Cutting and disintegration device and cutting and disintegration method for pressure container

Abstract

The invention discloses a cutting and disintegration device and method for a pressure vessel, the device comprises a cutting mechanism located in the pressure vessel, the central axis of the pressure vessel extends in the vertical direction, and the cutting mechanism comprises a rotation assembly, a lifting unit and a mechanical arm. The mechanical arm is used for cutting a pressure container, the lifting unit is connected with the mechanical arm and used for driving the mechanical arm to move in the vertical direction so that the mechanical arm can longitudinally cut the pressure container, and the rotating assembly is connected with the lifting unit and used for driving the lifting unit and the mechanical arm to rotate around the central axis of the pressure container. And the mechanical arm transversely cuts the pressure container. And the lifting mechanism is located above the pressure container, the lower end of the lifting mechanism is connected with the rotation assembly, and the lifting mechanism is used for driving the rotation assembly, the lifting unit and the mechanical arm to move in the vertical direction, so that the pressure container is gradually cut and disintegrated from top to bottom.

Description

Technical Field

[0001] The invention specifically relates to a cutting and disassembling device and a cutting and disassembling method for a pressure vessel. Background Art

[0002] In the field of nuclear facility decommissioning, when decommissioning reactors, reactor pressure vessels are often involved. For the cutting and dismantling of pressure vessels, in terms of size, the pressure vessel is a large, thick-walled low-alloy steel cylinder structure. For example, the diameter of the equipment (pressure vessel) can reach 4m (and above), the height is about 10m (and above), the thickest position is about 450mm, and the rest of the wall thickness is about 200mm. The cutting volume and thickness are both large. Obviously, the weight of the entire pressure vessel is very large. In the process of cutting and dismantling, if a mistake is made, it will cause great danger to the equipment and personnel in the plant. Therefore, the cutting and dismantling technology of pressure vessels is one of the key technologies in the decommissioning of nuclear power plants. At present, there is no special device that can safely cut and dismantle reactor pressure vessels. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a pressure vessel cutting and disassembling device and a cutting and disassembling method in view of the above-mentioned deficiencies in the prior art. The device is used for safely cutting and disassembling a reactor pressure vessel.

[0004] According to an embodiment of the first aspect of the present invention, there is provided a device for cutting and disassembling a pressure vessel, comprising: a lifting mechanism and a cutting mechanism; the cutting mechanism is located inside the pressure vessel, the central axis of the pressure vessel extends in a vertical direction, the cutting mechanism comprises: a rotating assembly, a lifting unit and a mechanical arm, the mechanical arm is used to cut the pressure vessel, the lifting unit is connected to the mechanical arm, the lifting unit is used to drive the mechanical arm to move in a vertical direction, so that the mechanical arm performs longitudinal cutting on the pressure vessel, the rotating assembly is connected to the lifting unit, the rotating assembly is used to drive the lifting unit and the mechanical arm to rotate around the central axis of the pressure vessel, so that the mechanical arm performs transverse cutting on the pressure vessel; the lifting mechanism is located above the pressure vessel, and the lower end of the lifting mechanism is connected to the rotating assembly, used to drive the rotating assembly, the lifting unit and the mechanical arm to move in a vertical direction, so that the cutting mechanism can gradually cut and disassemble the pressure vessel from top to bottom.

[0005] Preferably, the rotary assembly includes a guide rail and a rotary moving block, the guide rail is annular and surrounds the central axis of the pressure vessel, the rotary moving block is connected to the guide rail and can move in the circumferential direction along the guide rail; the lifting unit is installed on the rotary moving block, and the rotary moving block is used to drive the lifting unit to rotate around the central axis of the pressure vessel.

[0006] Preferably, the device also includes a supporting and fixing mechanism, which includes a connecting frame and a clamping block, wherein the connecting frame is located below the guide rail and is connected to the guide rail; there are multiple clamping blocks, and the multiple clamping blocks are arranged around the central axis of the pressure vessel and are connected to the connecting frame; the clamping blocks can move outward in the horizontal direction to abut against the inner wall of the pressure vessel, thereby fixing the cutting mechanism at the position to be cut inside the pressure vessel.

[0007] Preferably, the lifting unit includes a first drive motor, a screw and a lifting and moving block, the screw is installed on the rotary moving block and can rotate around its own axis, the screw extends upward in the vertical direction, the lifting and moving block is sleeved on the screw and is threadedly connected to the screw, the robotic arm is installed on the lifting and moving block, the first drive motor is installed on the rotary moving block, and the output end of the first drive motor is connected to the screw for driving the screw to rotate around its own axis, thereby enabling the lifting and moving block and the robotic arm to move in the vertical direction.

[0008] Preferably, the robot arm includes a robot arm body and a cutting head, one end of the robot arm body is connected to the lifting and moving block of the lifting unit, and the other end is connected to the cutting head, and the cutting head is used to flame cut the pressure vessel.

[0009] Preferably, the device further comprises an energy supply unit, wherein the energy supply unit is connected to the cutting head via a gas pipe, and the energy supply unit is used to deliver combustion gas to the cutting head.

[0010] Preferably, the lifting mechanism includes a wire rope, a reel and a second drive motor, the reel is located above the pressure vessel, the upper part of the wire rope is wound around the reel, the lower end of the wire rope is connected to the rotating assembly, and the second drive motor is connected to the reel for driving the reel to rotate around its own axis to control the retraction or release of the wire rope, thereby causing the rotating assembly to rise or fall.

[0011] Preferably, the device also includes a lifting unit, which includes a traveling frame and a clamp, wherein the traveling frame is located between a cutting position and a recovery position, the pressure vessel is placed at the cutting position, the traveling frame can move back and forth between the cutting position and the recovery position, the robotic arm performs transverse and longitudinal cutting on the pressure vessel, and can cut the pressure vessel into a plurality of fragments, the clamp is connected to the traveling frame, the clamp is located above the pressure vessel, the clamp can move downward in a vertical direction and grab the fragments of the pressure vessel after cutting and disintegration, and the traveling frame drives the clamp to move the fragments and place them at the recovery position.

[0012] According to an embodiment of the second aspect of the present invention, a method for cutting and disassembling a pressure vessel is provided. The method uses the above-mentioned device for cutting and disassembling a pressure vessel, comprising:

[0013] Get the area division data of the pressure vessel to be cut,

[0014] The area division data includes the number of layers of the pressure vessel, the layers are pre-divided according to the longitudinal cutting height of the robot arm and the height of the pressure vessel to be cut, the number of the layers is multiple, and each layer is annular.

