Assembly method and assembly system

Abstract

The present invention discloses an assembly method and an assembly system for layer-by-layer mounting of a product to be assembled on a mounting base plate, which includes performing an assembly step on the mounting base plate or the already mounted layer to complete the assembly of the product on the current mounting layer. Among them, the assembly step includes one or more assembly sequences, and each assembly sequence respectively assembles at least a part of the product on the current mounting layer. The assembly sequence includes: limiting a product serving as an assembly reference by raising a physical guiding element on the upper surface of the mounting base plate or the already mounted layer; and completing the assembly of other products in the assembly sequence with the product serving as an assembly reference and / or the already mounted products as references. This assembly method and assembly system improve the positioning accuracy and consistency of multi-layer product assembly, thereby making the multi-layer products more stable as a whole.

Description

Technical Field

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

[0002] As a neutron moderator, graphite plays an important role in nuclear reactors. During the installation of a nuclear reactor, as a core component, graphite is installed layer by layer on the core bottom plate, and the core holes of the upper and lower layers of graphite communicate with each other to form a molten salt channel for pouring molten salt. In the traditional installation process of graphite components, the following difficulties and defects exist:

[0003] Due to the large weight of the core graphite components and the high matching accuracy required for the molten salt channels, there is a lack of precise positioning during the installation process of graphite components, which easily leads to the offset of the molten salt channels between the layers of graphite.

[0004] Graphite is brittle and easily damaged by bumps. Therefore, during the installation process of graphite components, a force control method is usually used for positioning. However, the lateral force caused by force control will cause the displacement of the previously installed graphite components and result in positioning problems, or increase the extrusion force between graphite components, thus affecting the assembly quality of graphite.

[0005] During the existing automated installation process of cylindrical graphite, a vision sensor is usually used for positioning. However, the black surface of the entire graphite component makes the boundary features unclear, increasing the misrecognition rate of the sensor and thus causing assembly accidents.

[0006] When assembling multi-layer products such as graphite using the prior art, there are problems of poor positioning accuracy and consistency, seriously affecting the quality and efficiency of product assembly. Summary of the Invention

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

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

[0009] An assembly method for layer-by-layer installation of products to be assembled on an installation bottom plate. The assembly method includes performing an assembly step on the installation bottom plate or the installed layer to complete the assembly of the products on the current installation layer. Among them, the assembly step includes one or more assembly sequences, and each assembly sequence respectively assembles at least a part of the products on the current installation layer. The assembly sequence includes:

[0010] Limiting a product serving as an assembly reference by raising a physical guiding element on the upper surface of the installation bottom plate or the installed layer;

[0011] Taking the product used as the assembly reference and / or the installed product as a reference, complete the assembly of other products in the assembly sequence.

[0012] In this solution, each assembly series limits a product used as the assembly reference by raising the physical guiding element, ensuring the accuracy of the assembly reference for each installation layer and the consistency of the assembly reference between the upper and lower layers; then, taking the product used as the assembly reference and / or the installed product as a reference, complete the assembly of other products, thereby achieving the positioning accuracy of all assembled products. The assembly method improves the positioning accuracy and consistency of the multi-layer product assembly through the assembly sequence constituted by the above steps, making the multi-layer product more stable as a whole.

[0013] Preferably, multiple said assembly sequences are carried out simultaneously or separately.

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

[0015] Preferably, multiple said assembly sequences are executed in sequence one by one, and the products assembled in the subsequent assembly sequence are located outside the products assembled in the previous assembly sequence.

[0016] In this solution, through the above method, multiple assembly sequences avoid interference between the products assembled later and the products assembled earlier, and achieve the assembly of all products in a way of surrounding layer by layer in space, which is beneficial to the positioning accuracy between the inner and outer layers.

[0017] Preferably, in the assembly step, the assembly is achieved through multiple annular arrangement units assembled in sequence from the inside to the outside, where each said annular arrangement unit is formed by arranging the products to be assembled through one or more said assembly sequences in an annular shape.

[0018] In this solution, the assembly step is achieved in the form of annular arrangement units, forming a closed and dense arrangement, which is beneficial to improving the stability of the overall assembly.

[0019] Preferably, the cross-section of the product is in the shape of a polygon, and at least two faces of the products in the annular arrangement unit face outward.

