lateral movement function for the rotating operation terminal and the EDM processing terminal, and the rotating table provides a rotational movement function when positioning the rotating operation terminal, the EDM processing terminal and the bolt to be replaced.

[0013] The terminal carrying platform also includes a filtering and suction device, which is installed at the front end of the lifting frame. A suction device inlet is provided next to the rotating operation end and the EDM processing end to absorb dust and foreign matter generated when the rotating operation end and the EDM processing end are working.

[0014] The visual monitoring and auxiliary positioning system includes a visual assisted positioning camera, which is installed on the end loading platform and faces the bolt holes and threaded holes of the enclosure. The visual recognition of the bolt holes and bolts is performed to calculate the position deviation between the optical center of the camera and the center of the extracted threaded hole in a unified coordinate system. The position deviation between the tool head and the center of the bolt hole or bolt head is then calculated based on the hand-eye calibration result to achieve auxiliary positioning.

[0015] The visual monitoring and auxiliary positioning system also includes a visual monitoring camera, which is installed on the terminal execution module integrated frame to monitor the working process and working status of the terminal execution module.

[0016] The beneficial technical effects of the present invention are:

[0017] 1. In the execution end positioning platform for replacing bolts of reactor coaming provided by the present invention, the vertical conveying platform has translational movements in the X, Y, and Z directions, which can realize automatic positioning. In addition, it also has a rotation function, which can adjust the angle so that the end tool on the vertical conveying platform is facing the target bolt hole; through X, Y, Z directions and rotational movements, after position calibration, the tool head can be automatically carried to complete the preliminary positioning of the designated bolt hole.

[0018] 2. In the execution terminal positioning platform for replacing reactor panel bolts provided by the present invention, the terminal carrying platform has the functions of lifting, lateral movement and rotation. It adopts a private service motor to drive the lead screw nut to achieve driving, and cooperates with encoder feedback and visual assisted positioning to achieve automatic and precise positioning, thereby meeting the accuracy requirements when replacing the panel bolts.

[0019] 3. In the execution terminal positioning platform for replacing reactor coaming bolts provided by the present invention, all driving motors of the terminal carrying platform adopt an underwater inflatable sealing structure design, which has good sealing performance.

[0020] 4. In the terminal positioning platform for replacing the bolts of the reactor shroud provided by the present invention, the terminal carrying platform frame is made of stainless steel by welding to ensure sufficient rigidity and strength, and its parallelism and verticality requirements are met during the design, processing and manufacturing process.

[0021] 5. In the terminal positioning platform for replacing reactor panel bolts provided by the present invention, the terminal carrying platform is equipped with visual monitoring, observation and auxiliary positioning cameras, which can accurately realize the positioning and centering with the target position during the execution of the terminal operation, and monitor the entire operation process at the same time.

[0022] 6. In the execution terminal positioning platform for replacing the bolts of the reactor coaming provided by the present invention, the terminal loading platform is equipped with an underwater filtering and suction system, which can completely absorb the dust and foreign matter generated when the terminal tool is working. The suction and filtering system is used in the entire bolt replacement process to avoid foreign matter such as cuttings from contaminating the water quality of the pool. In addition, a logical protection relationship is set between the loading platform and the execution terminal module, and the bolt replacement process has a high degree of safety.

[0023] 7. In the execution terminal positioning platform for replacing reactor panel bolts provided by the present invention, the visual monitoring and auxiliary positioning systems have good radiation resistance and can meet the replacement and maintenance needs of multiple bolts; the camera has good underwater sealing performance, adopts explosion-proof design, can withstand high water pressure, has its own high-brightness LED lighting, the brightness of the light source is adjustable, and the focal length of the camera is adjustable to ensure that a good image is obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of a vertical conveying platform in an execution terminal positioning platform for replacing reactor coaming bolts provided by the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the terminal carrying platform in the execution terminal positioning platform for replacing reactor coaming bolts provided by the present invention;

[0026] Figure 3 This is a schematic diagram of the assembly of an execution terminal positioning platform and an end execution module for replacing reactor coaming bolts provided by the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of the filtering and suction device in the terminal carrying platform of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of the rotating platform in the terminal carrying platform of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of the visually assisted positioning camera of the present invention;

[0030] Figure 7 This is a flow chart of the visually assisted positioning of the camera positioning bolts of the present invention.