[0015] The area division data also includes positioning position parameters of each layer and cutting parameters of each layer;

[0016] According to the number of layers in the area division data, the positioning position parameters of each layer and the cutting parameters of each layer, the cutting mechanism cuts each layer of the pressure vessel from top to bottom.

[0017] Preferably, according to the number of layers in the area division data, the positioning position parameters of each layer and the cutting parameters of each layer, the cutting mechanism cuts each layer of the pressure vessel from top to bottom, specifically including:

[0018] According to the number of layers in the area division data and the positioning position parameters of each layer, the lifting mechanism drives the cutting mechanism to move from top to bottom, and the cutting mechanism is positioned at the positioning position of each layer in turn;

[0019] The cutting and disintegrating unit performs longitudinal and transverse cutting on the current layer of the pressure vessel, thereby dividing the current layer into a plurality of fragments;

[0020] The cutting and disassembly of all layers are completed in sequence, that is, the cutting and disassembly of the entire pressure vessel is realized.

[0021] Preferably, the cutting parameters include a starting point parameter, a preset cutting height and a preset cutting angle.

[0022] The cutting and disintegrating unit performs longitudinal and transverse cutting on the current layer of the pressure vessel, thereby dividing the current layer into a plurality of fragments, including:

[0023] According to the starting point parameters, the rotary assembly drives the lifting unit and the mechanical arm to move to the starting point;

[0024] According to the preset cutting height, the lifting unit drives the mechanical arm to move from top to bottom to the preset cutting height, and the mechanical arm performs longitudinal cutting on the current layer of the pressure vessel during the movement;

[0025] According to the preset cutting angle, the rotary assembly drives the mechanical arm to rotate around the central axis of the pressure vessel by the preset cutting angle, and the mechanical arm performs transverse cutting on the current layer of the pressure vessel during the rotation, and the arc length of the transverse cutting is the arc length corresponding to the preset cutting angle;

[0026] The above longitudinal cutting step and transverse cutting step are repeated to decompose the current layered cut of the pressure vessel into a plurality of fragments.

[0027] The pressure vessel cutting and disassembling device of the present invention cuts and disassembles the pressure vessel layer by layer through a lifting mechanism and a cutting mechanism, cuts off a piece of fragment each time, and transports the fragment to a recovery position for storage through a lifting unit, so that the reactor pressure vessel can be safely cut and disassembled. Specifically, in order to facilitate the cutting and disassembly of the pressure vessel, before the formal cutting, the pressure vessel to be cut can be divided into a plurality of layers, each layer being an annular portion of the pressure vessel.

[0028] When the cutting is officially carried out, the cutting mechanism is first lowered into the interior of the pressure vessel through the lifting mechanism, and the cutting mechanism is positioned to the first layer positioning position (i.e., the layer at the top of the pressure vessel). The positioning position is lower than the lower edge of the first layer. Then, the lifting unit drives the mechanical arm to move in the vertical direction to perform longitudinal cutting on the pressure vessel; and the rotary assembly drives the lifting unit and the mechanical arm to rotate around the central axis of the pressure vessel to perform transverse cutting on the pressure vessel.

[0029] Furthermore, when the first layer is cut and disassembled, the lifting unit drives the robotic arm to first make a longitudinal cut at the starting point, that is, cutting downward from the upper edge of the pressure vessel, and the cutting length is the preset cutting height. Then, the rotary assembly drives the lifting unit and the robotic arm to rotate around the central axis of the pressure vessel to a preset cutting angle. At the same time, the robotic arm makes a transverse cut on the lower edge of the first layer; after the transverse cut is completed, the lifting unit and the robotic arm reach the second point, and the lifting unit drives the robotic arm to make another longitudinal cut at the second point, thereby completing the cutting of the first fragment of the pressure vessel. That is, through two longitudinal cuts and one transverse cut, a fragment of the pressure vessel can be cut off. It should be noted that before cutting off the fragment, the clamp of the lifting unit needs to clamp the cut block in advance to prevent it from falling.

[0030] After completing the cutting of the first fragment, take the second point as the starting point, and perform another horizontal cutting and vertical cutting to complete the cutting of the second fragment. Repeat this step to complete the cutting of the entire first layer.

[0031] After the first layer is cut and disassembled, and the lifting unit transfers all the fragments to the recovery position for storage, the lifting mechanism moves the cutting mechanism downward to the positioning position of the second layer to cut the second layer. It should be noted that the positioning position of the cutting mechanism in each layer must be lower than the layer to be cut. Repeat the above steps to complete the cutting and disassembly of all layers, thereby completing the cutting of the entire pressure vessel.

[0032] It can be seen that the pressure vessel cutting and disassembling device disassembles the heavy pressure vessel into a plurality of light weight fragments, and then transports the light weight fragments to the recovery position. The weight of the fragments is small, so the possibility of error in the transportation process can be reduced, and the safe cutting and disassembly of the pressurized water reactor pressure vessel can be effectively achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a schematic structural diagram of a cutting and disassembling device for a pressure vessel in some embodiments of the present invention;

[0034] Figure 2 is a front view of a lifting mechanism in some embodiments of the present invention;

[0035] Figure 3 is a side view of a lifting mechanism in some embodiments of the present invention;

[0036] Figure 4 is a schematic structural diagram of a cutting mechanism in some embodiments of the present invention from a first viewing angle;

[0037] Figure 5is a schematic structural diagram of a cutting mechanism in some embodiments of the present invention from a second viewing angle;

[0038] Figure 6 is a schematic structural diagram of a cutting mechanism in some embodiments of the present invention from a third viewing angle;

[0039] Figure 7 is a schematic diagram of a partial matching structure between a roller and a guide rail in some embodiments of the present invention;

[0040] Figure 8 is a schematic diagram of the structure of a pressure vessel in some embodiments of the present invention;

[0041] Fig. 9 is a schematic structural diagram of a stand for a pressure vessel in some embodiments of the present invention;

[0042] Fig.10 It is a schematic diagram of the structure of the pressure vessel and the stand in some embodiments of the present invention.

[0043] In the figure: 1-cutting mechanism, 11-mechanical arm, 111-mechanical arm body, 112-cutting head, 12-lifting unit, 121-first drive motor, 13-rotation assembly, 131-guide rail, 132-rotation moving block, 133-roller, 134-drive shaft, 2-lifting mechanism, 21-wire rope, 22-reel, 23-second drive motor, 24-guide wheel, 3-support and fixing mechanism, 31-tightening block, 32-connecting frame, 4-pressure vessel, 5-stand, 6-energy supply unit, 61-oxygen acetylene cylinder. DETAILED DESCRIPTION

[0044] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of the present invention.

