Assembly method and assembly system

Abstract

The invention discloses an assembling method and an assembling system which are used for installing products to be assembled on an installation bottom plate layer by layer, the assembling method comprises an assembling step on the installation bottom plate or an installed layer so as to complete assembling of the products on the current installation layer, and the assembling step comprises one or more assembling sequences. Each assembly sequence is used for assembling at least one part of products of the current installation layer, and the assembly sequence comprises the steps that a product serving as an assembly reference is limited by lifting a physical guide element on the upper surface of the installation bottom plate or the installed layer; and completing the assembly of other products in the assembly sequence by taking the product serving as the assembly standard and / or the installed product as a reference. According to the assembling method and the assembling system, the positioning accuracy and consistency of multi-layer product assembling are improved, and therefore the multi-layer product is more stable on the whole.

Description

Technical Field

[0001] The present invention relates to the technical field of product assembly, and in particular to an assembly method and an assembly system. Background Art

[0002] As a neutron moderator, graphite plays an important role in nuclear reactors. In the installation of nuclear reactors, graphite is a core component and is assembled layer by layer on the core bottom plate. The core holes of the upper and lower layers of graphite are interconnected to form molten salt channels for injecting molten salt. The traditional installation process of graphite components has the following difficulties and defects:

[0003] Due to the heavy weight of the core graphite components and the high matching precision required for the molten salt channels, the lack of precise positioning during the installation of the graphite components can easily lead to the offset of the molten salt channels between the layers of graphite.

[0004] Graphite is very brittle and easily damaged by bumps and collisions. Therefore, graphite components are usually placed in place by force control during installation. The lateral force caused by force control can cause displacement of previously installed graphite components and cause positioning problems, or increase the extrusion force between graphite components, thereby affecting the assembly quality of the graphite.

[0005] In the existing automated installation process of cylindrical graphite, visual sensors are usually used for positioning. However, the black surface of the entire graphite component makes the boundary features unclear, which increases the sensor's misrecognition rate and causes assembly accidents.

[0006] When assembling multi-layer products such as graphite, the existing technology has poor positioning accuracy and consistency, which seriously affects the quality and efficiency of product assembly. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide an assembly method and an assembly system in order to overcome the defects of poor positioning accuracy and poor consistency when assembling multi-layer products in the prior art.

[0008] The present invention solves the above technical problems through the following technical solutions:

[0009] An assembly method for installing products to be assembled layer by layer on a mounting base, the assembly method comprising performing an assembly step on the mounting base or an installed layer to complete the assembly of products in the current installation layer, wherein the assembly step comprises one or more assembly sequences, each assembly sequence assembles at least a portion of the products in the current installation layer, and the assembly sequence comprises:

[0010] Limiting a product serving as an assembly reference by raising the physical guide element of the mounting base plate or the upper surface of the mounted layer;

[0011] The assembly of other products in the assembly sequence is completed using the product serving as the assembly benchmark and / or the installed product as a reference.

[0012] In this solution, each assembly series limits a product that serves as an assembly reference by raising a physical guide element, ensuring the accuracy of the assembly reference of each installation layer and the consistency of the assembly reference between the upper and lower layers; then the assembly of other products is completed with the product that serves as the assembly reference and / or the installed product as a reference, thereby achieving the positioning accuracy of all assembled products. This assembly method improves the positioning accuracy and consistency of multi-layer product assembly through the assembly sequence composed of the above steps, thereby making the multi-layer product more stable as a whole.

[0013] Preferably, a plurality of the assembly sequences are performed simultaneously or separately.

[0014] In this solution, multiple assembly sequences are performed simultaneously, which can improve assembly efficiency; and when multiple assembly sequences are performed separately, interference between the multiple assembly sequences can be avoided, which is beneficial to positioning accuracy.

[0015] Preferably, the plurality of assembly sequences are executed sequentially, and the products assembled in the subsequent assembly sequence are located outside the products assembled in the previous assembly sequence.

[0016] In this solution, multiple assembly sequences use the above method to avoid interference between products assembled later and products assembled earlier, and assemble all products in a layered surrounding manner in space, which is beneficial to the positioning accuracy between the inner and outer layers.

[0017] Preferably, in the assembling step, the assembly is achieved by assembling a plurality of annular arrangement units in sequence from the inside to the outside, wherein each of the annular arrangement units is formed by annularly arranging the products to be assembled through one or more of the assembly sequences.

[0018] In this solution, the assembly step is implemented in the form of a ring-shaped arrangement unit to form a closed and tight arrangement, which is beneficial to improving the stability of the overall assembly.

[0019] Preferably, the cross-section of the product is in a polygonal shape, and at least two sides of the product in the annular arrangement unit face outwards.

[0020] In this solution, the cross section of the product adopts a polygonal structure, and the products can be relatively positioned by fitting together, which is not easy to deviate and is conducive to accurate positioning. The products in the ring-shaped arrangement unit are arranged with at least two surfaces facing outward, ensuring that the outer product to be assembled can fit with the two outward surfaces of the installed product inside from different directions to achieve relative positioning between the product to be assembled and the installed product; and the product always has two surfaces that can be used for clamping, and the surfaces after clamping are released form two outward surfaces.