[0020] In this solution, the cross-section of the product adopts a polygonal structure, and the products can be positioned relative to each other in a fitting manner, which is not easy to shift and is beneficial to accurate positioning. The products in the annular arrangement unit are arranged with at least two faces facing outwards, ensuring that the products to be assembled on the outside can fit with the two outward-facing surfaces of the products already installed on the inside from different directions, realizing the relative positioning between the products to be assembled and the products already installed; and there are always two faces of the product available for clamping, and the surfaces after the clamping is released form two outward-facing surfaces.

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

[0022] In this solution, by adopting a hexagonal structure, the products are easy to stack and not easy to shift positions; the annular unit composed of hexagonal products is also a hexagonal combination, and the overall structure is stable.

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

[0024] Determining the target space coordinates of the product used as the assembly reference and / or the products already installed;

[0025] Moving the product to be installed according to the target space coordinates and performing the assembly.

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

[0027] Preferably, the step of determining the target space coordinates of the product used as the assembly reference and / or the products already installed includes:

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

[0029] Determining the relative position relationship of the physical guiding element relative to the installation base plate to determine the relative space coordinate information of the physical guiding element;

[0030] Determining the target space coordinate information of the product used as the assembly reference according to the relative space coordinate information of the physical guiding element, and / or determining the target space coordinate information of the products already installed according to the target space coordinate information of the product used as the assembly reference.

[0031] In this solution, the above steps combine the coordinate information composed of two steps, namely the reference space coordinate information of the mounting base plate and the relative space coordinate information of the physical guiding element, to determine the positioning of the product limited by the physical guiding element on the entire assembly platform. This assembly method adopts the above positioning steps, with accurate and reliable positioning information, and it is easy to ensure the positioning accuracy.

[0032] Preferably, the determination of the reference space coordinate information of the mounting base plate includes:

[0033] Determining the reference space coordinate information of the mounting base plate through the measurement marks set on the mounting base plate, or determining the reference space coordinate information of the mounting base plate through the measurement marks set outside the mounting base plate and the relative position relationship between the mounting base plate and the measurement marks.

[0034] In this solution, the above steps use the measurement marks on the mounting base plate, or the measurement marks 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. In the case of stacking products layer by layer, no matter whether the mounting base plate is covered or blocked by other objects, there are always measurement marks that can be recognized by external measurement monitoring equipment, ensuring the accuracy of the reference space coordinate information of the mounting base plate, and thus improving the reliability of accurate positioning.

[0035] Preferably, the steps of performing the assembly steps on the mounting base plate or the installed layer to complete the assembly of the product on the current installed layer include:

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

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

[0038] Performing the assembly steps on the previous installed layer to complete the assembly of the product on the next installed layer.

[0039] In this solution, this assembly method always protrudes from the mounting base plate or the product on the previous installed layer by raising the physical guiding element. The protruding part can limit the product on the next installed layer to ensure the accurate positioning of the product to be installed, thus realizing the cooperation of upper and lower layer installations. This assembly method has a simple and reliable positioning method between the upper and lower layers, and is also beneficial to improving the efficiency of positioning operations.

[0040] Preferably, mounting holes are opened on the mounting base plate, and core holes are opened on the product to be assembled. The step of limiting a product as an assembly reference by raising the physical guiding element on the upper surface of the mounting base plate or the installed layer includes:

[0041] The physical guiding element passes through the mounting hole and is limited by the product serving as the assembly reference in the current mounting layer.

[0042] In this solution, the assembly method passes through the mounting hole of the mounting base plate located below in the way of the physical guiding element perforating, and penetrates into the product serving as the assembly reference in the current mounting layer for limiting, thereby establishing the accurate positioning of the product serving as the assembly reference relative to the mounting base plate in a physical contact manner, and the positioning method is more reliable.

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

[0044] The product to be assembled is clamped by the manipulator onto the mounting base plate. Among them, one of the signal recognizers is installed on the manipulator and the other is the signal transmitter on the physical guiding element, so that the signal recognizer and the signal transmitter cooperate to align the clamped product with the physical guiding element for limiting.

[0045] In this solution, the assembly method cooperates with the signal recognizer and the signal transmitter installed on the manipulator and the physical guiding element, so that when the manipulator clamps the product and moves it to the mounting base plate to be installed, the product can be quickly aligned with the physical guiding element for limiting, improving the efficiency and accuracy of the positioning operation.

