Nuclear power new fuel container automatic overturning control method and auxiliary crane

Abstract

The invention relates to an automatic overturning control method for a nuclear power new fuel container and an auxiliary crane. The method comprises the following steps: determining an initial position of a hoisting mechanism and an initial position of a cart mechanism; and determining an overturning stroke. The overturning stroke comprises the lifting stroke of the lifting mechanism and the running stroke of the cart mechanism. And determining the end position of the hoisting mechanism according to the initial position and the hoisting stroke of the hoisting mechanism, and determining the end position of the cart mechanism according to the initial position and the running stroke of the cart mechanism. According to a preset overturning curve, the ideal lifting speed of the lifting mechanism and the ideal running speed of the cart mechanism are set in a sectioned mode, and in the overturning process, the actual lifting speed of the lifting mechanism and the actual running speed of the cart mechanism are dynamically adjusted according to the set different ideal speeds. The preset overturning curve is a preset overturning track of the overturning support. According to the invention, the new fuel can be automatically overturned in the receiving or boxing process, and the overturning process is more stable.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of construction machinery, and particularly to an automatic flipping control method for a new nuclear fuel container and an auxiliary crane. Background Art

[0002] Nuclear power plants generate electricity by relying on the heat energy generated by the physical reaction of nuclear fuel assemblies in the reactor core. A nuclear power plant operates for about 18 months in each cycle. Due to excessive burnup of the fuel assemblies, they do not meet the requirements for continuous operation. Therefore, it is necessary to shut down for maintenance, replace and reload the nuclear fuel assemblies in the reactor core. Before a major overhaul of a nuclear power unit, new fuel assemblies need to be transported from the fuel assembly factory to the nuclear power plant and stored in a designated area of the spent fuel pool in the nuclear power plant. The fuel assemblies are placed flat in the new fuel container in the manufacturing plant and are generally transported to the nuclear power plant by rail and road. To monitor whether the fuel assemblies are impacted during transportation, accelerometers are usually installed in the new fuel transportation container. When the accelerometer shows an abnormality, it may be that the container has received a large impact during transportation. At this time, it is necessary to evaluate the fuel assemblies to determine whether there is any damage.

[0003] After the new fuel containers are transported to the nuclear power plant in units of containers, each container needs to be lifted to a designated room in the fuel building for unpacking operations so that the fuel assemblies can be safely lifted out. Since the lifting of nuclear power plant fuel assemblies needs to be carried out in a vertical state, during the reception of new fuel, it is necessary to flip the horizontally placed fuel assemblies to a vertical state.

[0004] Currently, during the reception of new fuel, the commonly used method is for fuel operators to manually control the lifting mechanism and the trolley mechanism of the auxiliary crane in the building (the main function of the auxiliary crane is to lift new fuel containers and new fuel assemblies), and make the two mechanisms cooperate to achieve the purpose of changing the flipping bracket with the fuel assemblies from horizontal to vertical. Specifically, during the manual flipping operation, the lifting mechanism and the trolley mechanism need to be coordinated in terms of speed and time to complete. Among them, the speed is adjusted by switching the fast and slow buttons of the hand controller, and the fast and slow running times are controlled by clicking the time of the fast and slow buttons. Manual flipping is prone to the situation that the two mechanisms do not cooperate smoothly, which not only has low efficiency, but also has risks such as overloading and severe shaking. For example, if the lifting mechanism moves too fast, it may cause the entire container to be lifted, resulting in the accelerometer acting and even damaging the fuel assemblies; if the trolley mechanism moves too fast, it may cause the new fuel container to be pulled, which may also cause the accelerometer to act and even damage the fuel assemblies. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic flipping control method for a nuclear power new fuel container and an auxiliary crane in view of the risk defects such as the container being lifted, pulled, and violently shaken that are likely to occur when relying entirely on the operator to flip the flipping bracket of the new fuel container during the traditional new fuel receiving process.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an automatic flipping control method for a nuclear power new fuel container, which is applied to an auxiliary crane. The new fuel container includes a flipping bracket loaded with a new fuel assembly. The auxiliary crane includes a hoisting mechanism for moving the flipping bracket in the Z-axis direction and a trolley mechanism for moving the flipping bracket in the X-axis direction. The automatic flipping control method for the nuclear power new fuel container includes the following steps:

[0007] S1. Determine the initial position of the hoisting mechanism and the initial position of the trolley mechanism;

[0008] S2. Determine the flipping stroke; the flipping stroke includes the hoisting stroke of the hoisting mechanism and the running stroke of the trolley mechanism;

[0009] S3. According to the initial position and the hoisting stroke of the hoisting mechanism, determine the termination position of the hoisting mechanism, and according to the initial position and the running stroke of the trolley mechanism, determine the termination position of the trolley mechanism;

[0010] S4. According to a preset flipping curve, respectively set the ideal hoisting speed of the hoisting mechanism and the ideal running speed of the trolley mechanism in different sections, and during the flipping process, dynamically adjust the actual hoisting speed of the hoisting mechanism and the actual running speed of the trolley mechanism according to the set different ideal speeds; the preset flipping curve is the flipping trajectory of the preset flipping bracket;

[0011] S5. Monitor the actual position of the hoisting mechanism, and judge whether to control the hoisting mechanism to stop moving according to the comparison result between the actual position of the hoisting mechanism and its termination position;

[0012] S6. Monitor the actual position of the trolley mechanism, and judge whether to control the trolley mechanism to stop moving according to the comparison result between the actual position of the trolley mechanism and its termination position.

[0013] In some embodiments, step S4 includes:

[0014] Determine the hoisting inflection point and the running inflection point according to the preset flipping curve; the hoisting inflection point is used to set the ideal hoisting speed of the hoisting mechanism, and the running inflection point is used to set the ideal running speed of the trolley mechanism; the number of hoisting inflection points is at least one, and the number of running inflection points is at least one;

[0015] During the flipping process, according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection point, the actual hoisting speed of the hoisting mechanism is adjusted, and according to the comparison result between the actual position of the trolley mechanism and the running inflection point, the actual running speed of the trolley mechanism is adjusted.

[0016] In some embodiments, the flipping process includes the process of flipping from horizontal to vertical with load and the process of flipping from vertical to horizontal without load; in the erection stage and the laying - flat stage, the hoisting inflection points are different, and the running inflection points are different; for different types of new fuel containers, the hoisting inflection points are different, and the running inflection points are different.

[0017] In some embodiments, when the new fuel container is the 812 - factory container, in the erection stage of the flipping process for receiving the 812 - factory container, the hoisting inflection points include inflection point 1a and inflection point 2a, and the running inflection points include inflection point 1b, inflection point 2b, and inflection point 3b; among them, inflection point 1a is less than inflection point 2a, inflection point 2b is less than inflection point 1b, and inflection point 1b is less than inflection point 3b; in the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection point, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection point during the flipping process, it includes:

[0018] For the hoisting mechanism, when its actual position is greater than inflection point 2a, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1a, the speed ratio is 15000 / 20000; when its actual position is greater than inflection point 1a and less than inflection point 2a, the speed ratio is 5000 / 20000;

[0019] For the trolley mechanism, when its actual position is greater than inflection point 3b, the speed ratio is 6000 / 20000; when its actual position is greater than inflection point 1b and less than inflection point 3b, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 2b and less than inflection point 1b, the speed ratio is 12000 / 20000; when its actual position is less than inflection point 2b, the speed ratio is 6000 / 20000;

[0020] When the new fuel container is the 812 - factory container, in the laying - flat stage of the flipping process for receiving the 812 - factory container, the hoisting inflection points include inflection point 1c, inflection point 2c, and inflection point 3c, and the running inflection points include inflection point 1d, inflection point 2d, inflection point 3d, inflection point 4d, and inflection point 5d; among them, inflection point 3c is less than inflection point 1c, inflection point 1c is less than inflection point 2c, inflection point 1d is less than inflection point 4d, inflection point 4d is less than inflection point 3d, inflection point 3d is less than inflection point 5d, and inflection point 5d is less than inflection point 2d; in the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection point, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection point during the flipping process, it includes:

[0021] For the hoisting mechanism, when its actual position is less than inflection point 1c, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 1c and less than inflection point 2c, the speed ratio is 9000 / 20000; when its actual position is greater than inflection point 2c and the trolley is less than inflection point 2d, the speed ratio is 4000 / 20000;

[0022] For the trolley mechanism, when its actual position is greater than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 3d and less than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 1d and less than inflection point 3d, the speed ratio is 15000 / 20000; when its actual position is less than inflection point 1d, the speed ratio is 4000 / 20000.