[0045] In the description of the present invention, it should be noted that the terms "upper", "lower", "upstream", "downstream" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0046] In the description of the present invention, the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connect", "set", "install", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0048] First, it is necessary to explain the accompanying drawings. In order to more clearly show the local structure of the cutting and disassembling device for the pressure vessel of the present invention, the attached drawings are as follows: Figure 2 , 3 , 4, 5, 6, and 7 use partial views, where the dotted lines refer to the boundary lines of the equipment breaks in the partial views. Figure 4 , 5 , 7, 8, 9, and 10 are drawn in a perspective drawing method in which objects are larger near and smaller far away. Therefore, they appear to be in an inverted cone shape with a larger top and a smaller bottom in the attached drawings. In fact, the stand 5 in the drawings is in the shape of a right prism, the pressure vessel 4 is in the shape of a right cylinder, and the wire rope 21 of the cutting and disintegration device also extends in the vertical direction.

[0049] Secondly, in order to facilitate the understanding of the content of the present invention, it is necessary to explain the characteristics of the pressure vessel 4 during the cutting and disassembly process. The decommissioning of the reactor pressure vessel 4 is often involved in the field of nuclear facility decommissioning. The nuclear power plant reactor is mainly a pressurized water reactor, and the pressurized water reactor is equipped with a pressure vessel 4. Since the pressure vessel 4 is stored in the reactor pool pit for a long time, the pressure vessel 4 has undergone decades of nuclear reactions, accompanied by multiple reactions such as nuclear fission, nuclide decay, and irradiation degradation, resulting in serious activation contamination of the pressure vessel 4 and a high level of radioactivity. The cutting and disassembly technology of the pressure vessel 4 is one of the key technologies in the decommissioning of nuclear power plants.

[0050] As for the cutting and dismantling of the pressure vessel 4, due to its high radioactivity level, a remote dismantling and dismantling method is required. At the same time, the pressure vessel 4 is a large, thick-walled low-alloy steel cylinder structure. The equipment has a diameter of 4m and a height of about 10m. The thickest part is about 450mm, and the rest of the wall thickness is generally about 200mm. The cutting volume and thickness are both very large. In addition, the space in the factory is limited, and the space outside the cylinder that can be used for cutting and dismantling is extremely limited. There is currently no experience and special equipment for cutting and dismantling such large-thickness low-alloy steel cylinders, and considering that the nuclear facility pressure vessel itself has a high radioactivity level, a remote dismantling and dismantling method is required. Therefore, it is necessary to consider a device and method for cutting and dismantling a large, thick-walled low-alloy steel cylinder that enters from the top of the internal space of the cylinder to achieve the effect of remote cutting and dismantling.

[0051] Example 1

[0052] See also Figure 1 The present invention discloses a pressure vessel cutting and disassembling device, comprising: a lifting mechanism 2 and a cutting mechanism 1.

[0053] The cutting mechanism 1 is located inside the pressure vessel 4, and the central axis of the pressure vessel 4 extends in the vertical direction. The reason for placing the pressure vessel vertically for cutting from top to bottom is that the shape of the pressure vessel and the radioactive dose rate are different from top to bottom in each layer. Therefore, when cutting each layer, it is convenient to pack the waste blocks of the pressure vessel according to the characteristics of its shape and dose rate. The cutting mechanism 1 includes: a rotating assembly 13, a lifting unit 12 and a mechanical arm 11. The mechanical arm 11 is used to cut the pressure vessel 4. The lifting unit 12 is connected to the mechanical arm 11, and the lifting unit 12 is used to drive the mechanical arm 11 to move in the vertical direction, so that the mechanical arm 11 cuts the pressure vessel 4 longitudinally. The rotating assembly 13 is connected to the lifting unit 12, and the rotating assembly 13 is used to drive the lifting unit 12 and the mechanical arm 11 to rotate around the central axis of the pressure vessel 4, so that the mechanical arm 11 cuts the pressure vessel 4 transversely. The lifting mechanism 2 is located above the pressure vessel 4, and the lower end of the lifting mechanism 2 is connected to the rotating assembly 13, which is used to drive the rotating assembly 13, the lifting unit 12 and the robot arm 11 to move in the vertical direction, so that the cutting mechanism 1 can gradually cut and disintegrate the pressure vessel 4 from top to bottom.

[0054] It should be noted that the pressure vessel cutting and disassembling device cuts and disassembles the pressure vessel 4 layer by layer through the lifting mechanism 2 and the cutting mechanism 1, cuts off a piece of fragment each time, and transports the fragment to the recovery position for storage through the lifting unit, so that the reactor pressure vessel 4 can be safely cut and disassembled. Specifically, Figure 7 As shown, in order to facilitate cutting and disassembling the pressure vessel 4 , before formally cutting, the pressure vessel 4 to be cut can be divided into a plurality of layers, each layer being an annular portion of the pressure vessel 4 .

[0055] When the cutting is formally carried out, the cutting mechanism 1 is first lowered into the interior of the pressure vessel 4 by the lifting mechanism 2, and the cutting mechanism 1 is positioned to the first layer (i.e., the layer at the top of the pressure vessel 4). The positioning position is lower than the lower edge of the first layer. Then, the lifting unit 12 drives the mechanical arm 11 to move in the vertical direction to perform longitudinal cutting on the pressure vessel 4. In addition, the rotating assembly 13 drives the lifting unit 12 and the mechanical arm 11 to rotate around the central axis of the pressure vessel 4 to perform transverse cutting on the pressure vessel 4.

[0056] Furthermore, when the first layer is cut and disassembled, the lifting unit 12 drives the mechanical arm 11 to make a longitudinal cut at the starting point, that is, cutting downward from the upper edge of the pressure vessel 4, and the cutting length is the preset cutting height. Then, the rotary assembly 13 drives the lifting unit 12 and the mechanical arm 11 to rotate around the central axis of the pressure vessel 4 to a preset cutting angle, and at the same time, the mechanical arm 11 performs a transverse cut on the lower edge of the first layer; after the transverse cut is completed, the lifting unit 12 and the mechanical arm 11 reach the second point, and the lifting unit 12 drives the mechanical arm 11 to make another longitudinal cut at the second point, thereby completing the cutting of the first fragment of the pressure vessel 4. That is, through two longitudinal cuts and one transverse cut, a fragment of the pressure vessel 4 can be cut off. It should be noted that before the fragment is cut off, the clamp of the lifting unit needs to clamp the cut block in advance to prevent it from falling.

