Automatic grinding, polishing and detecting device for flange surface of reactor pressure vessel

Abstract

The invention discloses an automatic grinding, polishing and detecting device for a flange surface of a reactor pressure vessel, which comprises a trolley main body comprising a walking assembly and a trolley box body, and the walking assembly is mounted on the trolley box body; the grinding and polishing module comprises a mounting box body with an opening, a grinding wheel, a polishing wheel, a grinding driving part and a polishing driving part, and the grinding wheel is arranged at the front end of the advancing direction of the polishing wheel; the grinding wheel and the polishing wheel are rotationally connected with the mounting box body and partially protrude out of the mounting box body through the opening; the grinding driving part is arranged outside the mounting box body and is connected with the grinding wheel for driving, and the polishing driving part is arranged outside the mounting box body and is connected with the polishing wheel for driving; the pressure adjusting assembly is fixedly connected with the trolley box body and elastically connected with the mounting box body so as to adjust the abutting force between the grinding and polishing module and the flange face; and the detection module is fixedly connected with the trolley box body and is arranged on the same side as the grinding and polishing module. According to the invention, the sealing surface of the reactor pressure vessel can be fully automatically ground and polished.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power equipment maintenance, and in particular to an automatic grinding and polishing and detection device for the flange surface of a reactor pressure vessel. Background Art

[0002] In a nuclear power plant, the reactor pressure vessel is a key device that is used to contain nuclear fuel and control the nuclear reaction process. In order to ensure the safe operation of the reactor, the sealing of the pressure vessel is crucial. During the overhaul and refueling of a nuclear power plant, the sealing surface of the reactor pressure vessel needs to be polished to remove dust, rust, scratches, etc. on the sealing surface to ensure that it has good sealing.

[0003] Currently, operators use special grinding tools to repeatedly grind and polish the sealing surface to remove dust, rust, scratches, etc. At the same time, operators will also use visual means to check and confirm the defects of the sealing surface. Since operators need to directly contact the pressure vessel, they will be exposed to a certain radiation dose, which may have an adverse effect on their health. Secondly, manual grinding and polishing is labor-intensive, inefficient, and it is difficult to ensure the consistency and stability of the grinding quality. In addition, although the existing visual inspection can detect defects on the sealing surface, it cannot completely eliminate the influence of human factors, and missed detection or false detection may occur. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic grinding and polishing and detection device for the flange surface of a reactor pressure vessel.

[0005] The technical solution adopted by the present invention to solve the technical problem is: an automatic grinding and polishing and detection device for the flange surface of a reactor pressure vessel, comprising:

[0006] The trolley body comprises a traveling assembly and a trolley box, wherein the traveling assembly is mounted on the trolley box;

[0007] A grinding and polishing module comprises a mounting box with an opening, a grinding wheel, a polishing wheel, a grinding drive and a polishing drive, wherein the grinding wheel is arranged at the front end of the traveling direction of the polishing wheel; the grinding wheel and the polishing wheel are respectively rotatably connected to the mounting box and partially protrude from the outside of the mounting box through the opening; the grinding drive is arranged outside the mounting box and connected to the grinding wheel for driving, and the polishing drive is arranged outside the mounting box and connected to the polishing wheel for driving;

[0008] A pressure regulating assembly, fixedly connected to the trolley housing and elastically connected to the mounting housing to adjust the contact pressure between the grinding and polishing module and the flange surface;

[0009] The detection module is fixedly connected to the trolley box and is arranged on the same side as the grinding and polishing module.

[0010] In some embodiments, the pressure regulating assembly includes a mounting bracket, a positioning adjustment member, an elastic shaft, a separation flange, a lower support frame, a first elastic member, and a plurality of linear motion components, wherein the mounting bracket is fixedly connected to the trolley box, and the lower support frame is fixedly connected to the mounting box; the elastic shaft is adjustably fixedly connected to the mounting bracket through the positioning adjustment member, and the elastic shaft is slidably matched with the lower support frame; the first elastic member is sleeved on the elastic shaft, and respectively abuts against the separation flange and the lower support frame to provide downward pressure to the mounting box; the linear motion components are respectively fixedly connected to the trolley box and the mounting box to guide the mounting box to move linearly.

