An on-line maintenance equipment for the liner in the complex valve cavity of nuclear power

Abstract

The present invention belongs to the technical field of nuclear power valve maintenance, and particularly relates to an on-line maintenance device for a lining sleeve in a complex valve cavity of a nuclear power plant, comprising: a positioning base, an X-direction moving module, a Y-direction moving module, and a robotic arm; the positioning base includes a bottom plate and a side plate that are vertically connected; a workpiece to be repaired and processed is installed on the side plate of the positioning base, the X-direction moving module is installed on the bottom plate of the positioning base, the Y-direction moving module is installed on the X-direction moving module, and the robotic arm is installed on the Y-direction moving module. The X-direction moving module is used to drive the robotic arm to move along the X direction, the Y-direction moving module is used to drive the robotic arm to move along the Y direction, and the robotic arm is used for axial cutting of the valve seat and the lining sleeve to be repaired and for assembly of the lining sleeve. The present invention can overcome the complexity and uncertainty problems of disassembly and assembly of valve internals and successfully complete the removal and installation of the valve seat and the lining sleeve.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear power valve maintenance, and particularly relates to an on-line maintenance device for a bushing applicable to a complex valve cavity of a nuclear power plant. Background Art

[0002] The pressurizer proportional spray valve 1 / 2RCP001 / 002VP is the most important nuclear class I pneumatic control valve in the primary loop. When performing its disassembly PM (preventive maintenance) work, it is necessary to disassemble the valve, remove the internal parts of the valve, replace the worn parts, and reinstall the valve.

[0003] The internal parts of the pressurizer proportional spray valve mainly consist of a V-ball valve core, a valve seat, a valve seat disc spring, a bushing, and a piston ring. During the overhaul process, it is necessary to disassemble, replace, and reinstall the internal parts of the valve. During the disassembly of the valve seat, due to the vibration of the internal parts of the valve, the bushing is worn at the joint with the valve seat piston ring; the piston ring has an open overlap and is a non-closed metal ring, which is stuck in the groove worn out by the bushing due to its own tension, resulting in difficulties in removing the valve seat. For these reasons, there are situations where it cannot be removed normally. In the recent several major overhauls at Fangjiashan, problems have occurred where the valve seat cannot be removed normally, and the difficulty of removing the valve seat has increased year by year. If the valve seat cannot be removed smoothly, the unit will face replacing the entire valve, and the unit will consume a large amount of overhaul time costs, such as: welding process qualification, nuclear safety-related risk assessment time, etc.

[0004] The pressurizer proportional spray valve has been operating at a small opening and small flow rate for a long time. Although the vibration and wear of the internal parts of the valve have been alleviated to some extent through the optimization of the operation mode, the wear at the joint between the valve body bushing and the piston ring is still increasing. The material of the valve body bushing is STL NO.6, which has an interference fit with the valve body. The wear of this component increases year by year, which will affect the minimum flow rate and flow stability of the valve, seriously affecting the safe and stable operation of the unit. When necessary, it is necessary to remove the bushing and perform cold installation (interference fit).

[0005] The valve body bushing is coaxial with the valve seat, and there is a 90° corner between the opening of the valve body end cover flange and the valve seat and the bushing, and the internal space of the valve cavity is extremely small. The conventional method for removing the internal parts of the previous proportional spray valve: after the valve has an opening condition, a person reaches into the valve cavity from the opening of the valve body end cover flange (with a diameter of only about 90 mm), and uses tools such as a screwdriver and a self-made two-jaw puller to remove the valve seat, piston ring, etc. by prying, knocking, etc. The luck factor in removing the valve seat is relatively high. As the wear degree of the bushing increases, the difficulty of removing the valve seat also increases year by year.