[0057] After completing the cutting of the first fragment, take the second point as the starting point and perform another horizontal and vertical cutting to complete the cutting of the second fragment. Repeat this step to complete the cutting of the entire first layer.

[0058] After the cutting and disassembly of the first layer is completed and the lifting unit transfers all the fragments to the recovery position for storage, the lifting mechanism 2 moves the cutting mechanism 1 downward to the positioning position of the second layer to cut the second layer. It should be noted that the positioning position of the cutting mechanism 1 in each layer must be lower than the layer to be cut. Repeating the above steps can complete the cutting and disassembly of all layers, thereby completing the cutting of the entire pressure vessel 4.

[0059] It can be seen that the pressure vessel cutting and disassembling device disassembles the heavy pressure vessel 4 into a plurality of light-weight fragments, and then transports the light-weight fragments to the recovery position. The weight of the fragments is small, so the possibility of error in the transportation process can be reduced, and the safe cutting and disassembly of the pressurized water reactor pressure vessel 4 can be effectively achieved.

[0060] In some embodiments, the apparatus further includes a control device, which includes an acquisition unit, a first controller, and a second controller. The acquisition unit is used to acquire the area division data of the pressure vessel 4 to be cut, and the area division data includes the number of layers of the pressure vessel 4, the positioning position parameters of each layer, and the cutting parameters of each layer, wherein the number of layers is multiple layers.

[0061] The area division data of the pressure vessel 4 to be cut can be obtained by the staff according to the actual situation of the pressure vessel 4, that is, the pressure vessel 4 to be cut is divided into multiple layers, and the cutting path of each layer is defined. After the division is completed, the obtained area division data is input into the control device. Therefore, the acquisition unit can be an existing signal interface, such as an I / O interface, etc. The staff inputs the area division data into the control device through the acquisition unit.

[0062] In some embodiments, the layers are pre-divided according to the longitudinal cutting height of the robot arm and the height of the pressure vessel to be cut. For example, if the height of the pressure vessel to be cut is 10m and the longitudinal cutting height of the robot arm is 0.5m, the pressure vessel can be divided into 20 layers, each with a height of 0.5m.

[0063] The first controller is electrically connected to the acquisition unit and the lifting mechanism 2, and is used to control the lifting mechanism 2 to drive the cutting mechanism 1 to move from top to bottom according to the number of layers of the pressure vessel 4 in the area division data and the positioning position parameters of each layer. When the cutting mechanism 1 reaches the positioning position of any layer, the first controller controls the lifting mechanism 2 to pause, and sends an electrical signal to the second controller. The second controller is electrically connected to the cutting mechanism 1, and is used to control the cutting and disintegration unit to perform a cutting operation on the current layer of the pressure vessel 4 when receiving the electrical signal. After the cutting and disintegration of all layers are completed in sequence, the cutting and disintegration of the entire pressure vessel 4 can be achieved.

[0064] The cutting parameters of each layer also include the starting point parameters, preset cutting height and preset cutting angle of each layer. The second controller is electrically connected to the lifting unit 12, the robot arm 11 and the rotating assembly 13 respectively, and the second controller is also used to control the rotating assembly 13 to drive the lifting unit 12 and the robot arm 11 to move to the starting point according to the starting point parameters. The second controller is also used to control the lifting unit 12 to drive the robot arm 11 to move from top to bottom to the preset cutting height according to the preset cutting height, and control the robot arm 11 to perform longitudinal cutting on the current layer of the pressure vessel 4. The second controller is also used to control the rotating assembly 13 to drive the robot arm 11 to rotate around the central axis of the pressure vessel 4 to the preset cutting angle according to the preset cutting angle, and control the robot arm 11 to perform transverse cutting on the current layer of the pressure vessel 4.

[0065] In this embodiment, the first controller and the second controller are used to control the mechanical arm 11, the lifting unit 12 and the rotary assembly 13 to perform transverse cutting and longitudinal cutting, so that the automatic operation of the cutting and disassembling device of the entire pressure vessel can be realized, and the staff does not need to go to the cutting site of the pressure vessel 4, but only needs to remotely monitor the cutting and disassembling process. The first controller and the second controller can both be commercially available industrial control equipment, such as a controller built with a field programmable logic gate array chip, or a controller built with a PLC control circuit, etc.

[0066] See also Figure 4 , Figure 5 and Figure 6 In some embodiments, the rotary assembly 13 includes a guide rail 131 and a rotary moving block 132. The guide rail 131 is annular and surrounds the central axis of the pressure vessel 4. The rotary moving block 132 is connected to the guide rail 131 and can move in the annular direction of the guide rail 131. The lifting unit 12 is installed on the rotary moving block 132, and the rotary moving block 132 is used to drive the lifting unit 12 to rotate around the central axis of the pressure vessel 4.

[0067] In this embodiment, by adopting the guide rail 131 and the rotary moving block 132 , the lifting unit 12 and the robot arm 11 can be rotated around the central axis of the pressure container 4 .

[0068] See also Figure 2 and Figure 3 The lifting mechanism includes a wire rope 21, a reel 22 and a second drive motor 23. The reel 22 is located above the pressure vessel 4. The upper half of the wire rope 21 is wound around the reel 22. The lower end of the wire rope 21 is connected to the rotary assembly 13. The second drive motor 23 is connected to the reel 22 and is used to drive the reel 22 to rotate around its own axis to control the retraction or release of the wire rope 21, thereby causing the rotary assembly 13 to rise or fall.

[0069] Specifically, the first controller is electrically connected to the second drive motor 23, and is used to control the start of the second drive motor 23, thereby driving the reel 22 to rotate around its own axis to release the wire rope 21, so that the cutting mechanism 1 moves from top to bottom. The first controller is also used to control the second drive motor 23 to pause when the cutting mechanism 1 reaches a positioning position of any layer.

[0070] Specifically, the staff can calculate the distance that the cutting mechanism 1 needs to descend, that is, the length of the wire rope 21 that needs to be released, based on the height difference between the positioning positions of each layer, and then the starting time of the driving motor can be obtained.

[0071] Furthermore, the lifting mechanism also includes a guide wheel 24, and the guide wheel 24 is used to guide the wire rope.