[0011] In some embodiments, the voltage regulating assembly also includes an upper support frame and a second elastic member, wherein the upper support frame is fixedly connected to the mounting box; the second elastic member is sleeved on the elastic shaft and respectively abuts against the separation flange and the upper support frame to provide upward pressure to the mounting box.

[0012] In some embodiments, the voltage regulating assembly further includes a clamping structure, which is clamped with the elastic shaft and detachably connected to the upper support frame to limit the rotation of the elastic shaft.

[0013] In some embodiments, the clamping structure includes an elastic clamping member, a clamping seat and a plurality of fasteners. The elastic clamping member is elastically clamped on the outer periphery of the elastic shaft to limit the movement of the elastic shaft. A plurality of the clamping seats are sleeved on the outside of the elastic clamping member and fixedly connected to the upper support frame through the fasteners.

[0014] In some embodiments, the elastic shaft includes a main body section, a limiting section and a threaded section from bottom to top, the separation flange is fixedly connected to the main body section, the first elastic member is sleeved on the main body section at the lower part of the separation flange, and the second elastic member is sleeved on the main body section at the upper part of the separation flange; the clamping structure is clamped and fixed to the limiting section to limit the rotation of the limiting section; the positioning adjustment member is threadedly connected to the threaded section to adjust the axial position of the threaded section.

[0015] In some embodiments, the positioning adjustment member includes an adjusting nut and a bearing, the bearing is sleeved on the outside of the adjusting nut and fixedly connected to the mounting bracket, and the adjusting nut is threadedly connected to the elastic shaft.

[0016] In some embodiments, the detection module includes a line laser detection component and a camera detection component, the line laser detection unit is fixedly connected to the trolley box and is arranged at the rear end of the grinding and polishing module; the camera detection unit is fixedly connected to the trolley box and is arranged at the front end of the grinding and polishing module.

[0017] In some embodiments, a dust suction and filtering device is also included, which is fixedly connected to the trolley box and is connected to the installation box through a plurality of pipes for dust suction.

[0018] In some embodiments, a control box is further included, which is disposed on the trolley body and is electrically connected to the travel assembly, the grinding drive component, the polishing drive component and the detection module respectively.

[0019] By implementing the present invention, the following beneficial effects are achieved:

[0020] The automatic grinding, polishing and detection device for the flange surface of a reactor pressure vessel of the present invention comprises: a trolley main body, including a walking assembly and a trolley box, the walking assembly is installed on the trolley box; a grinding and polishing module, including a mounting box with an opening, a grinding wheel, a polishing wheel, a grinding drive member and a polishing drive member, the grinding wheel is arranged at the front end of the traveling direction of the polishing wheel; the grinding wheel and the polishing wheel are respectively rotatably connected to the mounting box, and partially protrude from the outside of the mounting box through the opening; the grinding drive member is arranged on the outside of the mounting box and connected to the grinding wheel for driving, and the polishing drive member is arranged on the outside of the mounting box and connected to the polishing wheel for driving; a pressure regulating assembly, fixedly connected to the trolley box, and elastically connected to the mounting box to adjust the contact pressure between the grinding and polishing module and the flange surface; a detection module, fixedly connected to the trolley box, and arranged on the same side as the grinding and polishing module. The reactor pressure vessel flange surface automatic grinding, polishing and detection device can automatically move on the reactor pressure vessel flange sealing surface through the walking component, and automatically grind and polish the sealing surface through the grinding and polishing module. The pressure regulating component can adjust the contact pressure between the grinding wheel and the sealing surface and between the polishing wheel and the sealing surface. The detection module can monitor the grinding and polishing conditions and perform damage detection, thereby realizing fully automatic grinding, polishing and detection, reducing the radiation dose and labor intensity of operating and maintenance personnel, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0022] Figure 1 It is a three-dimensional structural schematic diagram of an automatic grinding and polishing and detection device for the flange surface of a reactor pressure vessel according to an embodiment of the present invention;

[0023] Figure 2 yes Figure 1 A top view of the reactor pressure vessel flange surface automatic grinding and polishing and inspection device;

[0024] Figure 3 yes Figure 1 Bottom view of the reactor pressure vessel flange surface automatic grinding and polishing and detection device;

[0025] Figure 4 yes Figure 1 A three-dimensional schematic diagram of the grinding and polishing module in FIG.