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

[0047] The clamped product is moved between the storage bin of the product and the mounting base plate by the manipulator, wherein the manipulator can perform movements in different directions;

[0048] The object to be installed is recognized by the binocular vision system installed on the manipulator, and the object to be installed includes the product to be assembled and the mounting base plate.

[0049] In this solution, the assembly method performs movements in different directions by the manipulator, which is convenient for adjusting the angle and position of the clamped product and improves the assembly efficiency. The object to be installed is recognized by the binocular vision system installed on the manipulator, and the object to be installed is confirmed in a visual recognition manner, with high efficiency and more intelligent.

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

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

[0052] Preferably, the mounting base plate is connected to the installation platform of the nuclear reactor through at least two positioning members arranged at intervals, and the reference space coordinate information of the mounting base plate is determined using the positioning members as measurement marks.

[0053] The installation platform for product assembly has measurement mark points outside the mounting base plate, and the reference space coordinate information of the mounting base plate is determined based on the relative position relationship between the mounting base plate and the measurement marks.

[0054] In this solution, the reference space coordinate information of the mounting base plate is determined by using the positioning members set above as measurement marks, and / or by the measurement mark points set outside the mounting base plate on the installation platform and the relative position relationship between the mounting base plate and the measurement marks. In the case of stacking products layer by layer, no matter whether the mounting base plate is covered or blocked by other objects, there are always measurement marks that can be recognized by external measurement monitoring equipment, ensuring the accuracy of the reference space coordinate information of the mounting base plate, thus improving the reliability of positioning accuracy.

[0055] Preferably, mounting holes are provided on the mounting base plate, core holes are provided on the products to be assembled, and the physical guiding element is arranged to sequentially pass through the mounting holes and the core holes of each layer of products from below to limit the products.

[0056] In this solution, the assembly system passes through the mounting holes of the mounting base plate and the core holes of each layer of products in sequence from below in the way of the physical guiding element piercing, thereby establishing an accurate positioning of the products relative to the mounting base plate in a physical contact manner, and the positioning method is more reliable.

[0057] Preferably, a signal recognizer is installed on one of the manipulator and the physical guiding element, and a signal transmitter is installed on the other. The signal recognizer and the signal transmitter cooperate to align the physical guiding element with the gripped product and limit it.

[0058] In this solution, the assembly system is coordinated by the signal recognizer and the signal transmitter installed on the manipulator and the physical guiding element, so that when the manipulator grips the product and moves it to the mounting base plate to be installed, it can quickly align the product with the physical guiding element and limit it, improving the efficiency and accuracy of the positioning operation.

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

[0060] A binocular vision system is installed on the manipulator, and the binocular vision system is used to identify the object to be installed, wherein the object to be installed includes the product to be assembled and the mounting base plate.

[0061] In this solution, the assembly system performs movements in different directions through the manipulator, which facilitates adjusting the angle and position of the clamped product and improves the assembly efficiency. The object to be installed is identified by the binocular vision system installed on the manipulator, and the object to be installed is confirmed in a visual recognition manner, with high efficiency and greater intelligence.

[0062] The positive and progressive effects of the present invention are as follows: The assembly method and the assembly system limit a product serving as an assembly reference by raising the physical guiding element, ensuring the accuracy of the assembly reference for each installation layer and the consistency of the assembly reference between the upper and lower layers; 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 multi-layer product assembly, and making the multi-layer product more stable as a whole. Description of the Drawings

[0063] Figure 1 It is a flowchart of the operation steps of the assembly sequence of the embodiment of the present invention.

[0064] Figure 2 It is a main structural schematic view of the assembly system of the embodiment of the present invention.

[0065] Figure 3 It is a top structural schematic view of the assembly system of the embodiment of the present invention.

[0066] Figure 4 It is a structural schematic view of the clamping device of the embodiment of the present invention.

[0067] Figure 5 It is a structural schematic view of the mounting platform of the embodiment of the present invention.

[0068] Figure 6 It is a structural schematic view of the arrangement of products on the mounting base plate of the embodiment of the present invention.

[0069] Figure 7 It is a schematic diagram of the assembly sequence of products in the annular arrangement unit of the embodiment of the present invention.