[0072] In some embodiments, the pause duration of the second drive motor 23 can be set to a preset duration. For example, after calculation, it takes 26 minutes for the cutting mechanism 1 to cut one of the layers of the pressure vessel 4. The pause duration can be set to 30 minutes to ensure that the cutting operation of the current layer can be successfully completed. In some other embodiments, it is also possible to determine whether the cutting operation of the current layer has been completed by image recognition. If it has been completed, a restart signal is sent to the first controller, and the first controller controls the start of the second drive motor 23 according to the restart signal. The image recognition in this embodiment can be achieved by an existing image recognition device, and the image recognition device includes a camera and image recognition software. The camera is installed on the cutting mechanism 1 and faces the inner wall of the pressure vessel 4. The camera is used to obtain the current cutting image; the image recognition software is electrically connected to the camera, and is used to determine whether the cutting operation is completed according to the current cutting image. The image recognition device in this embodiment can be implemented by existing equipment, which will not be repeated here.

[0073] See also Figure 4 and Figure 5 The device further includes a supporting and fixing mechanism 3, which includes a connecting frame 32 and a tightening block 31. The connecting frame 32 is located below the guide rail 131 and is connected to the guide rail 131. In other words, the guide rail 131 is installed at the upper end of the connecting frame 32. There are multiple tightening blocks 31, which surround the central axis of the pressure vessel 4 and are connected to the connecting frame 32. The tightening blocks 31 can move outward in the horizontal direction to abut against the inner wall of the pressure vessel 4, thereby fixing the cutting mechanism 1 at the position to be cut inside the pressure vessel 4.

[0074] The first controller is also electrically connected to the supporting and fixing mechanism 3, and is used to control the support block 31 of the supporting and fixing mechanism 3 to move outward when the cutting mechanism 1 moves to any layered positioning position, so as to abut against the inner wall of the pressure container 4. Specifically, the movement of the support block 31 can be achieved by using commercially available driving cylinders and other equipment.

[0075] In this embodiment, the cutting mechanism 1 can be positioned by abutting against the inner wall of the pressure container 4 through a plurality of tightening blocks 31, thereby preventing the cutting mechanism 1 from shaking during the cutting process.

[0076] In some embodiments, the lifting unit 12 can be implemented by a lead screw and nut structure. Specifically, the lifting unit 12 includes a first drive motor 121, a lead screw and a lifting and moving block (equivalent to a nut), the lead screw is installed on the rotary moving block 132 and can rotate around its own axis, the lead screw extends upward in the vertical direction, the lifting and moving block is sleeved on the lead screw and is threadedly connected with the lead screw, the mechanical arm 11 is installed on the lifting and moving block, the first drive motor 121 is installed on the rotary moving block 132, and the output end of the first drive motor 121 is connected to the lead screw, which is used to drive the lead screw to rotate around its own axis, thereby enabling the lifting and moving block and the mechanical arm 11 to move in the vertical direction. In some other embodiments, the lifting unit 12 can also be implemented by existing equipment such as telescopic cylinders and electric cylinders.

[0077] In some embodiments, the robot arm 11 includes a robot arm body 111 and a cutting head 112. One end of the robot arm body 111 is connected to the lifting and moving block of the lifting unit 12, and the other end is connected to the cutting head 112. The cutting head 112 is used to flame cut the pressure vessel 4. The robot arm 11 can be a commercially available programmable robot device, and a commercially available flame cutting head 112 can be installed at one end thereof.

[0078] Furthermore, if Figure 5 As shown, the device also includes an energy supply unit 6, which is connected to the cutting head 112 through a gas pipe, and the energy supply unit 6 is used to deliver combustion gas to the cutting head 112. In this embodiment, the combustion gas refers to a mixed gas of oxygen and acetylene. The energy supply unit 6 includes an oxygen-acetylene bottle 61, which is connected to the cutting head 112. The energy supply unit is mainly composed of the oxygen-acetylene bottle 61 and a numerical control device. The numerical control device is responsible for adjusting the oxygen-acetylene ratio and the energy size. The energy supply unit is fixed on the bottom plate and does not rotate with the mechanical arm. A torsion spring of a retractable device is installed inside the mechanical arm, which drives the oxygen-acetylene gas pipe inside the mechanical arm to retract and extend as the mechanical arm moves.

[0079] In other words, the energy supply unit 6 is installed on the connecting frame 32, and it does not rotate around the central axis of the pressure vessel with the rotary moving block 132. The energy supply unit 6 is connected to the cutting head 112 through the air pipe. The length of the air pipe has a margin to accommodate the rotation of the robot arm around the central axis of the pressure vessel. A retractable torsion spring is installed inside the robot arm. When the robot arm moves to a position far away from the energy supply unit, the retractable torsion spring releases the air pipe; when the robot arm moves to a position close to the functional unit, the retractable torsion spring retracts the air pipe. After the robot arm completes the cutting of the current layer, the robot arm returns to the starting point, so that the air pipe returns to its initial state, and then cuts the next layer.

[0080] In some other embodiments, an elastic bellows may be used as the gas pipe, so that when the robot arm rotates around the central axis of the pressure vessel, the gas pipe can be elastically deformed (i.e., the gas pipe is stretched) to adapt to the rotation of the robot arm (cutting head 112). After the robot arm completes the cutting of the current layer, the robot arm returns to the starting point, so that the gas pipe returns to the initial state, and then the next layer is cut.

[0081] The device also includes a lifting unit (not shown in the figure), which includes a traveling frame and a clamping claw. The traveling frame is located between the cutting position and the recovery position. The pressure vessel 4 is placed at the cutting position. The traveling frame can move back and forth between the cutting position and the recovery position. The mechanical arm 11 performs transverse and longitudinal cutting on the pressure vessel 4 and can cut the pressure vessel 4 into multiple fragments. The clamping claw is connected to the traveling frame, and the clamping claw is located above the pressure vessel 4. The clamping claw can move downward in the vertical direction and grab the fragments of the pressure vessel 4 after cutting and disintegration. The traveling frame drives the clamping claw to move the fragments and place them at the recovery position. Specifically, the lifting unit can be implemented by using existing gantry cranes and other equipment, which will not be described in detail here.

[0082] See also Figure 8 , Fig. 9 and Fig.10 The device further comprises a stand 5 for the pressure vessel 4, the stand 5 is located at the cutting position, the stand 5 is provided with a placement groove, the pressure vessel 4 is accommodated in the placement groove, and the inner side wall of the placement groove is used to support and position the pressure vessel 4. The upper end of the stand 5 is provided with a mounting bracket, the mounting bracket is located above the pressure vessel 4, and the lifting mechanism 2 is installed on the mounting bracket.