[0021] Preferably, the cross section of the product is hexagonal in shape, and the annular arrangement unit is hexagonal in shape.

[0022] In this solution, a hexagonal structure is adopted, and the products are easy to stack and not easily shifted; the annular unit formed by the hexagonal products is also a hexagonal assembly, and the overall structure is stable.

[0023] Preferably, the assembly method further comprises a positioning step of positioning the product to be assembled, and the positioning step comprises:

[0024] Determine target spatial coordinates of products and / or installed products as assembly references;

[0025] The product to be installed is moved and assembled according to the target space coordinates.

[0026] In this solution, the assembly method implements the overall assembly by using the positioning of the assembly benchmark as a reference through the above positioning steps and then installing other products to be installed.

[0027] Preferably, the step of determining the target space coordinates of the product serving as the assembly reference and / or the installed product comprises:

[0028] Determining reference space coordinate information of the installation base plate;

[0029] Determine the relative position relationship of the physical guide element with respect to the mounting base plate to determine the relative spatial coordinate information of the physical guide element;

[0030] The target spatial coordinate information of the product serving as an assembly reference is determined based on the relative spatial coordinate information of the physical guide element, and / or the target spatial coordinate information of the installed product is determined based on the target spatial coordinate information of the product serving as an assembly reference.

[0031] In this solution, the above steps are combined with the coordinate information of two steps, namely, the reference space coordinate information of the installation base plate and the relative space coordinate information of the physical guide element, to determine the positioning of the product limited by the physical guide element on the entire assembly platform. The assembly method adopts the above positioning steps, and the positioning information is accurate and reliable, and the positioning accuracy is easy to ensure.

[0032] Preferably, the determining of the reference space coordinate information of the installation base plate includes:

[0033] The reference space coordinate information of the mounting base plate is determined by a measurement mark set on the mounting base plate, or by a measurement mark set outside the mounting base plate and the relative position relationship between the mounting base plate and the measurement mark.

[0034] In this solution, the above steps determine the reference space coordinate information of the mounting base plate based on the measurement mark on the mounting base plate, or the measurement mark outside the mounting base plate and the relative position relationship between the mounting base plate and the measurement mark. When products are stacked layer by layer, no matter whether the mounting base plate is covered or blocked by other obstructions, there are always measurement marks that can be identified by external measurement and monitoring equipment, ensuring the accuracy of the reference space coordinate information of the mounting base plate, thereby improving the reliability of accurate positioning.

[0035] Preferably, the step of performing an assembly step on the installation base plate or the installed layer to complete the assembly of the product of the current installation layer includes:

[0036] Performing the assembly step on the installation base plate or the installed layer to complete the assembly of the product of the previous installation layer;

[0037] Raising the physical guide element so that it is higher than the upper surface of the product of the previous installation layer;

[0038] The assembling steps are performed on the previous installation layer to complete the assembly of the products of the next installation layer.

[0039] In this solution, the assembly method uses a rising physical guide element, which always protrudes from the installation base plate or the product of the previous installation layer. The protruding part can limit the product of the next installation layer to ensure the accurate positioning of the product to be installed, thereby achieving the coordination of the upper and lower layer installation. This assembly method is simple and reliable in positioning between the upper and lower layers, and is also conducive to improving the efficiency of the positioning operation.

[0040] Preferably, a mounting hole is provided on the mounting base plate, and a core hole is provided on the product to be assembled, and the step of limiting a product serving as an assembly reference by raising the physical guide element on the upper surface of the mounting base plate or the mounted layer comprises:

[0041] The physical guide element is limited by passing through the mounting hole and into the product of the current mounting layer as the assembly reference.

[0042] In this solution, the assembly method uses a physical guide element to penetrate through the mounting hole of the mounting base plate below, and penetrate into the product of the current mounting layer as the assembly reference for positioning, thereby establishing the accurate positioning of the assembly reference product relative to the mounting base plate by physical contact, and the positioning method is more reliable.

[0043] Preferably, the assembly method further comprises a clamping step of clamping the product to be assembled, and the clamping step comprises:

[0044] The product to be assembled is clamped onto the installation base plate by a robot, wherein a signal identifier is installed on one of the robot and the physical guide element, and a signal transmitter is installed on the other, so that the signal identifier and the installed signal transmitter cooperate to align the clamped product with the physical guide element and limit the position.

[0045] In this scheme, the assembly method cooperates with the signal identifier and signal transmitter installed on the manipulator and the physical guide element, so that when the manipulator clamps the product and moves it to the installation base to be installed, it can quickly align the product with the physical guide element and limit the position, thereby improving the efficiency and accuracy of the positioning operation.

[0046] Preferably, the assembly method further comprises a clamping step of clamping the product to be assembled, and the clamping step comprises:

[0047] Moving the gripped product between the product storage bin and the mounting base by means of a manipulator, wherein the manipulator can perform movements in different directions;

[0048] The objects to be installed are identified by a binocular vision system installed on the robot, wherein the objects to be installed include products to be assembled and the installation base plate.