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

[0071] Figure 9Schematic diagram of the clamping method of the clamping device according to the 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] Installation platform 4

[0078] Installation 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 member 9

[0085] Annular arrangement unit 10

[0086] First installation position 101

[0087] Last installation position 102

[0088] Center position 16

[0089] Transport vehicle 11

[0090] Binocular vision system 13

[0091] Physical guiding element 15

[0092] Ground 17

[0093] Lifting platform 18 Detailed implementation manners

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

[0095] As Figures 1-9As shown, this embodiment provides an assembly method for layer-by-layer installing a product 2 to be assembled on an installation base plate. The product 2 to be assembled in this embodiment is a core element in a nuclear reactor. Specifically, the core element is a cylindrical graphite rod. Graphite is a common neutron moderator and plays an important role in a nuclear reactor. 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 layer-by-layer installed 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 only. According to the applications of nuclear reactor or other product assemblies, the product 2 to be assembled can also be other materials besides graphite.

[0096] The assembly method includes performing assembly steps on the installation base plate 5 or the installed layer to complete the assembly of the product 2 on the current installation layer. Among them, the above-mentioned assembly steps include one or more assembly sequences, and each assembly sequence respectively assembles at least a part of the product 2 on the current installation layer. As Figure 1 shown, the assembly sequence includes:

[0097] S1. Limit a product 2 as an assembly reference by raising a physical guiding element 15 on the upper surface of the installation base plate 5 or the installed layer;

[0098] S2. Complete the assembly of other products 2 in the assembly sequence with the product 2 as the assembly reference and / or the installed products 2 as references.

[0099] When applying this assembly method, the first layer of graphite rods is assembled on the installation base plate 5 according to the steps of the Figure 1 assembly sequence. Then, the second layer of graphite rods is assembled on the first layer of graphite rods on the basis of the first layer of graphite rods, also according to the steps of the Figure 1 assembly sequence. And so on, until the number of assembled layers reaches the requirement.

[0100] The products 2 assembled on the installation base plate 5 can have different shape structures, and the overall formed by stacking all the products 2 can also have different shapes, with the stacked whole being large or small. Therefore, when applying this assembly method, according to the needs of the assembly effect, the above-mentioned assembly steps for each layer can be completed within one assembly sequence or within multiple assembly sequences. When there are multiple assembly sequences, each assembly sequence can adopt different starting positions or different orders to stack into the required shape structure. For example, as Figure 3 shown, a hexagonal structure.

[0101] In this assembly method, each assembly series limits a product 2 serving as an assembly reference by raising the physical guiding element 15, ensuring the accuracy of the assembly reference for each installation layer and the consistency of the assembly reference between the upper and lower layers. Then, taking the product 2 serving as the assembly reference and / or the installed product 2 as a reference, the assembly of other products 2 is completed, thereby achieving the positioning accuracy of all assembled products 2. The assembly method improves the positioning accuracy and consistency of the multi-layer product 2 assembly through the assembly sequence constituted by the above steps, making the multi-layer product 2 more stable as a whole.

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

[0103] Furthermore, the multiple assembly sequences are executed sequentially in order, and the products 2 assembled in the subsequent assembly sequence are located outside the products 2 assembled in the previous assembly sequence. Through the above method, the multiple assembly sequences avoid interference between the products 2 assembled later and the products 2 assembled earlier, and realize the assembly of all products 2 in a way of surrounding layer by layer in space, which is beneficial to the positioning accuracy between the inner and outer layers.

[0104] In the above assembly steps, the assembly is realized through a plurality of annular arrangement units 10 assembled from the inside to the outside in sequence, wherein each annular arrangement unit 10 is formed by annularly arranging the products 2 to be assembled through one or more assembly sequences. For example, as Figure 6 and Figure 7 shown, in this embodiment, in the assembly steps of each layer of the product 2, six annular arrangement units 10 and the product 2 at the central position 16 are assembled from the inside to the outside in sequence. Each annular arrangement unit 10 is a hexagon. In the assembly of each hexagonal annular arrangement unit 10, it can be arranged by one assembly sequence. In this assembly sequence, it includes the first installation position 101 and the last installation position 102. When assembling, starting from the first installation position 101, it is assembled from both sides to the last installation position 102 simultaneously. In the assembly of each hexagonal annular arrangement unit 10, it can also be arranged by multiple assembly sequences. For example, taking each side of the hexagon as an assembly sequence, this annular arrangement unit 10 is arranged by six assembly sequences. The assembly steps realize the assembly in the form of the annular arrangement unit 10, forming a closed and dense arrangement, which is beneficial to improving the stability of the overall assembly.