[0083] The following is a more specific description of the cutting and disassembly device of the pressure vessel:

[0084] In this embodiment, a device and method for cutting and dismantling large, thick-walled low-alloy steel cylinders are provided, which can meet the cutting and dismantling needs of such large, thick-walled low-alloy steel cylinders, such as pressure vessels 4, and can cut large, thick-walled low-alloy steel cylinders at a specified path over a long distance.

[0085] Specifically, the device is a device for cutting and disassembling a pressure vessel 4, comprising a lifting mechanism and a disassembling mechanism (i.e., the cutting mechanism 1 mentioned above), wherein the construction principle of the lifting mechanism is a multi-wire lifting mechanism, such as Figure 1 As shown, the dismantling mechanism is lifted by a rigid hanger to help the dismantling mechanism complete operations such as movement, positioning, and dismantling in the tank body.

[0086] The disassembly mechanism adopts a frame structure design, which is convenient for completing multiple functions such as equipment bearing, installation, and support under a relatively light weight. The disassembly mechanism includes a lifting shaft, a mechanical arm 11, a flame cutting head 112, an oxygen cylinder, an acetylene cylinder, an energy supply device, and a rotary track.

[0087] The lifting shaft (i.e. the lifting unit 12) adopts a lead screw structure, which can provide a lifting operation with a stroke of 1.5m, and the end mechanical arm is about 2m in length. During the working process, the CNC system or personnel control and issue instructions, and the control system, sensors, and actuators cooperate to drive the system to perform corresponding operations to complete the longitudinal cutting.

[0088] like Figure 6 and Figure 7 As shown, the rotary track adopts a rotary support method, and the roller 133 and the gear are processed into an integrated structure, so that the roller and the gear are connected through the same transmission shaft, so that the motor drives the gear to rotate and the roller is driven to rotate through the transmission shaft. The lifting shaft of the robot arm lifting unit 12 is installed on the guide track 131 according to the work progress needs to drive the roller 133 to rotate through the gear. The two rollers 133 are connected through a driving shaft. The steering of the roller during the rolling process is controlled by the overall control system, and at the same time, the robot arm 11 carrying the flame cutting head 112 can rotate and move along the rotary track, as shown in the attached figure. Figure 5 As shown, at this time, the flame cutting head 112 performs cutting, which can complete the transverse cutting of the pressure vessel 4, and cooperates with the mechanical arm 11 to move longitudinally along the lifting shaft through gears to complete the longitudinal cutting operation, thereby completing the transverse and longitudinal cutting requirements of the pressure vessel 4.

[0089] The supporting and fixing mechanism 3 adopts a parallel four-bar structure and can extend outward until it contacts the inner wall of the pressure vessel 4. Through the outward supporting action in various directions, the entire cutting mechanism 1 and the inner wall of the pressure vessel 4 are relatively fixed, thereby providing a stable operating basis for the cutting process.

[0090] The present invention also provides a method for cutting and disassembling a pressure vessel 4, and the technical solution thereof is as follows:

[0091] A method for cutting and disassembling a large, thick-walled low-alloy steel cylinder, comprising:

[0092] The cutting and disassembling device will be lifted by the factory crane, moved to the top of the pressure vessel 4, and slowly placed into the pressure vessel 4. The lifting mechanism is fixed on the top of the customized pressure vessel 4 stand 5, the disassembling mechanism is located inside the pressure vessel 4, and the supporting and fixing mechanism 3 of the disassembling mechanism extends outward to contact the inner wall of the pressure vessel 4, and the installation is completed. Figure 6 As shown. The operator remotely controls the mechanical arm 11 to aim the flame cutting head 112 carried by the operator at the cutting position, and performs longitudinal and transverse cutting according to the set cutting process. During the cutting process, the operator uses multiple cameras in the factory to determine the completion of the cutting process. After each piece of pressure vessel 4 is cut, the upper crane is used to clamp the pressure vessel 4 fragments for packing, and the pressure vessel 4 is cut layer by layer, so as to achieve the purpose of cutting and disassembling the pressure vessel 4, and the cutting efficiency is high.

[0093] Furthermore, the lifting operation of the cutting and disintegrating device lifting mechanism is as follows: first, the object to be cut needs to be divided into multiple layers from top to bottom. The cutting and disintegrating device lifting mechanism is fixed on the top of the stand 5 on the top of the pressure vessel 4, and the control system is operated to slowly lower the multi-wire traction disintegration structure, and the rotating track of the disintegration mechanism is set slightly lower than the bottom of the first layer of the object to be cut, so that the mechanical arm 11 completely covers the upper and lower cutting heights of the first layer. As each layer of the pressure vessel 4 is cut and disintegrated, the wire drive motor is started, and the disintegration mechanism is slowly lowered to complete the longitudinal lifting of the pressure vessel 4 cutting and disintegration device.

[0094] The mechanism of the mechanical arm 11 of the cutting and disintegrating device is described as follows: the cutting and disintegrating device is fixed inside the pressure vessel 4 below the lifting mechanism, the control system is operated, the horizontal distance between the position of the cutting head 112 and the inner wall of the pressure vessel 4 is set to "10 mm", the driving motor of the mechanical arm 11 is started, and the mechanical arm 11 carries the cutting head 112 and moves longitudinally under the drive of the lifting shaft of the mechanical arm 11. During the movement, the flame cutting process continues, and the cutting head 112 moves to the predetermined cutting position and stops, completing the longitudinal cutting;

[0095] The rotation of the cutting and disintegration device is described as follows: the cutting and disintegration device is fixed inside the pressure vessel 4 below the lifting mechanism, and the control system is operated to define the center of the rotating track as the zero point of the rotation coordinate, and then the rotation angle of the lifting shaft along the zero point of the coordinate is set to "+40°", and the turntable motor is started. The lifting shaft is driven to rotate clockwise along the rotating track through the rotation of the rotating gear, so that the mechanical arm 11 and the flame cutting head 112 connected to the lifting shaft complete the horizontal cutting.