[0049] In this solution, the assembly method uses the manipulator to perform movements in different directions, which is convenient for adjusting the angle and position of the product to be clamped, thereby improving assembly efficiency. The binocular vision system installed on the manipulator identifies the object to be installed, and confirms the object to be installed by visual recognition, which is efficient and more intelligent.

[0050] An assembly system comprises a mounting base plate used in the above-mentioned assembly method, a plurality of products to be assembled, a robot for gripping and moving the products, and at least one physical guiding element.

[0051] In this solution, the assembly system improves the positioning accuracy and consistency of multi-layer product assembly by executing the installation base plate used in the above-mentioned assembly method, several products to be assembled, a robot for clamping and moving products, and at least one physical guiding element, thereby making the multi-layer product more stable as a whole.

[0052] Preferably, the mounting base plate is connected to the mounting platform of the nuclear reactor via at least two spaced-apart positioning members, and the positioning members are used as measurement marks to determine the reference space coordinate information of the mounting base plate;

[0053] The installation platform used for product assembly is provided with a measurement mark point outside the installation base plate, and the reference space coordinate information of the installation base plate is determined by the relative position relationship between the installation base plate and the measurement mark.

[0054] In the present solution, the mounting base plate uses the positioning parts provided above as measurement marks, and / or uses the measurement mark points provided by the mounting platform outside the mounting base plate and the relative position relationship between the mounting base plate and the measurement marks to determine the reference space coordinate information of the mounting base plate. When products are stacked layer by layer, no matter whether the mounting base plate is covered or obstructed by other obstructions, there are always measurement marks that can be identified by external measurement and monitoring equipment, ensuring that the reference space coordinate information of the mounting base plate is accurate, thereby improving the reliability of accurate positioning.

[0055] Preferably, a mounting hole is provided on the mounting base plate, a core hole is provided on the product to be assembled, and the physical guide element is configured to pass through the mounting hole and the core hole of each layer of product in sequence from below to limit the product.

[0056] In this solution, the assembly system uses physical guiding elements to penetrate the mounting holes of the mounting base plate and the core holes of each layer of products in sequence from the bottom, thereby establishing accurate positioning of the product relative to the mounting base plate by physical contact, and the positioning method is more reliable.

[0057] Preferably, one of the manipulator and the physical guide element is installed with a signal identifier, and the other is installed with a signal transmitter, and the signal identifier and the signal transmitter cooperate to align the physical guide element with the clamped product and limit the position.

[0058] In this solution, the assembly system cooperates with the signal identifier and signal transmitter installed on the manipulator and the physical guide element, so that when the manipulator clamps the product and moves it to the installation base to be installed, it can quickly align the product with the physical guide element and limit the position, thereby improving the efficiency and accuracy of the positioning operation.

[0059] Preferably, the manipulator is used to move the clamped product between the product storage bin and the mounting base, wherein the manipulator can perform movements in different directions;

[0060] The manipulator is equipped with a binocular vision system, and the binocular vision system is used to identify objects to be installed, wherein the objects to be installed include products to be assembled and a mounting base plate.

[0061] In this solution, the assembly system uses the manipulator to perform movements in different directions, which makes it easier to adjust the angle and position of the product to be clamped, thereby improving assembly efficiency. The binocular vision system installed on the manipulator identifies the object to be installed, and confirms the object to be installed by visual recognition, which is efficient and more intelligent.

[0062] The positive progressive effect of the present invention is that the assembly method and assembly system limit a product serving as an assembly reference by raising a physical guide element, thereby ensuring the accuracy of the assembly reference of each installation layer and the consistency of the assembly reference between the upper and lower layers; and then using the product serving as the assembly reference and / or the installed product as a reference to complete the assembly of other products, thereby realizing the assembly of all products, improving the positioning accuracy and consistency of the assembly of multi-layer products, and making the multi-layer products more stable as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 The figure is a flowchart of the operation steps of the assembly sequence according to an embodiment of the present invention.

[0064] Figure 2 It is a schematic front view of the structure of the assembly system of an embodiment of the present invention.

[0065] Figure 3 It is a schematic top view of the structure of an assembly system according to an embodiment of the present invention.

[0066] Figure 4 Schematic diagram of the structure of a clamping device according to an embodiment of the present invention.

[0067] Figure 5 It is a schematic structural diagram of an installation platform according to an embodiment of the present invention.

[0068] Figure 6 It is a schematic diagram of the arrangement structure of products on the installation base plate according to an embodiment of the present invention.

[0069] Figure 7 Schematic diagram of the assembly sequence of products in the ring arrangement unit according to an embodiment of the present invention.

[0070] Figure 8 It is a side view of the installation platform according to the embodiment of the present invention.

[0071] Fig. 9Schematic diagram of the clamping method of the clamping device according to an embodiment of the present invention.