[0006] After investigation, there is no effective solution in the industry, nor is there an on-line maintenance device applicable to this working condition. Therefore, it is urgent to develop an on-line maintenance device for a bushing applicable to a complex valve cavity of a nuclear power plant to solve the existing problems. Summary of the Invention

[0007] The object of the present invention is to provide an on-line maintenance device for the lining sleeve in a complex valve cavity of a nuclear power plant, which can complete the removal and installation of the valve seat and the lining sleeve.

[0008] The technical solution for realizing the object of the present invention:

[0009] An on-line maintenance device for the lining sleeve in a complex valve cavity of a nuclear power plant, the device comprising: a positioning base, an X-direction moving module, a Y-direction moving module, and a robotic arm; the positioning base includes a bottom plate and a side plate vertically connected; the workpiece to be repaired and processed is installed on the side plate of the positioning base, the X-direction moving module is installed on the bottom plate of the positioning base, the Y-direction moving module is installed on the X-direction moving module, the robotic arm is installed on the Y-direction moving module, the X-direction moving module is used to drive the robotic arm to move along the X direction, the Y-direction moving module is used to drive the robotic arm to move along the Y direction, and the robotic arm is used for the axial cutting of the valve seat and the lining sleeve to be repaired and the assembly of the lining sleeve.

[0010] Further, the side plate of the positioning base is provided with positioning holes, the size of the positioning holes matches that of the flange of the valve body end cover, and is used to accommodate the cooperation at the flange of the valve body end cover. A number of counterbores are evenly distributed circumferentially in the positioning holes, and the counterbores are concentric with the threaded holes of the valve body. The maintenance device is positioned at the position of the workpiece to be repaired through positioning bolts.

[0011] Further, the X-direction moving module includes: an X-direction translation guide rail, an X-direction servo drive motor, an X-direction motor positioning plate, an X-direction transmission belt, an X-direction bearing seat, an X-direction transmission lead screw, and a Y-direction moving module installation bottom plate; the X-direction motor positioning plate, the X-direction translation guide rail, and the X-direction bearing seat are respectively installed on the bottom plate of the positioning base, the Y-direction moving module installation bottom plate is slidably installed on the X-direction translation guide rail, the X-direction servo drive motor is installed on the X-direction motor positioning plate, the X-direction transmission lead screw is installed on the X-direction bearing seat, the X-direction servo drive motor is connected to the X-direction transmission lead screw through the X-direction transmission belt, and the X-direction transmission lead screw is in transmission connection with the Y-direction moving module installation bottom plate; the Y-direction moving module is installed on the Y-direction moving module installation bottom plate.

[0012] Further, the Y-direction movement module includes: a Y-direction movement base plate, a Y-direction drive belt, a Y-direction first bearing block, a Y-direction translation guide rail, a Y-direction guide groove, a robotic arm base mounting plate, a Y-direction drive lead screw, a Y-direction servo drive motor, and a Y-direction second bearing block; the Y-direction motor positioning plate, the Y-direction translation guide rail, the Y-direction first bearing block, and the Y-direction second bearing block are mounted on the Y-direction movement base plate, the robotic arm base mounting plate is slidably mounted on the Y-direction translation guide rail through the Y-direction guide groove, the Y-direction servo drive motor is mounted on the Y-direction motor positioning plate, both ends of the Y-direction drive lead screw are mounted on the Y-direction first bearing block and the Y-direction second bearing block, the Y-direction servo drive motor is connected to the Y-direction drive lead screw through the Y-direction drive belt, and the Y-direction drive lead screw is in transmission connection with the robotic arm base mounting plate; the robotic arm is mounted on the robotic arm base mounting plate through the robotic arm base.

[0013] Further, the robotic arm includes an electric discharge machining robotic arm and a pneumatic gripper robotic arm. The electric discharge machining robotic arm is used to perform axial cutting on the valve seat and the bushing, and the pneumatic gripper robotic arm is used to hold the bushing on the pressure regulator spray valve body or the replacement bushing, and to achieve the liquid nitrogen-cooled interference fit of the bushing.