[0026] Figure 5 yes Figure 4 A top view of the grinding and polishing module in FIG.

[0027] Figure 6 yes Figure 4 A bottom view of the grinding and polishing module in FIG.

[0028] Figure 7 yes Figure 1 A schematic diagram of the structure of the voltage regulating component in FIG.

[0029] Figure 8 yes Figure 1 An enlarged schematic diagram of a linear motion component in FIG.

[0030] Fig. 9 yes Figure 7 Installation sectional view of the clamping structure in FIG.

[0031] Fig.10 yes Figure 7 Schematic diagram of the structure of the elastic shaft. DETAILED DESCRIPTION

[0032] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0033] In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a chemical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0035] See also Figures 1 to 10 An embodiment of the present invention discloses an automatic grinding and polishing and detection device for the flange surface of a reactor pressure vessel, comprising a trolley body 1, a grinding and polishing module 2, a pressure regulating component 3 and a detection module. The trolley body 1 comprises a traveling component 11 and a trolley box 12. The traveling component 11 is installed on the trolley box 12. Figures 4 to 6 As shown, the grinding and polishing module 2 includes a mounting box 21 with an opening, a grinding wheel 22, a polishing wheel 23, a grinding drive 24 and a polishing drive 25, and the grinding wheel 22 is arranged at the front end of the traveling direction of the polishing wheel 23. The grinding wheel 22 and the polishing wheel 23 are respectively connected to the mounting box 21 for rotation, and partly protrude from the outside of the mounting box 21 through the opening. The grinding drive 24 is arranged outside the mounting box 21 and is connected to the grinding wheel 22 for driving, and the polishing drive 25 is arranged outside the mounting box 21 and is connected to the polishing wheel 23 for driving. There is a gap between the grinding drive 24 and the polishing drive 25 and the trolley box 12 respectively to prevent the pressure regulating assembly 3 from being affected. The pressure regulating assembly 3 is fixedly connected to the trolley box 12, and is elastically connected to the mounting box 21 to adjust the pressure between the grinding and polishing module 2 and the flange surface. The detection module is fixedly connected to the trolley box 12, and is arranged on the same side as the grinding and polishing module 2.

[0036] Among them, the walking component 11 can automatically walk on the flange sealing surface of the reactor pressure vessel, and the trolley box 12 provides an installation foundation. The grinding wheel 22 and the polishing wheel 23 are installed on the same installation box 21, and grinding and polishing operations can be performed simultaneously. The pressure regulating component 3 can adjust the pressure between the grinding wheel 22 and the sealing surface and the polishing wheel 23 and the sealing surface, accurately control the downward pressure of the grinding wheel 22 and the polishing wheel 23, ensure the quality stability of grinding and polishing, and prevent excessive grinding and incomplete grinding. The detection module can monitor the grinding and polishing conditions and perform damage detection, improve the detection efficiency and accuracy of damage such as scratches on the flange sealing surface, and compensate for the shortage of the original visual inspection. The automatic grinding, polishing and detection device for the flange surface of the reactor pressure vessel can realize fully automatic grinding, polishing and detection, reduce manual participation, and reduce the time of operators near the radiation source, thereby reducing their radiation dose and improving work efficiency. Among them, the trolley box 12 is an arc structure, and the grinding and polishing module 2 and the detection device are located on the same arc to adapt to the trend of the flange sealing surface.