[0072] Description of reference numerals:

[0073] Truss robot 1

[0074] Product 2

[0075] Side 21

[0076] Laser measuring instrument 3

[0077] Installing Platform 4

[0078] Install the base plate 5

[0079] Measurement mark 6

[0080] X-axis 14

[0081] Y axis 12

[0082] Z axis 7

[0083] Clamping device 8

[0084] Positioning piece 9

[0085] Ring arrangement unit 10

[0086] First time installation 101

[0087] Last installed position 102

[0088] Center Location 16

[0089] Transporter 11

[0090] Binocular Vision System13

[0091] Physical Guidance Components 15

[0092] Ground 17

[0093] Lifting platform 18 DETAILED DESCRIPTION

[0094] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0095] like Figure 1-Figure 9As shown, this embodiment provides an assembly method for installing the product 2 to be assembled layer by layer on the installation base plate. The product 2 to be assembled in this embodiment is a core element used in a nuclear reactor. The core element is specifically a cylindrical graphite rod. Graphite is a common neutron moderator and plays an important role in nuclear reactors. The installation base plate 5 is specifically a core base plate for assembling graphite. In the construction of a nuclear reactor, core elements such as graphite need to be installed layer by layer on the core base plate. However, the product 2 to be assembled is not limited to graphite, nor is it limited to other core elements. Depending on the application of the nuclear reactor or other product assembly, the product 2 to be assembled can also be other materials besides graphite.

[0096] The assembly method includes performing an assembly step on the installation base plate 5 or the installed layer to complete the assembly of the product 2 of the current installation layer. The above assembly step includes one or more assembly sequences, each of which assembles at least a part of the product 2 of the current installation layer. Figure 1 As shown, the assembly sequence includes:

[0097] S1, limiting a product 2 serving as an assembly reference by raising the physical guide element 15 on the upper surface of the mounting base plate 5 or the mounted layer;

[0098] S2. Complete the assembly of other products 2 in the assembly sequence using the product 2 serving as the assembly benchmark and / or the installed product 2 as a reference.

[0099] When this assembly method is applied, the first layer of graphite rods is installed according to Figure 1 The steps of the assembly sequence are to assemble a plurality of graphite rods on the mounting base plate 5, and then the second layer of graphite rods is based on the first layer of graphite rods, also in accordance with Figure 1 The steps of the assembly sequence are to assemble a plurality of graphite rods on the first layer of graphite rods, and so on, until the number of assembled layers reaches the requirement.

[0100] The products 2 assembled on the mounting base 5 can have different shapes and structures, and the whole formed by stacking all the products 2 can also have different shapes, and the stacked whole can be large or small. Therefore, when applying the assembly method, according to the needs of the assembly effect, the above assembly steps of each layer can be completed in one assembly sequence or in multiple assembly sequences. When there are multiple assembly sequences, each assembly sequence can use a different starting position or a different order to stack into the required shape structure, for example, Figure 3 The hexagonal structure shown.

[0101] In the assembly method, each assembly series limits a product 2 serving as an assembly reference by raising a physical guide element 15, thereby ensuring the accuracy of the assembly reference of each installation layer and the consistency of the assembly reference between the upper and lower layers; and then uses the product 2 serving as the assembly reference and / or the installed product 2 as a reference to complete the assembly of other products 2, thereby achieving the positioning accuracy of all assembled products 2. The assembly method improves the positioning accuracy and consistency of the assembly of multi-layer products 2 through the assembly sequence formed by the above steps, thereby making the multi-layer product 2 more stable as a whole.

[0102] When there are multiple assembly sequences, the multiple assembly sequences are performed simultaneously or separately. When multiple assembly sequences are performed simultaneously, the assembly efficiency can be improved; and when multiple assembly sequences are performed separately, interference between the multiple assembly sequences can be avoided, which is beneficial to positioning accuracy.

[0103] Furthermore, multiple assembly sequences are executed in sequence, and the product 2 assembled in the later assembly sequence is located outside the product 2 assembled in the earlier assembly sequence. Through the above method, multiple assembly sequences avoid interference between the later assembled product 2 and the earlier assembled product 2, and assemble all products 2 in a layered manner in space, which is conducive to the positioning accuracy between the inner and outer layers.

[0104] In the above-mentioned assembly steps, the assembly is achieved by assembling a plurality of annular arrangement units 10 sequentially from the inside to the outside, wherein each annular arrangement unit 10 is formed by annularly arranging the product 2 to be assembled through one or more assembly sequences. Figure 6 and Figure 7 As shown, in this embodiment, in the assembly step of each layer of product 2, six annular arrangement units 10 and a product 2 at the center position 16 are assembled in sequence from the inside to the outside, and each annular arrangement unit 10 is a hexagon. In the assembly of each hexagonal annular arrangement unit 10, it can be arranged by an assembly sequence. In this assembly sequence, it includes a first installation position 101 and a last installation position 102. During assembly, the first installation position 101 is used as the starting point, and the last installation position 102 is assembled from both sides at the same time. In the assembly of each hexagonal annular arrangement unit 10, multiple assembly sequences can also be arranged. For example, each side of the hexagon is used as an assembly sequence, and the annular arrangement unit 10 is arranged by six assembly sequences. This assembly step realizes the assembly in the form of annular arrangement units 10, forming a closed and tight arrangement, which is conducive to improving the stability of the overall assembly.