[0014] Further, the electric discharge machining robotic arm includes: an electric discharge machining robotic arm, a polytetrafluoroethylene insulating tool holder, a tool holder fixing bolt, an electric discharge machining tool head, and a metal rod; the polytetrafluoroethylene insulating tool holder is connected to the electric discharge machining robotic arm through the metal rod, the electric discharge machining tool head is mounted on the polytetrafluoroethylene insulating tool holder through the tool holder fixing bolt, and the electric discharge machining robotic arm is mounted on the robotic arm base.

[0015] Further, the electric discharge machining tool head is a graphite electrode, and the length of the graphite electrode is greater than the length of the bushing.

[0016] Further, a cooling water circuit is built into the electric discharge machining robotic arm. The cooling water circuit is connected to an external water pump, and through the cooling water circuit and the cooling water return tank at the positioning base side plate, circulating cooling water is continuously and evenly provided for the cutting area of the electric discharge machining tool head.

[0017] Further, the pneumatic gripper robotic arm includes: a robotic arm connection block, a square steel bridge, a cylinder, and a pneumatic gripper; the square steel bridge is internally provided with pneumatic and liquid nitrogen pipelines, one end of the square steel bridge is mounted with the robotic arm connection block, and the other end is mounted with a pneumatic clamping device. The pneumatic clamping device includes a cylinder and a pneumatic gripper, and the cylinder provides power for the pneumatic gripper.

[0018] Further, the equipment further includes a control cabinet, which is electrically connected to the X-direction movement module, the Y-direction movement module, and the robotic arm, and provides power and control for the X-direction movement module, the Y-direction movement module, and the robotic arm.

[0019] The beneficial technical effects of the present invention are as follows:

[0020] 1. An on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention precisely positions an electric discharge machining cutter head to the position to be machined (inside the valve seat and the liner) through an X-direction movement module and a Y-direction movement module, overcoming the mechanical machining problems brought about by the 90° rotation angle of the valve.

[0021] 2. An on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention solves the complexity and uncertainty problems of the disassembly and assembly of in-valve components (mainly the valve seat and the liner) by on-site maintenance personnel at present through the electric discharge machining cutter head discharging and cutting the valve seat or the liner.

[0022] 3. An on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention, through a customized graphite electrode sheet at the front end of an electric discharge machining robotic arm and making the length of the graphite electrode sheet slightly greater than the length of the liner, enables a through cutting line to be machined axially on the liner during electric discharge machining; because there is no reaction force during the electric discharge machining process, only continuous cooling needs to be provided to complete the cutting of a fixed shape.

[0023] 4. An on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention effectively ensures the smooth movement of the robotic arm through the X-direction servo drive motor and the Y-direction servo drive motor using PLC programming to control the servo motor, and the X-direction translation guide rail and the Y-direction translation guide rail using high-precision transmission guide rails.

[0024] 5. An on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention can install three processing robotic arms (an electric discharge machining robotic arm, a liner cold-fitting robotic arm, and an inner surface grinding robotic arm of the valve body) to achieve three different functions, realizing the rapid switching of different functional modules on the same equipment platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an assembly drawing of the pressure relief valve body of a pressurizer proportional spray valve;

[0026] Figure 2 It is a schematic structural diagram of an on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention;

[0027] Figure 3 It is a schematic structural diagram of the X-direction movement module in an on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention;

[0028] Figure 4 It is a schematic structural diagram of the Y-direction movement module in an on-line maintenance device for the liner in a complex valve cavity of a nuclear power plant provided by the present invention;

[0029] Figure 5 Schematic diagram of the wire - cutting robotic arm structure in an on - line maintenance equipment for the liner in a complex valve cavity of nuclear power plants provided by the present invention;

[0030] Figure 6 Schematic diagram of the pneumatic gripper robotic arm structure in an on - line maintenance equipment for the liner in a complex valve cavity of nuclear power plants provided by the present invention;

[0031] Figure 7 Schematic diagram of the control cabinet in an on - line maintenance equipment for the liner in a complex valve cavity of nuclear power plants provided by the present invention.