[0037] like Figure 3 As shown, in some embodiments, the walking assembly 11 includes a drive box, at least one set of driving wheels 111 and a plurality of guide wheels 112. The drive box is arranged inside the trolley box 12. The drive box is connected to the driving wheel 111 through a synchronous wheel and a synchronous belt. The drive box is arranged inside the trolley box 12. The synchronous wheel part extends out of the bottom of the box and is connected to the driving wheel 111. The driving wheel 111 is arranged at the bottom of the trolley box 12 to contact the flange sealing surface. Multiple guide wheels 112 are symmetrically connected to the bottom of the trolley box 12, for example, at least 4 guide wheels 112 (such as rectangular four-corner arrangement) to ensure uniform force. The guide wheels 111 are welded to the bottom of the box through a bracket, and the bearings are built in to reduce friction. The driving wheel 111 is used to contact the flange sealing surface for walking, and the guide wheels 112 are used to support the weight of the trolley, assist in guiding, prevent lateral deviation, maintain walking stability, and slide against the side of the flange sealing surface. Among them, the number of driving wheels 111 can be set as needed, such as two, three, four, etc. The number of guide wheels 112 can also be set as needed, such as four, five, six, etc., preferably symmetrically arranged, for example, at least one guide wheel 112 is respectively arranged on both sides of the front end of the trolley box 12 in the direction of travel, and at least one guide wheel 112 is respectively arranged on both sides of the rear end of the trolley box 12 in the direction of travel. The drive box is arranged inside the trolley box 12, blocked by other components, and is not shown in the figure.

[0038] like Figure 7As shown, in some embodiments, the pressure regulating assembly 3 includes a mounting bracket 31, a positioning adjustment member 32, an elastic shaft 33, a separation flange 34, a lower support frame 35, a first elastic member 361, and a plurality of linear motion assemblies 37. The mounting bracket 31 is fixedly connected to the trolley box 12, and the lower support frame 35 is fixedly connected to the mounting box 21. The elastic shaft 33 is adjustable and fixedly connected to the mounting bracket 31 through the positioning adjustment member 32, and the elastic shaft 33 and the lower support frame 35 are slidably matched. The first elastic member 361 is sleeved on the elastic shaft 33, and abuts against the separation flange 34 and the lower support frame 35 respectively to provide downward pressure for the mounting box 21. The linear motion assembly 37 is fixedly connected to the trolley box 12 and the mounting box 21 respectively, and guides the mounting box 21 to move linearly. The mounting bracket 31 is used to support the overall weight of the pressure regulating assembly 3 and the grinding and polishing module 2. The positioning adjustment member 32 is used to adjust the distance between the first elastic member 361 and the separation flange 34, that is, to adjust the length of the first elastic member 361, thereby adjusting the elastic force of the first elastic member 361 acting on the lower support frame 35. The elastic shaft 33 guides the first elastic member 361, and the elastic shaft 33 is perpendicular to the flange sealing surface. The linear motion assembly 37 guides and moves the grinding and polishing module 2. The linear motion assembly 37 and the elastic shaft 33 are parallel to each other to ensure that the elastic force always acts perpendicularly on the flange sealing surface. Among them, Figure 8 As shown, the linear motion assembly 37 can be a combination of a guide block 371 and a guide slide 372, the guide post is fixedly connected to the installation box 21, the guide block 371 is fixedly connected to the trolley box 12, and the guide slide 372 is slidably inserted on the guide block 371 to achieve guided movement. The linear motion assembly 37 can also be a linear motion module such as a combination of a slider and a guide rail, as long as the guiding function is met. Preferably, the linear motion assembly 37 includes two, which are respectively arranged on opposite sides of the elastic shaft 33.

[0039] In some embodiments, the pressure regulating assembly 3 further includes an upper support frame 38 and a second elastic member 362, and the upper support frame 38 is fixedly connected to the mounting box 21. The second elastic member 362 is sleeved on the elastic shaft 33, and abuts against the separation flange 34 and the upper support frame 38 respectively, so as to provide an upward pressure on the mounting box 21. The second elastic member 362 abuts against the separation flange 34 and the upper support frame 38 respectively, and can provide an upward elastic force for the grinding and polishing module 2, driving the grinding and polishing module 2 to separate from the flange sealing surface. Among them, the first elastic member 361 and the second elastic member 362 are springs respectively.