[0105] Furthermore, if Fig. 9As shown, the cross section of the product 2 is in a polygonal shape, and at least two side surfaces 21 of the product 2 in the annular arrangement unit 10 face outward. The cross section of the product 2 is in a polygonal structure, and the products 2 can be relatively positioned in a fitted manner, which is not easy to deviate and is conducive to accurate positioning. The product 2 in the annular arrangement unit 10 is arranged with at least two surfaces facing outward, ensuring that the outer product 2 to be assembled can fit with the two outward surfaces of the inner installed product 2 from different directions to achieve relative positioning between the product 2 to be assembled and the installed product 2; and the product 2 always has two surfaces that can be used for clamping, and the surfaces after the clamping is released form two outward surfaces.

[0106] In this embodiment, product 2 is a graphite rod. The cross section of a common graphite rod is a hexagonal shape, and the stacked annular unit is also a hexagonal shape. In other embodiments, graphite rods or other products 2 can also be processed into other shapes, such as square or triangle, etc., as needed; but a single product 2 using a hexagonal structure is a better choice, and the products 2 are easy to stack and not easy to shift; the annular unit formed by the hexagonal product 2 is also a hexagonal assembly, and the overall structure is stable.

[0107] In this embodiment, a plurality of mounting holes are opened on the mounting base plate 5, and a core hole is opened on the product 2, that is, each graphite rod is provided with a core hole, and the above step S1 includes:

[0108] The physical guide element 15 passes through the mounting hole and into the product 2 serving as the assembly reference of the current mounting layer to limit the position.

[0109] This assembly method uses a physical guide element 15 to penetrate through the mounting hole of the mounting base plate 5 located below, and penetrate into the product 2 serving as the assembly reference in the current mounting layer for positioning, thereby establishing the accurate positioning of the assembly reference product 2 relative to the mounting base plate 5 by physical contact, and the positioning method is more reliable.

[0110] The assembly method further includes a positioning step for positioning the product 2 to be assembled, and the positioning step includes:

[0111] Determine target spatial coordinates of the product 2 and / or the installed product 2 as an assembly reference;

[0112] The product 2 to be installed is moved according to the target space coordinates and assembled.

[0113] The assembly method implements the overall assembly by using the positioning of the assembly benchmark as a reference through the above positioning steps and then installing other products 2 to be installed.

[0114] The step of determining the target space coordinates of the product 2 and / or the installed product 2 as the assembly reference includes:

[0115] Determine the reference space coordinate information of the installation base plate 5;

[0116] Determine the relative position relationship of the physical guide element 15 with respect to the mounting base plate 5 to determine the relative spatial coordinate information of the physical guide element 15;

[0117] The target spatial coordinate information of the product 2 serving as the assembly reference is determined based on the relative spatial coordinate information of the physical guide element 15, and / or the target spatial coordinate information of the installed product 2 is determined based on the target spatial coordinate information of the product 2 serving as the assembly reference.

[0118] The coordinate information formed by the above steps in two steps, namely the combination of the reference space coordinate information of the installation base plate 5 and the relative space coordinate information of the physical guide element 15, determines the positioning of the product 2 limited by the physical guide element 15 on the entire assembly platform. The assembly method adopts the above positioning steps, the positioning information is accurate and reliable, and the positioning accuracy is easy to ensure.

[0119] Among them, the above-mentioned step of "determining the reference space coordinate information of the mounting base plate 5" includes: determining the reference space coordinate information of the mounting base plate 5 through a measurement mark set on the mounting base plate 5, or determining the reference space coordinate information of the mounting base plate 5 through a measurement mark 6 set outside the mounting base plate 5 and the relative position relationship between the mounting base plate 5 and the measurement mark 6.

[0120] Specifically, Figure 3 and Figure 5As shown, three positioning members 9 arranged through spacer rings on the mounting base plate 5 are connected to the platform base of the mounting platform 4, and three measurement marks 6 are also arranged through spacer rings on the platform base. During positioning, if the product 2 assembled on the mounting base plate 5 does not block the positioning members 9, the three positioning members 9 on the mounting base plate 5 can be used as measurement marks, and cooperate with the measurement identification device (not shown) arranged above the mounting platform 4 to determine the reference space coordinate information of the mounting base plate 5; if the surface of the mounting base plate 5 is covered or blocked by other obstructions, the positioning members 9 cannot be used as measurement marks 6, but the three measurement marks 6 on the platform base are used to cooperate with the measurement identification device arranged above the mounting platform 4 to determine the reference space coordinate information of the mounting base plate 5. In other embodiments, there are many technical means to determine the reference space coordinate information of the installation base plate 5, for example, the graphite as the product 2 is identified by the principle of image recognition to monitor the position of each assembled graphite, but this method is interfered by the black color on the graphite surface and cannot accurately determine the reference space coordinate information of the installation base plate 5. Therefore, it is not as good as the present embodiment to determine the reference space coordinate information of the installation base plate 5 through the above steps with the measurement mark 6 on the installation base plate 5, or the measurement mark 6 outside the installation base plate 5 and the relative position relationship between the installation base plate 5 and the measurement mark 6. With the positioning method of this embodiment, when the products 2 are stacked layer by layer, no matter whether the installation base plate 5 is covered or blocked by other obstructions, there is always a measurement mark 6 that can be identified by the external measurement and monitoring equipment, ensuring the accuracy of the reference space coordinate information of the installation base plate 5, thereby improving the reliability of accurate positioning.