[0031] In the figure: 1-1, basic frame; 1-2, tool head storage rack; 1-3, end loading platform; 1-4, end execution module; 1-5, temporary storage container for discarded bolts; 3-1, lifting frame; 3-2, filtering and suction device; 3-3, transverse screw assembly; 3-4, visual monitoring camera; 3-5, rotating operation end; 3-6, EDM processing end; 3-7, filtering and suction device inlet; 3-8, visual assisted positioning camera; 3-9, end execution module integrated frame; 3-10, rotating table; 3-11, lifting drive; 3-12, linear sliding base bearing. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0033] like Figure 1-3 As shown, the present invention provides an execution terminal positioning platform for replacing reactor coaming bolts, including a vertical conveying platform, a terminal carrying platform 1-3 and a visual monitoring and auxiliary positioning system. The terminal carrying platform 1-3 is slidably installed on the vertical conveying platform, the visual monitoring and auxiliary positioning system is installed on the terminal carrying platform 1-3, and the terminal execution module 1-4 is installed on the terminal carrying platform 1-3. The vertical conveying platform is used to move horizontally or vertically, and the direction of the vertical conveying platform is adjusted by rotation to preliminarily position the terminal execution module 1-4 to ensure that it can face the template screw hole. The visual monitoring and auxiliary positioning system is used to visually identify the bolt hole or bolt, and then the position deviation between the tool head and the bolt hole or bolt is calculated according to the hand-eye calibration result to achieve auxiliary positioning. The terminal carrying platform 1-3 is used to send the terminal execution module 1-4 to the target working position in the reactor, and the tool head of each module is replaced underwater according to work needs to achieve precise positioning with the coaming bolt.

[0034] like Figure 1 As shown, the vertical conveying platform includes: a basic frame 1-1, a linear slide rail, a transmission rack, a tool head storage rack 1-2, and a temporary storage container for discarded bolts 1-5. The top of the vertical conveying platform is connected to the operating platform, which can realize movement in the X direction, movement in the Y direction, and lifting and rotation in the vertical direction. The basic frame 1-1 is made of stainless steel plates welded together to form a frame structure, and an inclination sensor is also installed above the basic frame 1-1 to ensure the verticality of the vertical conveying platform. Linear slide rails are symmetrically arranged along the vertical direction on the basic frame 1-1, and 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 is made of stainless steel and is purchased as a finished product. It is installed on the back of one side of the linear slide rail. The transmission rack cooperates with the end loading platform 1-3 to ensure the vertical movement of the end loading platform 1-3 on the linear slide rail.

[0035] like Figure 1-2 As shown, the end execution module 1-4 includes a rotating working end 3-5 and an EDM processing end 3-6.

[0036] like Figure 2 As shown, the visual monitoring and auxiliary positioning system includes a visual monitoring camera 3-4 and a visual auxiliary positioning camera 3-8.

[0037] like Figure 2 As shown, the terminal carrying platform 1-3 includes: a lifting frame 3-1, a linear sliding base bearing 3-12, a lifting drive 3-11, a transverse screw assembly 3-3, a rotating table 3-10, an end execution module integrated frame 3-9, and a filtering and suction device 3-2. The lifting frame 3-1 is made of stainless steel plate materials, which is the structural foundation of the entire terminal carrying platform 1-3; the linear sliding base bearing 3-12 is installed on the rear side of the lifting frame 3-1, and cooperates with the linear slide rail on the vertical conveying platform to guide the terminal carrying platform 1-3 in the vertical direction; the lifting drive 3-11 is installed on the rear side of the lifting frame 3-1, and the lifting drive 3-11 adopts a gear rack transmission method, and is connected to the transmission rack on the vertical conveying platform. The motor reducer is designed with an underwater sealing structure to provide lifting drive power for the terminal carrying platform 1-3; the transverse screw assembly 3-3 is installed below the lifting frame 3-1, and adopts a screw transmission structure; the rotating table 3-10 is as shown Figure 5 As shown, a gear-supported bearing structure is adopted, and an underwater sealing structure is designed for the motor reducer. The rotating table 3-10 is installed below the transverse screw assembly 3-3; the end execution module integrated frame 3-9 is made of stainless steel plate welded and installed below the rotating table 3-10, and the rotating operation terminal 3-5 and the EDM processing terminal 3-6 are installed on the end execution module integrated frame 3-9; the transverse screw assembly 3-3 provides a lateral movement function for the rotating operation terminal 3-5 and the EDM processing terminal 3-6, and the rotating table 3-10 provides a rotational movement function for the rotating operation terminal 3-5, the EDM processing terminal 3-6 and the bolt to be replaced. A visual monitoring camera 3-4 is also installed on the end execution module integrated frame 3-9 to monitor the working process and working status of the end execution module 1-4.