[0040] Preferably, in this embodiment, the first elastic member 361 is arranged at the lower part of the second elastic member 362 and is sleeved on the same elastic shaft 33. The first elastic member 361 abuts against the separation flange 34 and the lower support frame 35 respectively, and the second elastic member 362 abuts against the separation flange 34 and the upper support frame 38 respectively. The axial movement of the elastic shaft 33 is adjusted by the positioning adjustment member 32. For example, when the elastic shaft 33 rises, the distance between the separation flange 34 and the upper support frame 38 is reduced, and the second elastic member 362 is compressed, which can increase the abutment between the second elastic member 362 and the upper support frame 38 and reduce the abutment between the first elastic member 361 and the lower support frame 35. When the elastic shaft 33 descends, on the contrary, the distance between the separation flange 34 and the lower support frame 35 is reduced, and the first elastic member 361 is compressed, which can increase the abutment between the first elastic member 361 and the lower support frame 35 and reduce the abutment between the second elastic member 362 and the upper support frame 38. The grinding and polishing pressure can be accurately controlled.

[0041] like Fig. 9 As shown, in some embodiments, the pressure regulating assembly 3 further includes a clamping structure 39, which is clamped with the elastic shaft 33 and detachably connected to the upper support frame 38 to limit the rotation of the elastic shaft 33. The clamping structure 39 is used to limit the elastic shaft 33 after the positioning adjustment member 32 adjusts the position of the elastic shaft 33, thereby limiting the rotation and axial movement of the elastic shaft 33.

[0042] In some embodiments, the clamping structure 39 includes an elastic clamping member 391, a clamping seat 392 and a plurality of fasteners 393. The elastic clamping member 391 is elastically clamped on the outer periphery of the elastic shaft 33 to limit the movement of the elastic shaft 33. The plurality of clamping seats 392 are sleeved outside the elastic clamping member 391 and fixedly connected to the upper support frame 38 through the fasteners 393. The elastic clamping member 391 may be a metal clamping ring with an axial notch, which provides radial clamping force for the elastic shaft 33 to prevent the elastic shaft 33 from rotating.

[0043] like Fig.10 As shown, in some embodiments, the elastic shaft 33 includes a main section 331, a limiting section 332 and a threaded section 333 from bottom to top, the separation flange 34 is fixedly connected to the main section 331, the first elastic member 361 is sleeved on the main section 331 at the lower part of the separation flange 34, and the second elastic member 362 is sleeved on the main section 331 at the upper part of the separation flange 34. The clamping structure 39 is clamped and fixed with the limiting section 332 to limit the rotation of the limiting section 332. The positioning adjustment member 32 is screwed with the threaded section 333 to adjust the axial position of the threaded section 333. Among them, the main section 331 can be a cylindrical structure.

[0044] In some embodiments, a limiting groove 334 is provided on the limiting section 332, and a limiting hole matching the cross section of the limiting section 332 is provided on the upper support frame 38, which can not only realize the limiting, but also increase the friction between the elastic pressing member 391 and the limiting section 332. The limiting groove 334 runs through the entire limiting section 332, and the critical point between the limiting section 332 and the main section 331 is the maximum upward adjustment limit of the elastic shaft 33, which can prevent the second elastic member 362 from being over-compressed and causing plastic deformation. The critical point between the limiting section 332 and the threaded section 333 is the maximum downward adjustment limit of the elastic shaft 33, which can prevent the first elastic member 361 from being over-compressed and causing plastic deformation. The specific length of the limiting section 332 can be determined according to the elastic deformation range of the first elastic member 361 and the second elastic member 362.