[0023] In some embodiments, when the new fuel container is a container from Factory 812, during the erection stage of the flipping process of packing the Factory 812 container, in the flipping process, in the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection point, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection point, it includes:

[0024] For the hoisting mechanism, when its actual position is greater than inflection point 2a, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1a, the speed ratio is 15000 / 20000; when its actual position is greater than inflection point 1a and less than inflection point 2a, the speed ratio is 5000 / 20000;

[0025] For the trolley mechanism, when its actual position is greater than inflection point 3b, the speed ratio is 6000 / 20000; when its actual position is greater than inflection point 1b and less than inflection point 3b, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 2b and less than inflection point 1b, the speed ratio is 12000 / 20000; when its actual position is less than inflection point 2b, the speed ratio is 6000 / 20000;

[0026] and / or

[0027] When the new fuel container is a container from Factory 812, during the laying - flat stage of the flipping process of packing the Factory 812 container, in the flipping process, in the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection point, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection point, it includes:

[0028] For the hoisting mechanism, when its actual position is less than inflection point 1c, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 2c and the trolley is less than inflection point 5d, the speed ratio is 4000 / 20000; when its actual position is greater than inflection point 1c and less than inflection point 2c, the speed ratio is 9000 / 20000;

[0029] For the trolley mechanism, when its actual position is greater than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 3d and less than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 2d and less than inflection point 3d, the speed ratio is 15000 / 20000; when its actual position is less than inflection point 1d, the speed ratio is 4000 / 20000.

[0030] In some embodiments, when the new fuel container is a Ha container, during the erection stage of the flipping process of the Ha container receiving, the hoisting inflection points include inflection point 1e and inflection point 2e, and the running inflection points include inflection point 1f, inflection point 2f, and inflection point 3f, where inflection point 1e is less than inflection point 2e, inflection point 2f is less than inflection point 1f, and inflection point 1f is less than inflection point 3f;

[0031] In the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection points, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points during the flipping process, it includes:

[0032] For the hoisting mechanism, when its actual position is greater than inflection point 2e, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1e, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 1e and less than inflection point 2e, the speed ratio is 6000 / 20000;

[0033] For the trolley mechanism, when its actual position is greater than inflection point 3f, the speed ratio is 6000 / 20000; when its actual position is greater than inflection point 1f and less than inflection point 3f, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 2f and less than inflection point 1f, the speed ratio is 12000 / 20000; when its actual position is less than inflection point 2f, the speed ratio is 6000 / 20000;

[0034] When the new fuel container is a Ha container, during the flattening stage of the flipping process when the Ha container is received, the lifting inflection points include inflection point 1g, inflection point 2g, and inflection point 3g, and the running inflection points include inflection point 1h, inflection point 2h, inflection point 3h, inflection point 4h, inflection point 5h, inflection point 6h, and inflection point 7h, where inflection point 3g is less than inflection point 1g, inflection point 1g is less than inflection point 2g, inflection point 7h is less than inflection point 4h, inflection point 4h is less than inflection point 6h, inflection point 6h is less than inflection point 5h, inflection point 5h is less than inflection point 2h, inflection point 2h is less than inflection point 1h, and inflection point 1h is less than inflection point 3h;

[0035] In the step of adjusting the actual lifting speed of the lifting mechanism according to the comparison result between the actual position of the lifting mechanism and the lifting inflection points, and adjusting the actual running speed of the cart mechanism according to the comparison result between the actual position of the cart mechanism and the running inflection points during the flipping process, it includes:

[0036] For the lifting mechanism, when its actual position is greater than inflection point 2g, the speed ratio is 3000 / 20000; when its actual position is less than inflection point 1g, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 1g and less than inflection point 2g, the speed ratio is 6000 / 20000;

[0037] For the cart mechanism, when its actual position is greater than inflection point 5h, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 6h and less than inflection point 5h, the speed ratio is 20000 / 20000; when its actual position is greater than inflection point 4h and less than inflection point 6h, the speed ratio is 20000 / 20000; when its actual position is less than inflection point 4h, the speed ratio is 5000 / 20000.