[0105] Furthermore, as Figure 9As shown, the cross-section of product 2 adopts a polygonal shape, and at least two sides 21 of product 2 in the annular arrangement unit 10 face outward. The cross-section of product 2 adopts a polygonal structure, and product 2 can be positioned relatively by fitting, which is not easy to shift, facilitating accurate positioning. Product 2 in the annular arrangement unit 10 is arranged with at least two faces facing outward, ensuring that the product 2 to be assembled on the outside can fit with the two outward-facing surfaces of the product 2 already installed on the inside from different directions, realizing the relative positioning between the product 2 to be assembled and the product 2 already installed; and there are always two faces of product 2 available for clamping, and the surfaces after clamping release form two outward-facing surfaces.

[0106] In this embodiment, product 2 is a graphite rod. The cross-section of a common graphite rod is hexagonal in shape, and the stacked annular unit is also hexagonal in shape. In other embodiments, according to requirements, the graphite rod or other product 2 can also be processed into other shapes, such as square or triangular, etc.; however, it is a better choice for a single product 2 to adopt a hexagonal structure. Product 2 is easy to stack and not easy to shift its position; the annular unit composed of hexagonal product 2 is also a hexagonal combination, and the overall structure is stable.

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

[0108] The physical guiding element 15 passes through the mounting hole and penetrates into product 2 serving as the assembly reference in the current mounting layer for limiting.

[0109] This assembly method passes through the mounting hole of the mounting base plate 5 located below in the way of the physical guiding element 15 perforating, and penetrates into product 2 serving as the assembly reference in the current mounting layer for limiting, thereby establishing the accurate positioning of product 2 serving as the assembly reference relative to the mounting base plate 5 in a physical contact manner, and the positioning method is more reliable.

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

[0111] Determine the target space coordinates of product 2 serving as the assembly reference and / or the product 2 already installed;

[0112] Move the product 2 to be installed according to the target space coordinates and perform assembly.

[0113] This assembly method realizes the overall assembly through the above positioning step, using the positioning of the assembly reference as a reference and then installing other products 2 to be installed.

[0114] Among them, the step of determining the target space coordinates of product 2 serving as the assembly reference and / or the product 2 already installed includes:

[0115] Determine the reference spatial coordinate information of the mounting base plate 5;

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

[0117] Determine the target spatial coordinate information of the product 2 serving as the assembly reference based on the relative spatial coordinate information of the physical guiding element 15, and / or determine the target spatial coordinate information of the installed product 2 based on the target spatial coordinate information of the product 2 serving as the assembly reference.

[0118] The above steps, which consist of two steps of coordinate information, namely the combination of the reference spatial coordinate information of the mounting base plate 5 and the relative spatial coordinate information of the physical guiding element 15, determine the positioning of the product 2 limited by the physical guiding element 15 on the entire assembly platform. This assembly method uses the above positioning steps, and the positioning information is accurate and reliable, and it is easy to ensure the positioning accuracy.

[0119] Among them, the above step of "determining the reference spatial coordinate information of the mounting base plate 5" includes: determining the reference spatial coordinate information of the mounting base plate 5 through the measurement marks provided on the mounting base plate 5, or determining the reference spatial coordinate information of the mounting base plate 5 through the measurement mark 6 provided outside the mounting base plate 5 and the relative positional relationship between the mounting base plate 5 and the measurement mark 6.

[0120] Specifically, such as Figure 3 and Figure 5As shown in the figure, three positioning members 9 provided on the mounting base plate 5 through spacer rings are connected to the platform base of the mounting platform 4, and three measurement marks 6 are also provided on the platform base through spacer rings. 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 a measurement and recognition device (not shown in the figure) provided above the mounting platform 4 to determine the reference spatial coordinate information of the mounting base plate 5; if the surface of the mounting base plate 5 is covered or blocked by other obstacles, the positioning members 9 cannot be used as measurement marks 6, but instead, the three measurement marks 6 on the platform base are used to cooperate with the measurement and recognition device provided above the mounting platform 4 to determine the reference spatial coordinate information of the mounting base plate 5. In other embodiments, there are various technical means to determine the reference spatial coordinate information of the mounting base plate 5. For example, the graphite as the product 2 is identified using the principle of image recognition to monitor the position of each assembled graphite. However, in this way, due to the interference of the black color on the surface of the graphite, the reference spatial coordinate information of the mounting base plate 5 cannot be accurately determined. Therefore, it is not as good as in this embodiment to determine the reference spatial coordinate information of the mounting base plate 5 through the measurement marks 6 on the mounting base plate 5, or the measurement marks 6 outside the mounting base plate 5 and the relative position relationship between the mounting base plate 5 and the measurement marks 6. Using the positioning method of this embodiment, in the case where the products 2 are stacked layer by layer, no matter whether the mounting base plate 5 is covered or blocked by other obstacles, there are always measurement marks 6 that can be recognized by the external measurement and monitoring device, ensuring the accuracy of the reference spatial coordinate information of the mounting base plate 5, and thus improving the reliability of positioning accuracy.