[0045] In some embodiments, the positioning adjustment member 32 includes an adjustment nut and a bearing, the bearing is sleeved on the outside of the adjustment nut and fixedly connected to the mounting bracket 31, and the adjustment nut is screwed to the elastic shaft 33. For ease of operation, the outer periphery of the adjustment nut can be provided with a plurality of screw holes, screwed to a handle, and the adjustment nut is rotated by manually adjusting the handle to achieve axial movement of the elastic shaft 33.

[0046] like Figure 1 and Figure 2 As shown, in some embodiments, the detection module includes a line laser detection component 4 and a camera detection component 5. The line laser detection unit is fixedly connected to the trolley box 12 and is arranged at the rear end of the grinding and polishing module 2. The camera detection unit is fixedly connected to the trolley box 12 and is arranged at the front end of the grinding and polishing module 2. The line laser detection unit is used to detect defects on the sealing surface after grinding, which improves the accuracy and efficiency of detection. The line laser detection unit is a laser profiler, and the camera detection component 5 includes a camera and a pan-tilt head, which can adjust the camera angle. The laser profiler and the camera can detect and record the sealing surface before and after grinding and polishing.

[0047] like Figure 1 and Figure 2 As shown, in some embodiments, the reactor pressure vessel flange surface automatic grinding and polishing and detection device also includes a dust collection and filtering device 6, which is fixedly connected to the trolley box 12 and connected to the installation box 21 through a plurality of pipes for dust collection. It can effectively reduce dust pollution at the work site and improve the working environment. Preferably, a dust collection hood 26 is respectively provided on the installation box 21 directly above the polishing wheel 23 and the installation box 21 directly above the polishing wheel 23, and is respectively connected to the dust collection and filtering device 6 through pipes to improve the dust collection efficiency.

[0048] In some embodiments, the reactor pressure vessel flange surface automatic grinding and polishing and detection device also includes a control box 7, which is arranged on the trolley body 12 and is electrically connected to the travel assembly 11, the grinding drive 24, the polishing drive 25 and the detection module respectively. Automatic control and manual control of the travel assembly 11, the grinding drive 24, the polishing drive 25 and the detection module can be realized. The equipment control system can realize fully automatic grinding and polishing, and can also realize manual semi-automatic grinding and polishing, providing a flexible operation mode. Among them, the control box 7 is not the main content of the present invention and will not be described in detail here.

[0049] By implementing the present invention, the following beneficial effects are achieved:

[0050] The automatic grinding, polishing and detection device for the reactor pressure vessel flange surface of the present invention can automatically walk on the reactor pressure vessel flange sealing surface through the walking component 11, and automatically grind and polish the sealing surface through the grinding and polishing module 2. The pressure regulating component 3 can adjust the contact pressure between the grinding wheel 22 and the sealing surface and the polishing wheel 23 and the sealing surface. The detection module can monitor the grinding and polishing conditions and perform damage detection, thereby realizing fully automatic grinding, polishing and detection, reducing the radiation dose and labor intensity of operating and maintenance personnel, and improving work efficiency.

[0051] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above embodiments or technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention, that is, the embodiments described in "some embodiments" can be freely combined with any of the above and below embodiments. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A reactor pressure vessel flange surface automatic grinding and polishing and detection device, characterized in that: include: The trolley body (1) comprises a travel assembly (11) and a trolley box (12), wherein the travel assembly (11) is mounted on the trolley box (12); A grinding and polishing module (2) comprises a mounting box (21) provided with an opening, a grinding wheel (22), a polishing wheel (23), a grinding drive (24) and a polishing drive (25), wherein the grinding wheel (22) is arranged at the front end of the traveling direction of the polishing wheel (23); the grinding wheel (22) and the polishing wheel (23) are respectively rotatably connected to the mounting box (21) and partially protrude from the outside of the mounting box (21) through the opening; the grinding drive (24) is arranged outside the mounting box (21) and is connected to the grinding wheel (22) for driving, and the polishing drive (25) is arranged outside the mounting box (21) and is connected to the polishing wheel (23) for driving; A pressure regulating assembly (3) is fixedly connected to the trolley housing (12) and elastically connected to the mounting housing (21) to adjust the contact pressure between the grinding and polishing module (2) and the flange surface; The detection module is fixedly connected to the trolley box (12) and is arranged on the same side as the grinding and polishing module (2).

2. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to claim 1 is characterized in that: The pressure regulating assembly (3) comprises a mounting bracket (31), a positioning adjustment member (32), an elastic shaft (33), a separation flange (34), a lower support frame (35), a first elastic member (361), and a plurality of linear motion assemblies (37). The mounting bracket (31) is fixedly connected to the trolley box (12), and the lower support frame (35) is fixedly connected to the mounting box (21); the elastic shaft (33) is adjustably fixedly connected to the mounting bracket (31) through the positioning adjustment member (32), and the elastic shaft (33) is slidably matched with the lower support frame (35); the first elastic member (361) is sleeved on the elastic shaft (33), and is respectively in contact with the separation flange (34) and the lower support frame (35) to provide downward pressure to the mounting box (21); the linear motion assembly (37) is respectively fixedly connected to the trolley box (12) and the mounting box (21) to guide the mounting box (21) to move linearly.

3. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to claim 2 is characterized in that: The voltage regulating assembly (3) further comprises an upper support frame (38) and a second elastic member (362), wherein the upper support frame (38) is fixedly connected to the mounting box (21); the second elastic member (362) is sleeved on the elastic shaft (33) and respectively abuts against the separation flange (34) and the upper support frame (38) to provide upward pressure to the mounting box (21).

4. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to claim 3 is characterized in that: The pressure regulating assembly (3) further comprises a clamping structure (39), wherein the clamping structure (39) is clamped with the elastic shaft (33) and is detachably connected to the upper support frame (38) to limit the rotation of the elastic shaft (33).

5. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to claim 4, characterized in that: The clamping structure (39) includes an elastic clamping member (391), a clamping seat (392) and a plurality of fasteners (393); the elastic clamping member (391) is elastically clamped on the outer periphery of the elastic shaft (33) to limit the movement of the elastic shaft (33); the plurality of clamping seats (392) are sleeved on the outside of the elastic clamping member (391) and fixedly connected to the upper support frame (38) via the fasteners (393).

6. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to claim 4, characterized in that: The elastic shaft (33) comprises, from bottom to top, a main body section (331), a limiting section (332) and a threaded section (333); the separation flange (34) is fixedly connected to the main body section (331); the first elastic member (361) is sleeved on the main body section (331) at the lower part of the separation flange (34); the second elastic member (362) is sleeved on the main body section (331) at the upper part of the separation flange (34); the clamping structure (39) is fixedly engaged with the limiting section (332) to limit the rotation of the limiting section (332); the positioning adjustment member (32) is threadedly engaged with the threaded section (333) to adjust the axial position of the threaded section (333).

7. The reactor pressure vessel flange surface automatic grinding and polishing and testing device according to claim 5, characterized in that: The positioning adjustment member (32) comprises an adjustment nut and a bearing, wherein the bearing is sleeved on the outside of the adjustment nut and fixedly connected to the mounting bracket (31), and the adjustment nut is threadedly connected to the elastic shaft (33).

8. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to any one of claims 1 to 7, characterized in that: The detection module comprises a line laser detection component (4) and a camera detection component (5); the line laser detection unit is fixedly connected to the trolley box (12) and is arranged at the rear end of the grinding and polishing module (2); the camera detection unit is fixedly connected to the trolley box (12) and is arranged at the front end of the grinding and polishing module (2).

9. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to any one of claims 1 to 7, characterized in that: It also includes a dust suction and filtering device (6), which is fixedly connected to the trolley box (12) and is connected to the installation box (21) through a plurality of pipes for dust suction.

10. The reactor pressure vessel flange surface automatic grinding and polishing and detection device according to any one of claims 1 to 7, characterized in that: It also includes a control box (7), which is arranged on the trolley body (12) and is electrically connected to the walking assembly (11), the grinding drive component (24), the polishing drive component (25) and the detection module respectively.

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