[0038] In some embodiments, when the new fuel container is a Ha container, during the erection stage of the flipping process when the Ha container is being packed, in the step of adjusting the actual lifting speed of the lifting mechanism according to the comparison result between the actual position of the lifting mechanism and the lifting inflection points, and adjusting the actual running speed of the cart mechanism according to the comparison result between the actual position of the cart mechanism and the running inflection points during the flipping process, it includes:

[0039] For the lifting mechanism, when its actual position is greater than inflection point 2e, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1e, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 1e and less than inflection point 2e, the speed ratio is 6000 / 20000;

[0040] For the cart mechanism, when its actual position is greater than the inflection point 3f, the speed ratio is 6000 / 20000; when its actual position is greater than the inflection point 1f and less than the inflection point 3f, the speed ratio is 16000 / 20000; when its actual position is greater than the inflection point 2f and less than the inflection point 1f, the speed ratio is 12000 / 20000; when its actual position is less than the inflection point 2f, the speed ratio is 6000 / 20000;

[0041] and / or

[0042] When the new fuel container is a Ha container, during the flattening stage of the flipping process of the Ha container being packed, in the flipping process, according to the comparison result between the actual position of the lifting mechanism and the lifting inflection point, adjusting the actual lifting speed of the lifting mechanism, and according to the comparison result between the actual position of the cart mechanism and the running inflection point, adjusting the actual running speed of the cart mechanism, the steps include:

[0043] For the lifting mechanism, when its actual position is greater than the inflection point 2g, the speed ratio is 3000 / 20000; when its actual position is less than the inflection point 1g, the speed ratio is 18000 / 20000; when its actual position is greater than the inflection point 1g and less than the inflection point 2g, the speed ratio is 6000 / 20000;

[0044] For the cart mechanism, when its actual position is greater than the inflection point 5h, the speed ratio is 18000 / 20000; when its actual position is greater than the inflection point 6h and less than the inflection point 5h, the speed ratio is 20000 / 20000; when its actual position is greater than the inflection point 4h and less than the inflection point 6h, the speed ratio is 20000 / 20000; when its actual position is less than the inflection point 4h, the speed ratio is 5000 / 20000.

[0045] In some embodiments, step S5 includes:

[0046] During the erecting stage of the flipping process, when the lifting mechanism lifts to an actual position greater than or equal to the termination position of the lifting mechanism, control the lifting mechanism to stop moving;

[0047] During the flattening stage of the flipping process, when the lifting mechanism lifts to an actual position less than or equal to the termination position of the lifting mechanism, control the lifting mechanism to stop moving;

[0048] and / or

[0049] Step S6 includes:

[0050] During the erecting stage of the flipping process, when the cart mechanism runs to an actual position greater than or equal to the end position of the cart mechanism, control the cart mechanism to stop moving;

[0051] During the flattening stage of the flipping process, when the cart mechanism runs to an actual position less than or equal to the end position of the cart mechanism, control the cart mechanism to stop moving.

[0052] In some embodiments, the method further includes:

[0053] Determine the allowable fluctuation range according to the actual load weight during the flipping process;

[0054] Determine the weight protection value according to the actual load weight and the allowable fluctuation range; the weight protection value is used for the trigger mechanism to assist the crane to automatically stop running in case of abnormal flipping;

[0055] Or, the method further includes:

[0056] Set a one-key switching button; the one-key switching button is used to cancel the automatic flipping control function and restore the original designed function of the auxiliary crane as a crane;

[0057] Or, the control system further includes a touch screen connected to the control terminal, and the method further includes a pre-start inspection step:

[0058] Before the system starts, perform the following inspection operations:

[0059] Detect whether the mode selection of the touch screen is switched to the automatic mode;

[0060] Detect whether the broken rope detection limit state of the hoisting mechanism is normal;

[0061] Detect whether the upper limit of the hoisting mechanism is not triggered;

[0062] Detect whether the deviation angle fault is not triggered;

[0063] If all inspection items are satisfied, enter the start-up step; if any inspection item is not satisfied, stay in the pre-start inspection step and wait for the conditions to be met;

[0064] Or, the method further includes a start-up step:

[0065] Confirm whether the automatic flipping start button is triggered;

[0066] Detect whether the automatic flipping stop button is not triggered;

[0067] Detect whether both the hoisting mechanism automatically stops when running in place and the running mechanism automatically stops when running in place are not triggered;

[0068] Detect whether the running limit conditions of the trolley mechanism and the hoisting mechanism are not triggered;

[0069] If the above conditions are all satisfied, the system enters the automatic flipping control state.