[0096] The overall description of the cutting and dismantling system device is as follows: During the implementation process, the operator operates the ring crane to lift the pressure vessel 4 cutting and dismantling device to the upper platform 5 of the pressure vessel 4. Through calibration and positioning, the lifting mechanism is installed on the top of the cutting platform 5 of the pressure vessel 4, and the cutting and dismantling device (including the lifting shaft, the mechanical arm 11, the flame cutting head 112, the rotating track, etc.) connected below the lifting structure is installed inside the pressure vessel 4, and is fixed by extending the supporting fixing mechanism 3 to contact the inner wall of the pressure vessel 4. The staff operates the control system, sets the horizontal distance between the flame cutting head 112 and the inner wall of the pressure vessel 4 to "10mm", starts the turntable motor, sets the power of the flame cutting head 112, and keeps the mechanical arm 11 stationary. The motor drives the lifting shaft to rotate clockwise, so that the mechanical arm 11 connected to the lifting shaft carries the flame cutting head 112 to complete the horizontal cutting. If you want to complete the longitudinal cutting, you need to keep the lifting shaft stationary, control the mechanical arm 11 to move up and down along the lifting shaft, and complete the longitudinal cutting. During the cutting and dismantling process of the pressure vessel 4, the slewing track, the lifting shaft, the mechanical arm 11, and the flame cutting head 112 cooperate to realize the transverse and longitudinal cutting of the pressure vessel 4, and complete the cutting and dismantling of this layer. Then, the cutting and dismantling device is connected through the lifting mechanism, and the steel wire is lowered to make the cutting and dismantling device continue to move vertically downward, so as to complete the cutting and dismantling of the pressure vessel 4 at a lower position. During the dismantling process, the crane above the pressure vessel 4 stand 5 is used to lift the waste blocks, so as to realize the cutting and dismantling of the entire pressure vessel 4.

[0097] Example 2

[0098] The present invention further provides a method for cutting and disassembling a pressure vessel 4. The method uses the device for cutting and disassembling a pressure vessel in Example 1, comprising:

[0099] The area division data of the pressure vessel 4 to be cut is acquired.

[0100] The area division data includes the number of layers of the pressure vessel 4 , which are pre-divided according to the longitudinal cutting height of the robot arm and the height of the pressure vessel 4 to be cut. There are multiple layers, and each layer is annular.

[0101] The area division data also includes positioning position parameters of each layer and cutting parameters of each layer.

[0102] According to the number of layers in the area division data, the positioning position parameters of each layer and the cutting parameters of each layer, the cutting mechanism 1 cuts each layer of the pressure vessel 4 from top to bottom.

[0103] According to the number of layers in the area division data, the positioning position parameters of each layer and the cutting parameters of each layer, the cutting mechanism 1 cuts each layer of the pressure vessel 4 from top to bottom, specifically including:

[0104] According to the number of layers in the area division data and the positioning position parameters of each layer, the lifting mechanism 2 drives the cutting mechanism 1 to move from top to bottom, and the cutting mechanism 1 is positioned at the positioning position of each layer in turn;

[0105] The cutting and disassembling unit performs longitudinal and transverse cutting on the current layer of the pressure vessel 4, thereby dividing the current layer into a plurality of fragments.

[0106] The cutting and disassembly of all layers are completed in sequence, that is, the cutting and disassembly of the entire pressure vessel 4 is realized.

[0107] This method can cut and dismantle the heavy pressure vessel 4 into small pieces by using the pressure vessel cutting and dismantling device in Example 1. Therefore, this method can effectively realize the safe cutting and dismantling of the pressurized water reactor pressure vessel 4.

[0108] In some embodiments, the cutting parameters of each layer include a starting point parameter of each layer, a preset cutting height, and a preset cutting angle.

[0109] The cutting and disassembling unit performs longitudinal and transverse cutting on the current layer of the pressure vessel 4, thereby dividing the current layer into a plurality of fragments, including:

[0110] According to the starting point parameters, the rotary assembly 13 drives the lifting unit 12 and the mechanical arm 11 to move to the starting point;

[0111] According to the preset cutting height, the lifting unit 12 drives the robot arm 11 to move from top to bottom to the preset cutting height. During the movement, the robot arm 11 performs longitudinal cutting on the current layer of the pressure vessel 4 .

[0112] According to the preset cutting angle, the rotating assembly 13 drives the robot arm 11 to rotate around the central axis of the pressure vessel 4 at the preset cutting angle. During the rotation, the robot arm 11 performs a transverse cutting on the current layer of the pressure vessel 4. The arc length of the transverse cutting is the arc length corresponding to the preset cutting angle.

[0113] The above longitudinal cutting step and transverse cutting step are repeated to decompose the current layered cut of the pressure vessel 4 into a plurality of fragments.

[0114] To be more specific, when the first layer is cut and disassembled, the lifting unit 12 drives the mechanical arm 11 to first perform a longitudinal cut at the starting point, that is, cutting downward from the upper edge of the pressure vessel 4, and the cutting length is the preset cutting height. Then, the rotary assembly 13 drives the lifting unit 12 and the mechanical arm 11 to rotate around the central axis of the pressure vessel 4 at a preset cutting angle, and at the same time, the mechanical arm 11 performs a transverse cut on the lower edge of the first layer; after the transverse cut is completed, the lifting unit 12 and the mechanical arm 11 reach the second point, and the lifting unit 12 drives the mechanical arm 11 to perform another longitudinal cut at the second point, thereby completing the cutting of the first fragment of the pressure vessel 4. That is, through two longitudinal cuts and one transverse cut, a fragment of the pressure vessel 4 can be cut off.

[0115] After the first piece of debris is cut, the small weight debris is transported to the recycling location for packaging by the lifting unit.

[0116] Then, starting from the second point, perform another horizontal cut and a vertical cut to complete the cutting of the second fragment. Repeat this step to complete the cutting of the entire first layer.

[0117] After the cutting and disassembly of the first layer is completed and the lifting unit transfers all the fragments to the recovery position for storage, the lifting mechanism 2 moves the cutting mechanism 1 downward to the positioning position of the second layer to cut the second layer. It should be noted that the positioning position of the cutting mechanism 1 in each layer must be lower than the layer to be cut. Repeating the above steps can complete the cutting and disassembly of all layers, thereby completing the cutting of the entire pressure vessel 4.

[0118] The advantage of cutting and disassembling the pressure vessel 4 layer by layer in this way is that the purpose of cutting and disassembling the pressure vessel 4 can be achieved, and the safety factor is high during transportation, which makes packing more convenient and makes the cutting efficiency higher.

[0119] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A pressure vessel cutting and disassembling device, characterized in that: include: A lifting mechanism (2) and a cutting mechanism (1); The cutting mechanism (1) is located inside a pressure vessel (4), the central axis of the pressure vessel (4) extending in a vertical direction, and the cutting mechanism (1) comprises: a rotary assembly (13), a lifting unit (12) and a mechanical arm (11). The mechanical arm (11) is used to cut the pressure container (4). The lifting unit (12) is connected to the mechanical arm (11), and the lifting unit (12) is used to drive the mechanical arm (11) to move in a vertical direction, so that the mechanical arm (11) performs longitudinal cutting on the pressure vessel (4). The rotary assembly (13) is connected to the lifting unit (12), and the rotary assembly (13) is used to drive the lifting unit (12) and the mechanical arm (11) to rotate around the central axis of the pressure container (4), so that the mechanical arm (11) performs transverse cutting on the pressure container (4); The lifting mechanism (2) is located above the pressure vessel (4), and the lower end of the lifting mechanism (2) is connected to the rotating assembly (13) to drive the rotating assembly (13), the lifting unit (12) and the mechanical arm (11) to move in a vertical direction, so that the cutting mechanism (1) can gradually cut and disassemble the pressure vessel (4) from top to bottom.