[0121] In this embodiment, the method for determining the relative position relationship of the physical guide element 15 with respect to the mounting base plate 5 is to pass the physical guide element 15 through the mounting base plate 5, thereby determining the relative spatial coordinate information of the physical guide element 15, and then determining the relative spatial coordinate information of the product 2 with respect to the mounting base plate 5.

[0122] Among them, Figure 8 As shown, in the assembly steps of the upper and lower layers, that is, the steps of performing the assembly steps on the installation base plate 5 or the installed layer to complete the assembly of the product 2 of the current installation layer include:

[0123] Performing an assembly step on the installation base plate 5 or the installed layer to complete the assembly of the product 2 of the previous installation layer;

[0124] Raise the physical guide element 15 so that it is higher than the upper surface of the product 2 of the previous installation layer;

[0125] The assembly steps are performed on the previous installation layer to complete the assembly of the product 2 of the next installation layer.

[0126] The assembly method uses the method of raising the physical guide element 15, which always protrudes from the installation base plate 5 or the product 2 of the previous installation layer. The protruding part can limit the position of the product 2 of the next installation layer to ensure the accurate positioning of the product 2 to be installed, thereby achieving the coordination of the upper and lower layer installation. This assembly method is simple and reliable in positioning between the upper and lower layers, and is also conducive to improving the efficiency of the positioning operation.

[0127] The assembly method further includes a clamping step of clamping the product 2 to be assembled, and the clamping step includes: clamping the product 2 to the mounting base plate 5 by a manipulator, wherein a signal identifier (not shown in the figure) is installed on one of the manipulator and the physical guide element 15, and a signal transmitter (not shown in the figure) is installed on the other, so that the signal identifier and the installed signal transmitter cooperate to align the clamped product 2 with the physical guide element 15 and limit the position. In this embodiment, the signal identifier is specifically a laser sensor, which is installed on the clamping device 8 of the manipulator, and the signal transmitter is specifically a laser transmitter, which is installed on the top of the physical guide element 15.

[0128] This assembly method cooperates with the signal identifier and signal transmitter installed on the manipulator and the physical guide element 15, so that when the manipulator clamps the product 2 and moves it to the installation base plate 5 to be installed, it can quickly align the product 2 with the physical guide element 15 and limit the position, thereby improving the efficiency and accuracy of the positioning operation.

[0129] Furthermore, the clamping step further comprises:

[0130] Moving the gripped product 2 between the storage bin of the product 2 and the mounting base 5 by means of a manipulator, wherein the manipulator can perform movements in different directions;

[0131] And / or, the object to be installed is identified by a binocular vision system 13 installed on the robot, wherein the object to be installed includes the product 2 and the installation base plate 5.

[0132] The assembly method uses the manipulator to perform movements in different directions, which is convenient for adjusting the angle and position of the product 2 to be clamped, thereby improving assembly efficiency. The binocular vision system 13 installed on the manipulator identifies the object to be installed, and confirms the object to be installed by visual recognition, which is efficient and more intelligent.

[0133] In other embodiments, when a signal identifier and a signal transmitter are installed on the manipulator and the physical guide element 15, the binocular vision system 13 may be omitted, and the product 2 to be assembled can be installed on the mounting base plate 5 by relying on the accurate movement of the manipulator and the cooperation of the signal identifier and the signal transmitter; or, positioning assembly can be achieved by other means.

[0134] like Figure 2-Figure 5and Figure 8 As shown, this embodiment also provides an assembly system, which includes the installation base plate 5 used in the above-mentioned assembly method, a plurality of products 2 to be assembled, a laser measuring instrument 3, a manipulator for clamping and moving the product 2, and a plurality of physical guide elements 15. The installation base plate 5 is placed on the installation platform 4 of the nuclear reactor, the manipulator includes a clamping device 8 and a truss robot 1, and the physical guide element 15 is specifically a guide rod, which is installed on a lifting platform 18 below the ground 17. The graphite rod to be installed is placed on the transport vehicle 11, and the clamping device 8 is installed on the truss robot 1, and can perform various movements in different directions on the truss robot 1. The clamping device 8 moves to the transport vehicle 11 to clamp the graphite rod, and then moves to the installation platform 4. Through the guide limit of the guide rod, the graphite rod is stacked on the installation base plate 5 on the installation platform 4 for assembly. The edge of the installation platform 4 is provided with a laser measuring instrument 3, and the laser measuring instrument 3 emits laser to the product to measure the installation parameters of the product.

[0135] The assembly system improves the positioning accuracy and consistency of the assembly of the multi-layer product 2 by executing the mounting base plate 5, several products 2, a robot for clamping and moving the product 2, and at least one physical guiding element 15 used in the above-mentioned assembly method, thereby making the multi-layer product 2 more stable as a whole.