[0038] Filter suction device 3-2, such as Figure 4 As shown, a suction device inlet 3-7 is installed at the front end of the lifting frame 3-1, and each of the rotating operation end 3-5 and the EDM processing end 3-6 is provided with a suction device inlet 3-7 to absorb dust and foreign matter generated when the rotating operation end 3-5 and the EDM processing end 3-6 are working.

[0039] Visually assisted positioning cameras 3-8, such as Figure 6The image is an underwater radiation-resistant camera. The visually assisted positioning camera 3-8 is installed on the terminal carrying platform 1-3, facing the bolt holes and threaded holes of the coaming. The bolt holes and bolts are visually identified, and the position deviation between the optical center of the camera and the center of the extracted threaded hole in the unified coordinate system is calculated. 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 assisted positioning.

[0040] like Figure 7 As shown, the bolt replacement is performed using an execution end positioning platform for replacing reactor coaming bolts provided by the present invention, which specifically includes the following steps:

[0041] S1: Determine the specific location of the reactor coaming bolts that need to be replaced;

[0042] S2: Through the control system's regulation in the lateral, longitudinal and vertical directions, the vertical transport platform is transported to the target position and posture to achieve preliminary positioning;

[0043] S3: Acquire an image of the bolt to be replaced through the visual monitoring and auxiliary positioning system 3-8 installed on the terminal loading platform 1-3;

[0044] S4: By visually identifying the bolt hole and the bolt, the position deviation between the optical center of the camera and the center of the bolt hole to be replaced in the unified coordinate system is calculated, and then the position deviation between the tool head (the tool head and the camera are installed at an offset position, and the offset amount is obtained through hand-eye calibration) and the center of the bolt hole or bolt head is calculated based on the hand-eye calibration result to achieve auxiliary positioning;

[0045] S5: convert the position deviation into motion parameters and feed them back to the terminal carrying platform 1-3 to guide it to perform position compensation;

[0046] S6: The end-carrying platform 1-3 controls the movement of the end-actuating tool 1-4 by providing the lifting driving power through the lifting driving 3-11 and the lateral movement of the lateral screw assembly 3-3, so as to move the end-actuating tool 1-4 to the spatial position of the bolt to be replaced;

[0047] S7: Control the rotating table 3-10 of the terminal carrying platform, and through the rotational motion function provided by it, control the rotation angle of the terminal execution tool head so that it corresponds to the spatial posture of the bolt to be replaced, thereby achieving precise positioning;

[0048] S8: Automatically replace the target bolt using the execution terminals 1-4 after positioning.

[0049] 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. An execution end positioning platform for replacing reactor coaming bolts, characterized in that: The invention comprises a vertical conveying platform, a terminal carrying platform (1-3) and a visual monitoring and auxiliary positioning system. The terminal carrying platform (1-3) is slidably mounted on the vertical conveying platform, the visual monitoring and auxiliary positioning system is mounted on the terminal carrying platform (1-3), and the terminal execution module (1-4) is mounted on the terminal carrying platform (1-3); the vertical conveying platform is used to realize the movement of the terminal carrying platform (1-3) in the vertical direction; the visual monitoring and auxiliary positioning system is used to visually identify the bolt hole or the bolt, and then calculate the position deviation between the tool head and the bolt hole or the bolt according to the hand-eye calibration result to realize auxiliary positioning; the terminal carrying platform (1-3) is used to send the terminal execution module (1-4) to the target working position in the pile, and the tool head of each module is replaced underwater according to the work needs to realize the precise positioning with the enclosure bolt.