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

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

[0123] Performing assembly steps on the mounting base plate 5 or the already installed layer to complete the assembly of the product 2 on the previous installed layer;

[0124] Raising the physical guiding element 15 so that it is higher than the upper surface of the product 2 on the previous installed layer;

[0125] Performing assembly steps on the previous installed layer to complete the assembly of the product 2 on the next installed layer.

[0126] The assembly method always protrudes the product 2 on the mounting base plate 5 or the previous mounting layer by raising the physical guiding element 15. The protruding part can limit the position of the product 2 on the next mounting layer, so as to ensure the accurate positioning of the product 2 to be installed, thus realizing the cooperation of upper and lower layer installations. This assembly method has a simple and reliable positioning method between the upper and lower layers, and is also beneficial to improving the efficiency of the positioning operation.

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

[0128] The assembly method cooperates with the signal identifier and the signal transmitter installed on the manipulator and the physical guiding element 15, so that when the manipulator clamps the product 2 and moves it to the mounting base plate 5 to be installed, the product 2 can be quickly aligned with the physical guiding element 15 for limiting, improving the efficiency and accuracy of the positioning operation.

[0129] Further, the clamping step further includes:

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

[0131] And / or, identifying the object to be installed through the binocular vision system 13 installed on the manipulator, wherein the object to be installed includes the product 2 and the mounting base plate 5.

[0132] The assembly method performs movements in different directions through the manipulator, which is convenient for adjusting the clamping angle and position of the product 2, improving the assembly efficiency. Identifying the object to be installed through the binocular vision system 13 installed on the manipulator to confirm the object to be installed by visual recognition has high efficiency and is more intelligent.

[0133] In other embodiments, in the case where a signal identifier and a signal transmitter are installed on the manipulator and the physical guiding element 15, the binocular vision system 13 may not be provided, and the product 2 to be assembled is 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 is achieved by other means.

[0134] Such as Figures 2-5and Figure 8 As shown in the figure, this embodiment also provides an assembly system, which includes the mounting base plate 5 used in the above assembly method, several products 2 to be assembled, a laser measuring instrument 3, a manipulator for gripping and moving the product 2, and a plurality of physical guiding elements 15. The mounting 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. The physical guiding element 15 is specifically a guiding rod, which is installed on a lifting platform 18 below the ground 17. The graphite rod to be installed is placed on a transport vehicle 11. 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 grip the graphite rod, and then moves to the installation platform 4. Through the guiding and limiting of the guiding rod, the graphite rods are stacked on the mounting base plate 5 on the installation platform 4 for assembly. There is a laser measuring instrument 3 beside the installation platform 4. 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 multi-layer product 2 assembly by implementing the mounting base plate 5, several products 2, the manipulator for gripping and moving the product 2, and at least one physical guiding element 15 used in the above assembly method, thereby making the multi-layer product 2 more stable as a whole.

[0136] Among them, as Figure 5 shown, the mounting base plate 5 is connected to the installation platform 4 of the nuclear reactor through at least two positioning members 9 arranged at intervals. The positioning member 9 is used as a measurement mark 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 measurement mark 6 points outside the mounting base plate 5. The reference space coordinate information of the mounting base plate 5 is determined by the relative position relationship between the mounting 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 member 9, the three positioning members 9 on the mounting base plate 5 can be used as the measurement mark 6 and cooperate with a measurement and identification device (not shown in the figure) arranged above the installation 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 objects, the positioning member 9 cannot be used as the measurement mark 6, but three measurement marks 6 on the platform base are used to cooperate with the measurement and identification device arranged above the installation 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 spatial coordinate information of the mounting base plate 5. For example, the graphite of the product 2 is identified using the principle of image recognition to monitor the position of each assembled graphite. However, in this way, due to the interference of the black color on the surface of the graphite, the reference spatial coordinate information of the mounting base plate 5 cannot be accurately determined. Therefore, it is not as good as the technical solution of this embodiment. The mounting base plate 5 uses the positioning member 9 provided above as the measurement mark 6, and / or determines the reference spatial coordinate information of the mounting base plate 5 through the measurement mark 6 points provided by the mounting platform 4 outside the mounting base plate 5 and the relative position relationship between the mounting base plate 5 and the measurement mark 6. In the case where the products 2 are stacked layer by layer, no matter whether the mounting base plate 5 is covered or blocked by other objects, there is always a measurement mark 6 that can be recognized by the external measurement monitoring device, ensuring the accuracy of the reference spatial coordinate information of the mounting base plate 5, and thus improving the reliability of accurate positioning.