2. The device according to claim 1, characterized in that The rotary assembly (13) comprises a guide rail (131) and a rotary moving block (132); the guide rail (131) is annular and surrounds the central axis of the pressure container (4); the rotary moving block (132) is connected to the guide rail (131) and can move in the circumferential direction of the guide rail (131); The lifting unit (12) is mounted on the rotary moving block (132), and the rotary moving block (132) is used to drive the lifting unit (12) to rotate around the central axis of the pressure container (4).

3. The device according to claim 2, characterized in that It also includes a supporting and fixing mechanism (3), the supporting and fixing mechanism (3) including a connecting frame (32) and a tightening block (31), the connecting frame (32) being located below the guide rail (131) and connected to the guide rail (131); There are a plurality of the tightening blocks (31), which surround the central axis of the pressure vessel (4) and are connected to the connecting frame (32). The tightening blocks (31) can move outward in a horizontal direction to abut against the inner wall of the pressure vessel (4), thereby fixing the cutting mechanism (1) at a position to be cut inside the pressure vessel (4).

4. The device according to claim 2, characterized in that The lifting unit (12) comprises a first drive motor (121), a lead screw and a lifting and moving block, wherein the lead screw is mounted on the rotary moving block (132) and can rotate around its own axis, the lead screw extends upward in a vertical direction, the lifting and moving block is sleeved on the lead screw and is threadedly connected to the lead screw, the mechanical arm (11) is mounted on the lifting and moving block, the first drive motor (121) is mounted on the rotary moving block (132), and the output end of the first drive motor (121) is connected to the lead screw for driving the lead screw to rotate around its own axis, thereby enabling the lifting and moving block and the mechanical arm (11) to move in a vertical direction.

5. The device according to claim 4, characterized in that The robot arm (11) comprises a robot arm body (111) and a cutting head (112); one end of the robot arm body (111) is connected to the lifting and moving block of the lifting unit (12), and the other end is connected to the cutting head (112); the cutting head (112) is used to perform flame cutting on the pressure vessel (4).

6. The device according to claim 5, characterized in that It also comprises an energy supply unit (6), the energy supply unit (6) being connected to the cutting head (112) via a gas supply pipe, the energy supply unit (6) being used to supply combustion gas to the cutting head (112).

7. The device according to claim 1, characterized in that The lifting mechanism (2) comprises a steel wire rope (21), a reel (22) and a second drive motor (23); the reel (22) is located above the pressure vessel (4); the upper part of the steel wire rope (21) is wound around the reel (22); the lower end of the steel wire rope (21) is connected to the rotary assembly (13); the second drive motor (23) is connected to the reel (22) and is used to drive the reel (22) to rotate around its own axis to control the retraction or release of the steel wire rope (21), thereby causing the rotary assembly (13) to rise or fall.

8. The device according to claim 1, characterized in that It also includes a lifting unit, the lifting unit includes a traveling frame and a clamping claw, the traveling frame is located between a cutting position and a recovery position, the pressure container (4) is placed on the cutting position, and the traveling frame can move back and forth between the cutting position and the recovery position. The mechanical arm (11) performs transverse and longitudinal cutting on the pressure vessel (4), and is capable of cutting the pressure vessel (4) into a plurality of fragments. The clamp is connected to the traveling frame, and the clamp is located above the pressure vessel (4). The clamp can move downward in a vertical direction and grab the fragments of the pressure vessel (4) after cutting and disintegration. The traveling frame drives the clamp to move the fragments and place them in the recovery position.

9. A method for cutting and disassembling a pressure vessel, the method using the pressure vessel cutting and disassembling device according to any one of claims 1 to 8, characterized in that: include: Acquire the area division data of the pressure vessel (4) to be cut, The area division data includes the number of layers of the pressure vessel (4), the layers are pre-divided according to the longitudinal cutting height of the robot arm and the height of the pressure vessel (4) to be cut, the number of the layers is multiple, and each layer is annular. The area division data also includes positioning position parameters of each layer and cutting parameters of each layer; According to the number of layers in the area division data, the positioning position parameters of each layer and the cutting parameters of each layer, the cutting mechanism (1) cuts each layer of the pressure container (4) from top to bottom.

10. The method according to claim 9, characterized in that According to the number of layers in the area division data, the positioning position parameters of each layer and the cutting parameters of each layer, the cutting mechanism (1) cuts each layer of the pressure vessel (4) from top to bottom, specifically comprising: According to the number of layers in the area division data and the positioning position parameters of each layer, the lifting mechanism (2) drives the cutting mechanism (1) to move from top to bottom, and the cutting mechanism (1) is positioned at the positioning position of each layer in turn; The cutting and disintegrating unit performs longitudinal cutting and transverse cutting on the current layer of the pressure vessel (4), thereby dividing the current layer into a plurality of fragments; The cutting and disassembly of all layers are completed in sequence, thus achieving the cutting and disassembly of the entire pressure vessel (4).

11. The method according to claim 10, characterized in that The cutting parameters include starting point parameters, preset cutting height and preset cutting angle. The cutting and disintegrating unit performs longitudinal cutting and transverse cutting on the current layer of the pressure vessel (4), thereby dividing the current layer into a plurality of fragments, including: According to the starting point parameters, the rotary component (13) drives the lifting unit (12) and the mechanical arm (11) to move to the starting point; According to the preset cutting height, the lifting unit (12) drives the mechanical arm (11) to move from top to bottom to the preset cutting height, and the mechanical arm (11) performs longitudinal cutting on the current layer of the pressure container (4) during the movement; According to the preset cutting angle, the rotary assembly (13) drives the mechanical arm (11) to rotate around the central axis of the pressure vessel (4) at the preset cutting angle, and during the rotation process, the mechanical arm (11) performs a transverse cutting on the current layer of the pressure vessel (4), and the arc length of the transverse cutting is the arc length corresponding to the preset cutting angle; The above longitudinal cutting step and transverse cutting step are repeated to decompose the current layered cut of the pressure vessel (4) into a plurality of fragments.

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