[0136] Among them, Figure 5 As shown, the mounting base plate 5 is connected to the mounting platform 4 of the nuclear reactor through at least two spaced positioning members 9, and the positioning members 9 are used as measurement marks 6 to determine the reference space coordinate information of the mounting base plate 5;

[0137] And / or, the installation platform 4 of the nuclear reactor is provided with a measurement mark 6 point outside the installation base plate 5 , and the reference space coordinate information of the installation base plate 5 is determined by the relative position relationship between the installation base plate 5 and the measurement mark 6 .

[0138] During positioning, if the product 2 assembled on the mounting base plate 5 does not block the positioning piece 9, the three positioning pieces 9 on the mounting base plate 5 can be used as measurement marks 6, in cooperation with a measurement and identification device (not shown) provided above the mounting platform 4, to determine the reference space coordinate information of the mounting base plate 5; if the surface of the mounting base plate 5 is covered or blocked by other obstructions, the positioning piece 9 cannot be used as a measurement mark 6, but the three measurement marks 6 on the platform base are used in cooperation with a measurement and identification device provided above the mounting platform 4 to determine the reference space coordinate information of the mounting base plate 5.

[0139] In other embodiments, there are various technical means for determining the reference space coordinate information of the mounting base plate 5. For example, the graphite as the product 2 is identified by the principle of image recognition to monitor the position of each assembled graphite. However, this method is interfered by the black color on the graphite surface and cannot accurately determine the reference space coordinate information of the mounting base plate 5. Therefore, it is not as good as the technical solution of this embodiment. The mounting base plate 5 uses the positioning member 9 set up as the measurement mark 6, and / or the measurement mark 6 points set outside the mounting base plate 5 by the mounting platform 4 and the relative position relationship between the mounting base plate 5 and the measurement mark 6 to determine the reference space coordinate information of the mounting base plate 5. When the products 2 are stacked layer by layer, no matter whether the mounting base plate 5 is covered or blocked by other obstructions, there is always a measurement mark 6 that can be identified by the external measurement and monitoring equipment, ensuring that the reference space coordinate information of the mounting base plate 5 is accurate, thereby improving the reliability of accurate positioning.

[0140] Among them, the mounting base plate 5 is provided with a mounting hole, the product 2 is provided with a core hole, and the physical guide element 15 is arranged to sequentially pass through the mounting hole and the core hole of each layer of product 2 from below to limit the position of the product 2. The assembly system uses the physical guide element 15 to penetrate the mounting hole of the mounting base plate 5 and the core hole of each layer of product 2 from below, thereby establishing the accurate positioning of the product 2 relative to the mounting base plate 5 in a physical contact manner, and the positioning method is more reliable.

[0141] Among them, one of the manipulator and the physical guide element 15 is equipped with a signal identifier (not shown in the figure), and the other is equipped with a signal transmitter (not shown in the figure). Specifically, in this embodiment, a laser sensor is installed on the clamping device 8 of the manipulator to receive laser signals, and a laser transmitter is provided at the top of the physical guide element 15 (i.e., the guide rod). The laser sensor and the laser transmitter cooperate to align the physical guide element 15 with the clamped product 2 and limit the position.

[0142] The assembly system cooperates with the signal identifier and signal transmitter installed on the manipulator and the physical guide element 15, so that when the manipulator clamps the product 2 and moves it to the installation base plate 5 to be installed, it can quickly align the product 2 with the physical guide element 15 and limit the position, thereby improving the efficiency and accuracy of the positioning operation.

[0143] The manipulator moves the clamped product 2 between the storage bin of the product 2 and the mounting base plate 5 through the truss robot 1, wherein the truss robot 1 includes an X-axis 14, a Y-axis 12 and a Z-axis 7, and can perform movements in different directions.

[0144] The clamping device 8 of the manipulator is equipped with a binocular vision system 13 , and the binocular vision system 13 is used to identify objects to be installed, wherein the objects to be installed include the product 2 and the installation base plate 5 .

[0145] The assembly system uses the manipulator to perform movements in different directions, which is convenient for adjusting the angle and position of the product 2 to be clamped, thereby improving assembly efficiency. The binocular vision system 13 installed on the manipulator identifies the object to be installed, and confirms the object to be installed by visual recognition, which is efficient and more intelligent.

[0146] The manipulator can have different structural forms. In other embodiments, the manipulator can also be an integrated device, which can have the function of the truss robot 1 for movement and the function of the clamping device 8 for clamping the product 2. In the case where the signal identifier and the signal transmitter are installed on the manipulator and the physical guide element 15, the binocular vision system 13 can be omitted. The product 2 to be assembled can be installed on the installation base plate 5 by relying on the accurate movement of the manipulator and the cooperation of the signal identifier and the signal transmitter; or, positioning assembly can be achieved by other means.

[0147] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. An assembly method for installing the products to be assembled layer by layer on a mounting base plate, characterized in that: The assembly method comprises performing an assembly step on the installation base plate or the installed layer to complete the assembly of the products of the current installation layer, wherein the assembly step comprises one or more assembly sequences, each of which assembles at least a part of the products of the current installation layer respectively, and the assembly sequence comprises: Limiting a product serving as an assembly reference by raising the physical guide element of the mounting base plate or the upper surface of the mounted layer; The assembly of other products in the assembly sequence is completed using the product serving as the assembly benchmark and / or the installed product as a reference.