[0032] In the figure:

[0033] 1 - positioning base, 2 - Y - direction moving base plate, 3 - Y - direction drive belt, 4 - first Y - direction bearing seat, 5 - Y - direction translation guide rail, 6 - X - direction translation guide rail, 7 - X - direction servo drive motor, 8 - X - direction motor positioning plate, 9 - X - direction drive belt, 10 - X - direction bearing seat, 11 - reserved hole position, 12 - wire - cutting robotic arm, 14 - polytetrafluoroethylene insulation tool rest, 15 - tool rest fixing bolt, 16 - wire - cutting tool head, 17 - counterbore, 18 - cooling water return trough, 19 - Y - direction guide groove, 20 - wheel, 21 - X - direction drive lead screw, 22 - robotic arm base mounting plate, 23 - robotic arm base, 24 - Y - direction drive lead screw, 25 - Y - direction servo drive motor, 26 - second Y - direction bearing seat, 27 - Y - direction moving module mounting base plate, 28 - metal rod, 30 - robotic arm connection block, 31 - square steel bridge, 32 - cylinder, 33 - pneumatic gripper;

[0034] 51 - V - ball valve core, 52 - valve body end - cover flange opening, 53 - bushing, 54 - valve seat, 55 - piston ring, 56 - valve - seat disc spring, 57 - valve body end - cover flange;

[0035] 61 - control cabinet, 62 - touch screen, 63 - roller, 64 - spindle driver, 65 - X - axis driver, 66 - Z - axis driver, 67 - PLC, 68 - main switch, 69 - switching power supply, 70 - contactor, 71 - relay, 72 - bus bar, 73 - handle. Detailed implementation manners

[0036] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0037] As Figure 1 shown, the internal components of the stabilizer proportional spray valve include: V - ball valve core 51, valve body end - cover flange opening 52, bushing 53, valve seat 54, piston ring 55, valve - seat disc spring 56, and valve body end - cover flange 57.

[0038] As Figure 2As shown in the figure, an on-line maintenance device for the inner bushing of a complex valve chamber applicable to nuclear power provided by the present invention includes a positioning base 1, an X-direction movement module, a Y-direction movement module, and a robotic arm.

[0039] The positioning base 1 includes a bottom plate and a side plate that are vertically connected, and is used for the construction and installation positioning of the entire device. The workpiece to be repaired and processed is installed on the side plate of the positioning base 1. The X-direction movement module is installed on the bottom plate of the positioning base 1, the Y-direction movement module is installed on the X-direction movement module, and the robotic arm is installed on the Y-direction movement module. The X-direction movement module is used to drive the robotic arm to move along the X direction, the Y-direction movement module is used to drive the robotic arm to move along the Y direction, and the robotic arm is used for the axial cutting of the valve seat and bushing to be repaired and the assembly of the bushing.

[0040] In a specific embodiment, the positioning base 1 is composed of a bottom plate and a side plate that are vertically welded and is provided with reinforcing ribs. The bottom plate is a hollow aluminum bottom plate, and the side plate is provided with 1 positioning hole. The size of the positioning hole matches that of the valve body end cover flange 57 and is used to accommodate the fitting at the valve body end cover flange 57. 4 counterbores 17 are evenly distributed circumferentially around the positioning hole. The counterbores 17 are concentric with the threaded holes of the valve body. The maintenance device is positioned at the position of the workpiece to be repaired through 4 positioning bolts.

[0041] In a specific embodiment, wheels 20 are installed under the bottom plate of the positioning base 1 to facilitate the movement of the maintenance device; a cooling water return groove 18 is provided on the side plate of the positioning base 1 to facilitate the recycling of cooling water.

[0042] As Figure 3 shown, the X-direction movement module includes: an X-direction translation guide rail 6, an X-direction servo drive motor 7, an X-direction motor positioning plate 8, an X-direction drive belt 9, an X-direction bearing block 10, an X-direction drive lead screw 21, and a Y-direction movement module installation bottom plate 27.