2. The execution end positioning platform for replacing reactor coaming bolts according to claim 1 is characterized in that: The vertical conveying platform comprises: a basic frame (1-1), a linear slide rail, and a transmission rack. The basic frame (1-1) is symmetrically provided with linear slide rails in a vertical direction, and the end loading 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 the linear slide rail on one side, and the transmission rack cooperates with the end loading platform (1-3) to ensure that the end loading platform (1-3) moves in a vertical direction on the linear slide rail.

3. The execution end positioning platform for replacing reactor coaming bolts according to claim 1 is characterized in that: The top of the vertical conveying platform is connected with an operating platform for realizing movement in the X direction, movement in the Y direction, and lifting and rotation in the vertical direction.

4. The execution end positioning platform for replacing reactor coaming bolts according to claim 2 is characterized in that: An inclination sensor is installed above the basic frame (1-1) to ensure the verticality of the vertical conveying platform.

5. The execution end positioning platform for replacing reactor coaming bolts according to claim 2, characterized in that: The vertical conveying platform also includes: a tool head storage rack (1-2) and a temporary storage container for discarded bolts (1-5). The tool head storage rack (1-2) and the temporary storage container for discarded bolts (1-5) are respectively installed on the basic frame (1-1) and are used to store tool heads and discarded bolts.

6. The execution end positioning platform for replacing reactor coaming bolts according to claim 2, characterized in that: The end execution module (1-4) comprises a rotating operation end (3-5) and an EDM processing end (3-6).

7. The execution end positioning platform for replacing reactor coaming bolts according to claim 6, characterized in that: The terminal carrying platform (1-3) comprises: a lifting frame (3-1), a linear sliding base bearing (3-12), a lifting drive (3-11), a traverse screw assembly (3-3), a rotating table (3-10), and an end execution module integrated frame (3-9); the linear sliding base bearing (3-12) is installed on the rear side of the lifting frame (3-1) and cooperates with the linear slide rail on the vertical conveying platform for guidance to realize the movement of the terminal carrying platform (1-3) in the vertical direction; the lifting drive (3-11) is installed on the rear side of the lifting frame (3-1), and the lifting drive (3-11) is connected to the transmission rack on the vertical conveying platform to provide a lifting drive for the terminal carrying platform (1-3). The invention relates to a method for providing a driving force for the rotary table. The invention relates to a method for providing a driving force for the rotary table. The rotary table (3-10) is provided with a rotary table (3-12) and a rotary table (3-13) for locating the rotary table (3-14). The rotary table (3-14) is provided with a rotary table (3-15) and a rotary table (3-16) for locating the rotary table (3-16). The rotary table (3-15) is provided with a rotary table (3-16) and a rotary table (3-13) for locating the rotary table (3-15) and the rotary table (3-13) for locating the rotary table (3-15) and the rotary table (3-13) for locating the rotary table (3-15) and the rotary table (3-13) for locating the rotary table (3-15) and the rotary table (3-13) for locating the rotary table (3-15) and the rotary table (3-13) for locating the rotary table (3-13) and the bolt to be replaced.

8. The execution end positioning platform for replacing reactor coaming bolts according to claim 7, characterized in that: The terminal carrying platform (1-3) also includes a filtering and suction device (3-2), which is installed at the front end of the lifting frame (3-1), and a suction device inlet (3-7) is provided next to the rotating operation terminal (3-5) and the EDM processing terminal (3-6) to absorb dust and foreign matter generated when the rotating operation terminal (3-5) and the EDM processing terminal (3-6) are working.

9. The execution end positioning platform for replacing reactor shroud bolts according to claim 1, characterized in that: The visual monitoring and auxiliary positioning system comprises a visual auxiliary positioning camera (3-8), which is mounted on the terminal carrying platform (1-3) and faces the bolt holes and threaded holes of the enclosure. The visual recognition of the bolt holes and bolts is performed to calculate the position deviation between the optical center of the camera and the center of the extracted threaded hole in a unified coordinate system, and then the position deviation between the tool head and the center of the bolt hole or the bolt head is calculated based on the hand-eye calibration result to achieve auxiliary positioning.

10. The execution end positioning platform for replacing reactor shroud bolts according to claim 7, characterized in that: The visual monitoring and auxiliary positioning system also includes a visual monitoring camera (3-4), which is installed on the terminal execution module integrated frame (3-9) to monitor the working process and working status of the terminal execution module (1-4).

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