2. The assembly method according to claim 1, characterized in that: The plurality of assembly sequences are performed simultaneously or separately.

3. The assembly method according to claim 1, characterized in that: The plurality of assembly sequences are executed sequentially, and the products assembled in the subsequent assembly sequence are located outside the products assembled in the previous assembly sequence.

4. The assembly method according to claim 1, characterized in that: In the assembling step, the assembly is achieved by assembling a plurality of annular arrangement units in sequence from the inside to the outside, wherein each of the annular arrangement units is formed by annularly arranging the products to be assembled through one or more of the assembly sequences.

5. The assembly method according to claim 4, characterized in that: The cross section of the product is in a polygonal shape, and at least two surfaces of the product in the annular arrangement unit face outwards.

6. The assembly method according to claim 4, characterized in that: The cross section of the product is in a hexagonal shape, and the annular arrangement unit is in a hexagonal shape.

7. The assembly method according to any one of claims 1 to 6, characterized in that: The assembly method further comprises a positioning step of positioning the product to be assembled, the positioning step comprising: Determine target spatial coordinates of products and / or installed products as assembly references; The product to be installed is moved and assembled according to the target space coordinates.

8. The assembly method according to claim 7, characterized in that: The step of determining the target space coordinates of the product serving as the assembly reference and / or the installed product comprises: Determining reference space coordinate information of the installation base plate; Determine the relative position relationship of the physical guide element with respect to the mounting base plate to determine the relative spatial coordinate information of the physical guide element; The target spatial coordinate information of the product serving as an assembly reference is determined based on the relative spatial coordinate information of the physical guide element, and / or the target spatial coordinate information of the installed product is determined based on the target spatial coordinate information of the product serving as an assembly reference.

9. The assembly method according to claim 8, characterized in that: The determining of the reference space coordinate information of the installation base plate includes: The reference space coordinate information of the mounting base plate is determined by a measurement mark set on the mounting base plate, or by a measurement mark set outside the mounting base plate and the relative position relationship between the mounting base plate and the measurement mark.

10. The assembly method according to claim 1, characterized in that: The step of performing an assembly step on the installation base plate or the installed layer to complete the product assembly of the current installation layer includes: Performing the assembly steps on the installation base plate or the installed layer to complete the product assembly of the previous installation layer; Raising the physical guide element so that it is higher than the upper surface of the product of the previous installation layer; The assembly steps are performed on the previous installation layer to complete the product assembly of the next installation layer.

11. The assembly method according to claim 1, characterized in that: A mounting hole is formed on the mounting base plate, and a core hole is formed on the product to be assembled. The step of limiting a product as an assembly reference by raising the physical guide element on the upper surface of the mounting base plate or the mounted layer comprises: The physical guide element is limited by passing through the mounting hole and into the product of the current mounting layer as the assembly reference.

12. The assembly method according to claim 1, characterized in that: The assembly method further comprises a clamping step of clamping the product to be assembled, wherein the clamping step comprises: The product to be assembled is clamped onto the installation base plate by a robot, wherein a signal identifier is installed on one of the robot and the physical guide element, and a signal transmitter is installed on the other, so that the signal identifier and the installed signal transmitter cooperate to align the clamped product with the physical guide element and limit the position.

13. The assembly method according to claim 1, characterized in that: The assembly method further comprises a clamping step of clamping the product to be assembled, wherein the clamping step comprises: Moving the gripped product between the product storage bin and the mounting base by means of a manipulator, wherein the manipulator can perform movements in different directions; The objects to be installed are identified by a binocular vision system installed on the robot, wherein the objects to be installed include products to be assembled and the installation base plate.

14. An assembly system, characterized in that: The assembly system includes a mounting base plate used in the assembly method according to any one of claims 1 to 13, a plurality of products to be assembled, a robot for gripping and moving products, and at least one physical guiding element.

15. The assembly system according to claim 14, characterized in that: The mounting base plate is connected to the mounting platform via at least two spaced positioning members, and the positioning members are used as measurement marks to determine the reference space coordinate information of the product to be assembled; The installation platform used for product assembly is provided with a measurement mark point outside the installation base plate, and the reference space coordinate information of the installation base plate is determined by the relative position relationship between the installation base plate and the measurement mark.

16. The assembly system of claim 14, wherein: The mounting base plate is provided with a mounting hole, the product to be assembled is provided with a core hole, and the physical guide element is configured to pass through the mounting hole and the core hole of each layer of product in sequence from below to limit the product.

17. The assembly system of claim 14, wherein: One of the manipulator and the physical guide element is equipped with a signal identifier, and the other is equipped with a signal transmitter. The signal identifier and the signal transmitter cooperate to enable the physical guide element to align with the clamped product and limit the position.

18. The assembly system of claim 14, wherein: The manipulator is used to move the clamped product between the product storage bin and the mounting base, wherein the manipulator can perform movements in different directions; The manipulator is equipped with a binocular vision system, and the binocular vision system is used to identify objects to be installed, wherein the objects to be installed include products to be assembled and a mounting base plate.

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