[0043] The X-direction motor positioning plate 8, the X-direction translation guide rail 6, and the X-direction bearing block 10 are respectively installed on the bottom plate of the positioning base 1. The Y-direction movement module installation bottom plate 27 is slidably installed on the X-direction translation guide rail 6. The X-direction servo drive motor 7 is installed on the X-direction motor positioning plate 8. The X-direction drive lead screw 21 is installed on the X-direction bearing block 10. The X-direction servo drive motor 7 is connected to the X-direction drive lead screw 21 through the X-direction drive belt 9. The X-direction drive lead screw 21 is in transmission connection with the Y-direction movement module installation bottom plate 27. The X-direction servo drive motor 7 drives the X-direction drive lead screw 21 to rotate. The rotation of the X-direction drive lead screw 21 drives the Y-direction movement module installation bottom plate 27 to perform a linear motion along the X-direction translation guide rail 6 in the X direction (horizontal direction) and can move back and forth.

[0044] The Y-direction movement module is fixedly installed on the Y-direction movement module mounting base plate 27 through bolts, and moves along the X direction together with the Y-direction movement module mounting base plate 27, driving the Y-direction transmission module and the robotic arm to move together, realizing the movement of the robotic arm along the X direction.

[0045] As Figure 4 shown, the Y-direction movement module includes: a Y-direction movement base plate 2, a Y-direction transmission belt 3, a Y-direction first bearing seat 4, a Y-direction translation guide rail 5, a Y-direction guide groove 19, a robotic arm base mounting plate 22, a Y-direction transmission lead screw 24, a Y-direction servo drive motor 25, and a Y-direction second bearing seat 26.

[0046] The Y-direction motor positioning plate, the Y-direction translation guide rail 5, the Y-direction first bearing seat 4, and the Y-direction second bearing seat 26 are installed on the Y-direction movement base plate 2. The robotic arm base mounting plate 22 is slidably installed on the Y-direction translation guide rail 5 through the Y-direction guide groove 19. The Y-direction servo drive motor 25 is installed on the Y-direction motor positioning plate. Both ends of the Y-direction transmission lead screw 24 are installed on the Y-direction first bearing seat 4 and the Y-direction second bearing seat 26. The Y-direction servo drive motor 25 is connected to the Y-direction transmission lead screw 24 through the Y-direction transmission belt 3. The Y-direction transmission lead screw 24 is in transmission connection with the robotic arm base mounting plate 22. The main shaft of the Y-direction servo drive motor 25 drives the Y-direction transmission belt 3 to move. The Y-direction transmission belt 3 drives the Y-direction transmission lead screw 24 to rotate. The rotation of the Y-direction transmission lead screw 24 drives the robotic arm base mounting plate 22 to perform a linear motion along the Y-direction translation guide rail 5 in the Y direction (vertical direction).

[0047] In a specific embodiment, the Y-direction first bearing seat 4 and the Y-direction second bearing seat 26 are respectively connected and fixed to the Y-direction movement base plate 2 through connecting bolts.

[0048] In a specific embodiment, the X-direction servo drive motor 7 and the Y-direction servo drive motor 25 adopt PLC programming to control the servo motors, and the X-direction translation guide rail 6 and the Y-direction translation guide rail 5 adopt high-precision transmission guide rails.

[0049] The robotic arm base 23 is fixedly installed on the robotic arm base mounting plate 22 through bolts, and the robotic arm is fixedly installed on the robotic arm base 23 through bolts. The robotic arm moves along the Y direction together with the robotic arm base 23, realizing the Y-direction movement of the robotic arm.

[0050] The robotic arm includes an electric discharge machining robotic arm and a pneumatic gripper robotic arm. The electric discharge machining robotic arm is used to realize the axial cutting of the valve seat and the bushing. The pneumatic gripper robotic arm is used to hold the bushing on the pressure regulator spray valve body or the replacement bushing, realizing the liquid nitrogen-cooled interference fit of the bushing.