[0070] In addition, the present invention further provides an auxiliary crane, which includes a control end, a hoisting mechanism, and a trolley mechanism. The hoisting mechanism is provided with a wire rope encoder, and the trolley mechanism is provided with a laser rangefinder. The control end is used to adopt the automatic flipping control method for the nuclear power new fuel container as described above.

[0071] The wire rope encoder is installed on the base by means of bolt connection. The base is fixed on the rope pressing device bracket of the auxiliary hoisting mechanism of the crane and is used to measure the actual rising distance and actual falling distance of the hoisting mechanism to determine the actual position of the hoisting mechanism.

[0072] Implementing the automatic flipping control method for the nuclear power new fuel container and the auxiliary crane of the present invention has the following beneficial effects: The present invention can enable the new fuel to be automatically flipped during the receiving or packing process. At the same time, by controlling the working speeds of the hoisting mechanism and the trolley mechanism to achieve an optimal match, the flipping bracket can be made more stable, safe, and controllable during the entire flipping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0074] Figure 1 is a schematic flow chart of the automatic flipping control method for the nuclear power new fuel container provided by an embodiment of the present invention;

[0075] Figure 2 is a simulation diagram of the small-angle operation of the flipping bracket in some embodiments;

[0076] Figure 3 is a simulation diagram of the operation of the flipping bracket with a 45° deflection angle in some embodiments;

[0077] Figure 4 is a simulation diagram of the operation of the flipping bracket with a 90° deflection angle in some embodiments. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0078] In order to have a clearer understanding of the technical features, objectives, and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the drawings. In the following description, it should be understood that the orientation or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are based on the orientation or positional relationships shown in the drawings, and are specific orientations and operations for the purpose of facilitating the description of the technical solution, rather than indicating that the device or element referred to must have a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0079] It should also be noted that, unless otherwise clearly specified and defined, terms such as "installation", "connection", "attachment", "fixation", "setting" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. When one component is referred to as "on" or "under" another component, the component can be "directly" or "indirectly" located above the other component, or there may also be one or more intermediate components.

[0080] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures, technologies, etc. are presented to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from hindering the description of the present invention.

[0081] Reference Figure 1 , in a preferred embodiment, the automatic flipping control method for a new nuclear fuel container is applied to an auxiliary crane. The new fuel container includes a flipping bracket loaded with new fuel assemblies, and the auxiliary crane includes a hoisting mechanism for moving the flipping bracket in the Z-axis direction and a trolley mechanism for moving the flipping bracket in the X-axis direction. The automatic flipping control method for the new nuclear fuel container in this embodiment includes the following steps:

[0082] S1. Determine the initial position of the hoisting mechanism and the initial position of the trolley mechanism.

[0083] S2. Determine the flipping stroke. The flipping stroke includes the hoisting stroke of the hoisting mechanism and the running stroke of the trolley mechanism.

[0084] S3. According to the initial position of the hoisting mechanism and its hoisting stroke, determine the termination position of the hoisting mechanism, and according to the initial position of the trolley mechanism and its running stroke, determine the termination position of the trolley mechanism.

[0085] S4. According to a preset flipping curve, respectively set the ideal hoisting speed of the hoisting mechanism and the ideal running speed of the trolley mechanism in different sections, and during the flipping process, dynamically adjust the actual hoisting speed of the hoisting mechanism and the actual running speed of the trolley mechanism according to the set different ideal speeds. The preset flipping curve is the flipping trajectory of the preset flipping bracket.