[0140] Among them, mounting holes are provided on the mounting base plate 5, core holes are provided on the product 2, and the physical guiding element 15 is arranged to sequentially pass through the mounting hole and the core holes of each layer of the product 2 from below to limit the product 2. This assembly system passes through the mounting hole of the mounting base plate 5 and the core holes of each layer of the product 2 in sequence from below in the way of the physical guiding element 15 passing through the holes, thereby establishing an 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 guiding 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 for receiving laser signals, and a laser transmitter is provided at the top of the physical guiding element 15 (i.e., the guiding rod). The laser sensor and the laser transmitter cooperate to align the physical guiding element 15 with the product 2 to be picked up and limit its position.

[0142] This assembly system enables the manipulator to quickly align the product 2 with the physical guiding element 15 and limit its position when picking up the product 2 and moving it to the mounting base plate 5 to be installed through the cooperation of the signal identifier and the signal transmitter installed on the manipulator and the physical guiding element 15, improving the efficiency and accuracy of the positioning operation.

[0143] Among them, the manipulator moves the picked-up product 2 between the storage bin of the product 2 and the mounting base plate 5 through the truss robot 1. Among them, 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] Among them, a binocular vision system 13 is installed on the clamping device 8 of the manipulator. The binocular vision system 13 is used to identify the object to be installed, where the object to be installed includes the product 2 and the mounting base plate 5.

[0145] The assembly system performs movements in different directions through the manipulator, facilitating the adjustment of the angle and position of the product 2 being clamped, and improving the assembly efficiency. The object to be installed is identified by the binocular vision system 13 installed on the manipulator, and the object to be installed is confirmed by visual recognition, with high efficiency and greater intelligence.

[0146] The manipulator can have different structural forms. In other embodiments, the manipulator can also be an integrated device, which can not only move with the function of the truss robot 1 but also clamp the product 2 with the function of the clamping device 8. When a signal identifier and a signal transmitter are installed on the manipulator and the physical guiding element 15, the binocular vision system 13 may not be provided, and relying on the accurate movement of the manipulator and the cooperation of the signal identifier and the signal transmitter, the product 2 to be assembled is installed on the mounting base plate 5; or, positioning and assembly are achieved by other means.

[0147] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that this is only an example, and the protection scope of the present invention is defined by the appended claims. Without departing from the principles and essence of the present invention, those skilled in the art can make various changes or modifications to these embodiments, 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; Using the product serving as the assembly reference and / or the installed product as a reference, complete the assembly of other products in the assembly sequence; Wherein, the plurality of assembly sequences are executed in sequence, and the products assembled in the later assembly sequence are located outside the products assembled in the earlier assembly sequence; 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.

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: 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.

4. The assembly method according to claim 3, 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.

5. The assembly method according to claim 3, characterized in that: The cross section of the product is in a hexagonal shape, and the annular arrangement unit is in a hexagonal shape.

6. The assembly method according to claim 1, 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.

7. The assembly method according to claim 6, 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.

8. 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.

9. 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.

10. 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.

11. 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.

12. 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 11, a plurality of products to be assembled, a robot for gripping and moving products, and at least one physical guiding element.

13. The assembly system according to claim 12, wherein: 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; Alternatively, a mounting platform for product assembly is provided with a measurement mark outside the mounting base plate, and the reference space coordinate information of the mounting base plate is determined by the relative position relationship between the mounting base plate and the measurement mark.

14. The assembly system according to claim 12, 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.

15. The assembly system according to claim 12, 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.

16. The assembly system according to claim 12, 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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