[0051] AsFigure 5 As shown in the figure, the electric discharge machining robotic arm includes: an electric discharge machining robotic arm 12, a polytetrafluoroethylene insulation tool holder 14, a tool holder fixing bolt 15, an electric discharge machining tool head 16, and a metal rod 28.

[0052] The polytetrafluoroethylene insulation tool holder 14 is connected to the electric discharge machining robotic arm 12 through the metal rod 28, and the electric discharge machining tool head 16 is installed on the polytetrafluoroethylene insulation tool holder 14 through the tool holder fixing bolt 15.

[0053] A cooling water circuit is built into the electric discharge machining robotic arm 12. The cooling water circuit is connected to an external water pump, and through the cooling water circuit and the cooling water return groove 18 on the side plate of the positioning base 1, circulating cooling water is continuously and evenly provided for the cutting area of the electric discharge machining tool head 16.

[0054] In a specific embodiment, the electric discharge machining tool head 16 is a graphite electrode, and the length of the graphite electrode is slightly greater than the length of the bushing.

[0055] In another specific embodiment, the electric discharge machining tool head 16 can be replaced with other different materials.

[0056] The electric discharge machining robotic arm 12 is fixedly installed on the reserved hole position 11 of the robotic arm base 23 through bolts.

[0057] Electrical Discharge Machining (EDM) is a machining method that uses continuous or intermittent electric sparks (discharges) to erode metal materials. In this process, a high voltage between the workpiece to be machined (valve seat, bushing) and the electrode of the electric discharge machining tool head generates high-temperature sparks in a tiny gap, which can melt and erode the metal material, thus realizing the breaking of the valve seat and bushing.

[0058] During the electric discharge machining process, the evaporated or melted material needs to be quickly removed to maintain a constant gap between the electrode and the workpiece. The cooling water can effectively take away this heat, control the temperature of the workpiece and the electrode, and avoid overheating from causing structural changes or damage to the material. The cooling water not only provides cooling and reduces the Heat Affected Zone (HAZ) after machining, but also flushes away the metal particles and other residues generated during the machining process from the machining area, keeping the gap between the electrode and the workpiece clean and avoiding short circuits and unstable discharges. The cooling water is powered by an external water pump and continuously and evenly provides circulating cooling water for the cutting area through the cooling water circuit built into the electric discharge machining robotic arm and the cooling water return groove 18 on the side plate of the positioning base 1.

[0059] As Figure 6 shown in the figure, the pneumatic gripper robotic arm includes: a robotic arm connection block 30, a square steel bridge 31, a cylinder 32, and a pneumatic gripper 33.

[0060] The square steel bridge 31 is internally provided with pneumatic and liquid nitrogen pipelines. One end of the square steel bridge 31 is installed with a robotic arm connection block 30, and the other end is installed with a pneumatic clamping device. The pneumatic clamping device includes a cylinder 32 and a pneumatic gripper 33. The cylinder 32 provides power for the pneumatic gripper 33.

[0061] The square steel bridge 31 of the pneumatic gripper robotic arm is fixedly installed on the reserved hole position 11 of the robotic arm base 23 through the robotic arm connection block 30 and bolts.

[0062] The robotic arm also includes a robotic arm for grinding the inner surface of the valve body, which is used to grind the inner surface of the valve body.

[0063] An endoscope assembly is further included in the on-line maintenance equipment for the inner liner of a nuclear power complex valve cavity provided by the present invention. The endoscope assembly extends into the interior of the valve body and is used to observe the positioning and cutting operation of the tool head.

[0064] An on-line maintenance equipment for the inner liner of a nuclear power complex valve cavity provided by the present invention further includes a control cabinet. As Figure 7 shown, the control cabinet is electrically connected to the X-direction movement module, the Y-direction movement module, and the robotic arm, and provides power and control for the X-direction movement module, the Y-direction movement module, and the robotic arm.