[0086] S5. Monitor the actual position of the hoisting mechanism. Based on the comparison result between the actual position of the hoisting mechanism and its termination position, determine whether to control the hoisting mechanism to stop moving. Specifically, in this step, during the erection stage of the flipping process, when the hoisting action of the hoisting mechanism reaches an actual position greater than or equal to the termination position of the hoisting mechanism, control the hoisting mechanism to stop moving. During the laying-flat stage of the flipping process, when the hoisting action of the hoisting mechanism reaches an actual position less than or equal to the termination position of the hoisting mechanism, control the hoisting mechanism to stop moving.

[0087] S6. Monitor the actual position of the trolley mechanism. Based on the comparison result between the actual position of the trolley mechanism and its termination position, determine whether to control the trolley mechanism to stop moving. Specifically, in this step, during the erection stage of the flipping process, when the running action of the trolley mechanism reaches an actual position greater than or equal to the end position of the trolley mechanism, control the trolley mechanism to stop moving. During the laying-flat stage of the flipping process, when the running action of the trolley mechanism reaches an actual position less than or equal to the end position of the trolley mechanism, control the trolley mechanism to stop moving.

[0088] In some embodiments, step S1 specifically includes: when receiving the initial position confirmation instruction triggered by the operator through the hand-held controller, write the hoisting initial position of the hoisting mechanism and the running initial position of the trolley mechanism into the PLC program. That is to say, after the hoisting initial position and the trolley initial position are determined, pressing the start button of the hand-held controller can trigger the control terminal to write the initial position into the PLC program.

[0089] Step S2 specifically includes: automatically set the flipping stroke of the corresponding container according to the container type confirmation instruction triggered by the operator. Specifically, after the automatic flipping readiness condition (i.e., the pre-start inspection step) is triggered, a container type selection interface appears on the screen. Click on the touch screen to select "Ha component signal", automatically set the hoisting stroke to 4260 millimeters, and automatically set the running stroke to 4415 mm. Click on the touch screen to select "812 component signal", automatically set the hoisting stroke to 4012 millimeters, and automatically set the running stroke to 4415 mm.

[0090] This embodiment performs automatic control through PLC logic. As long as the initial position is determined correctly, the automatic flipping process can be accurately determined automatically without risks.

[0091] It should be noted that the hoisting mechanism in the automatic flipping control method of the embodiment of the present invention is actually the main hoisting mechanism in the entire nuclear power auxiliary crane system. In addition, the positions in the embodiment of the present invention are represented by coordinates. And the relevant calculations related to the positions can be calculated according to the coordinates corresponding to the respective positions. It should also be noted that the specific representation method of the coordinates, as well as the determination of the coordinate system and the coordinate system origin, etc. can refer to the prior art and will not be elaborated here.

[0092] It can be understood that the distances of the automatic flipping, lifting and running, and the gantry running of the present invention are designed with fixed strokes, that is, the difference between the coordinates of the automatic stop point and the starting point is a fixed value. After the starting point of the automatic flipping is confirmed, the operator needs to click the confirmation button to write the position coordinates of the lifting mechanism and the gantry position at this starting point into the PLC program. According to the arc trajectory of the flipping of the new fuel container, different speeds are set for the gantry and the lifting mechanism in sections to achieve the matching of the lifting mechanism and the gantry mechanism, and to keep the wire rope basically in a vertical state during the flipping process. The preset flipping curve can be initially simulated and set through software. During the on-site test process, it is optimized according to the actual situation. As Figures 2 to 4 shown, the running simulation diagrams of the flipping bracket at different angles are respectively shown. It can be understood that the embodiment of the present invention uses a self-developed crane running simulation software for simulation. After inputting parameters such as the length of the container flipping bracket, the maximum speed of the running mechanism, the maximum speed of the main lifting mechanism, the flipping angle, and the allowable maximum deflection angle, the software automatically simulates the running and matches the appropriate speed.

[0093] In some embodiments, in step S4, the lifting inflection point and the running inflection point are determined according to the preset flipping curve. The lifting inflection point is used to set the ideal lifting speed of the lifting mechanism, and the running inflection point is used to set the ideal running speed of the gantry mechanism. The number of lifting inflection points is at least one, and the number of running inflection points is at least one. During the flipping process of the flipping bracket along the preset flipping curve, the actual positions of the lifting mechanism and the gantry mechanism are obtained. According to the comparison result between the actual position of the lifting mechanism and the lifting inflection point, the actual lifting speed of the lifting mechanism is adjusted, and according to the comparison result between the actual position of the gantry mechanism and the running inflection point, the actual running speed of the gantry mechanism is adjusted. Exemplarily, the specific height / distance of each inflection point is determined by adding the height increment to the corresponding initial position. The height increment used for each inflection point is determined according to the preset flipping curve.