[0065] In a specific embodiment, the control cabinet is electrically connected to the X-direction servo drive motor 7 and the Y-direction servo drive motor 25, and is used to control the actions of the X-direction servo drive motor 7 and the Y-direction servo drive motor 25, and send the electric discharge cutting tool head 16 to the inner sides of the valve seat and the liner at a predetermined position. The positioning of the electric discharge cutting tool head 16 is observed through a visualization device. The control cabinet is electrically connected to the electric discharge cutting tool head 16 and is used to provide power and control for the electric discharge cutting tool head 16. The control cabinet is electrically connected to the cylinder 32 and is used to control the cylinder 32.

[0066] The control cabinet can provide pulsed currents of multiple frequency bands and power of multiple gears for the electric discharge cutting tool head 16.

[0067] The pulsed currents of multiple frequency bands and the power of multiple gears of the electric discharge cutting tool head 16 provide a rich selection of operation parameters for the maintenance equipment. The cutting parameters of the electric discharge cutting tool head 16 can be flexibly adjusted according to specific situations and requirements to achieve precise cutting of the valve body. In this way, the requirements of different maintenance scenarios can be met, and the flexibility and adaptability of the operation are enhanced.

[0068] The present invention has been described in detail above with reference to the drawings and embodiments. However, the present invention is not limited to the above embodiments. Various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art. The content not described in detail in the present invention can all adopt the prior art.

Claims

1. An online maintenance device for the lining of complex valve cavities in nuclear power plants, characterized in that: The device comprises: a positioning base (1), an X-direction moving module, a Y-direction moving module, and a mechanical arm; the positioning base (1) comprises a bottom plate and a side plate connected vertically; the workpiece to be repaired is mounted on the side plate of the positioning base (1), the X-direction moving module is mounted on the bottom plate of the positioning base (1), the Y-direction moving module is mounted on the X-direction moving module, and the mechanical arm is mounted on the Y-direction moving module; the X-direction moving module is used to drive the mechanical arm to move along the X-direction, the Y-direction moving module is used to drive the mechanical arm to move along the Y-direction, and the mechanical arm is used to perform axial cutting of the valve seat and bushing to be repaired and assemble the bushing; The mechanical arm includes an electric spark cutting mechanical arm and a pneumatic gripper mechanical arm, the electric spark cutting mechanical arm is used to realize axial cutting of the valve seat and the bushing, and the pneumatic gripper mechanical arm is used to hold the bushing on the valve body of the stabilizer spray valve or the bushing for replacement, so as to realize liquid nitrogen cooling interference fitting of the bushing; The electric spark cutting mechanical arm comprises: an electric spark mechanical arm (12), a polytetrafluoro insulating tool holder (14), a tool holder fixing bolt (15), an electric spark cutting tool head (16), and a metal rod (28); the polytetrafluoro insulating tool holder (14) and the electric spark mechanical arm (12) are connected via the metal rod (28), the electric spark cutting tool head (16) is mounted on the polytetrafluoro insulating tool holder (14) via the tool holder fixing bolt (15), and the electric spark mechanical arm (12) is mounted on a mechanical arm base (23); The pneumatic gripper mechanical arm comprises: a mechanical arm connecting block (30), a square steel bridge (31), a cylinder (32), and a pneumatic gripper (33); the square steel bridge (31) is equipped with pneumatic and liquid nitrogen pipelines, one end of the square steel bridge (31) is equipped with a mechanical arm connecting block (30), and the other end is equipped with a pneumatic gripper device, the pneumatic gripper device comprises a cylinder (32) and a pneumatic gripper (33), and the cylinder (32) provides power for the pneumatic gripper (33).

2. According to claim 1, the online maintenance equipment for the liner of complex valve cavity of nuclear power is characterized in that: The side plate of the positioning base (1) is provided with a positioning hole, the size of which matches the valve body end cover flange (57) and is used to accommodate the valve body end cover flange (57). A plurality of countersunk holes (17) are evenly distributed around the positioning hole, and the countersunk holes (17) are concentric with the valve body threaded holes. The maintenance equipment is positioned at the position of the workpiece to be repaired by means of positioning bolts.

3. The online maintenance equipment for the liner in complex valve cavity of nuclear power according to claim 1 is characterized in that: The X-direction moving module comprises: an X-direction translation guide rail (6), an X-direction servo drive motor (7), an X-direction motor positioning plate (8), an X-direction transmission belt (9), an X-direction bearing seat (10), an X-direction transmission lead screw (21), and a Y-direction moving module mounting base plate (27); the X-direction motor positioning plate (8), the X-direction translation guide rail (6), and the X-direction bearing seat (10) are respectively mounted on the bottom plate of the positioning base (1); the Y-direction moving module mounting base plate (27) is slidably mounted on the X-direction translation guide rail (6); the X-direction servo drive motor (7) is mounted on the X-direction motor positioning plate (8); the X-direction transmission lead screw (21) is mounted on the X-direction bearing seat (10); the X-direction servo drive motor (7) is connected to the X-direction transmission lead screw (21) through the X-direction transmission belt (9); the X-direction transmission lead screw (21) is transmission-connected to the Y-direction moving module mounting base plate (27); and the Y-direction moving module is mounted on the Y-direction moving module mounting base plate (27).

4. The online maintenance equipment for the liner of complex valve cavity in nuclear power according to claim 1 is characterized in that: The Y-direction moving module comprises: a Y-direction moving base plate (2), a Y-direction transmission belt (3), a Y-direction first bearing seat (4), a Y-direction translation guide rail (5), a Y-direction guide groove (19), a robot arm base mounting plate (22), a Y-direction transmission lead screw (24), a Y-direction servo drive motor (25), and a Y-direction second bearing seat (26); the Y-direction motor positioning plate, the Y-direction translation guide rail (5), the Y-direction first bearing seat (4), and the Y-direction second bearing seat (26) are mounted on the Y-direction moving base plate (2), and the robot arm base mounting plate (22) is connected to the Y-direction servo drive motor (24) by Y-direction transmission lead screw (24), a Y-direction servo drive motor (25), and a Y-direction second bearing seat (26). The Y-direction guide groove (19) is slidably mounted on the Y-direction translation guide rail (5); the Y-direction servo drive motor (25) is mounted on the Y-direction motor positioning plate; two ends of the Y-direction transmission lead screw (24) are mounted on the Y-direction first bearing seat (4) and the Y-direction second bearing seat (26); the Y-direction servo drive motor (25) and the Y-direction transmission lead screw (24) are connected via a Y-direction transmission belt (3); the Y-direction transmission lead screw (24) is transmission-connected to the robot arm base mounting plate (22); and the robot arm is mounted on the robot arm base mounting plate (22) via a robot arm base (23).

5. The online maintenance equipment for the liner in complex valve cavity of nuclear power according to claim 1 is characterized in that: The electric spark cutting tool head (16) is a graphite electrode, and the length of the graphite electrode is greater than the length of the bushing.

6. The online maintenance equipment for the liner in complex valve cavity of nuclear power according to claim 1 is characterized in that: The electric spark robot arm (12) has a built-in cooling water circuit, which is connected to an external water pump. Through the cooling water circuit and the cooling water return groove (18) at the side plate of the positioning base (1), circulating cooling water is continuously and evenly provided to the cutting area of ​​the electric spark cutting head (16).

7. The online maintenance equipment for the liner of complex valve cavity in nuclear power according to claim 1 is characterized in that: The device also includes a control cabinet, which is electrically connected to the X-direction moving module, the Y-direction moving module, and the mechanical arm to provide power and control for the X-direction moving module, the Y-direction moving module, and the mechanical arm.

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