[0094] It can be understood that the flipping process includes the process of flipping from horizontal to vertical with load and the process of flipping from vertical to horizontal without load. Specifically, the flipping process of receiving new fuel includes: flipping from horizontal to vertical with load and flipping from vertical to horizontal without load. These two operating states are used to lift the new fuel assembly in the container to the designated position in the plant. Flipping from horizontal to vertical without load and flipping from vertical to horizontal with load. These two states are used for the packing operation of the fuel assembly transfer between units.

[0095] In the erection stage and the laying - flat stage, the lifting inflection points are different, and the running inflection points are different. If the types of new fuel containers are different, the lifting inflection points are different, and the running inflection points are different. In the embodiments of the present invention, the types of new fuel containers mainly include two types: the 812 - factory container and the Ha container. Moreover, the number of inflection points is also specifically determined according to the preset flipping curve. In different stages, the number of inflection points may be different or the same.

[0096] In some embodiments, when the new fuel container is a container from Factory 812, during the erection stage of the flipping process when the Factory 812 container is received, the lifting inflection points include Inflection Point 1a and Inflection Point 2a, and the running inflection points include Inflection Point 1b, Inflection Point 2b, and Inflection Point 3b. Among them, Inflection Point 1a is less than Inflection Point 2a, Inflection Point 2b is less than Inflection Point 1b, and Inflection Point 1b is less than Inflection Point 3b. In a specific embodiment, Inflection Point 1a: Lifting initial position + 3200 mm; Inflection Point 2a: Lifting initial position + 3850 mm; Inflection Point 1b: Running initial position + 2427 mm; Inflection Point 2b: Running initial position + 400 mm; Inflection Point 3b: Running initial position + 3825 mm. It should be noted that the lifting initial position is also the initial position of the lifting mechanism; the running initial position is also the initial position of the trolley mechanism.

[0097] At this time, for the lifting mechanism, when its actual position (i.e., actual height or actual height coordinate) is greater than Inflection Point 2a, the speed ratio is 2000 / 20000. When its actual position is less than Inflection Point 1a, the speed ratio is 15000 / 20000. When its actual position is greater than Inflection Point 1a and less than Inflection Point 2a, the speed ratio is 5000 / 20000.

[0098] For the trolley mechanism, when its actual position is greater than Inflection Point 3b, the speed ratio is 6000 / 20000. When its actual position is greater than Inflection Point 1b and less than Inflection Point 3b, the speed ratio is 16000 / 20000. When its actual position is greater than Inflection Point 2b and less than Inflection Point 1b, the speed ratio is 12000 / 20000. When its actual position is less than Inflection Point 2b, the speed ratio is 6000 / 20000.

[0099] When the new fuel container is a container from Factory 812, during the laying - flat stage of the flipping process when the Factory 812 container is received, the lifting inflection points include Inflection Point 1c, Inflection Point 2c, and Inflection Point 3c, and the running inflection points include Inflection Point 1d, Inflection Point 2d, Inflection Point 3d, Inflection Point 4d, and Inflection Point 5d. Among them, Inflection Point 3c is less than Inflection Point 1c, Inflection Point 1c is less than Inflection Point 2c, Inflection Point 1d is less than Inflection Point 4d, Inflection Point 4d is less than Inflection Point 3d, Inflection Point 3d is less than Inflection Point 5d, and Inflection Point 5d is less than Inflection Point 2d. In a specific embodiment, Inflection Point 1c: Lifting initial position - 500 mm; Inflection Point 2c: Lifting initial position - 300 mm; Inflection Point 3c: Lifting initial position - 3700 mm; Inflection Point 1d: Running initial position - 4215 mm; Inflection Point 2d: Running initial position - 730 mm; Inflection Point 3d: Running initial position - 2000 mm; Inflection Point 4d: Running initial position - 4000 mm; Inflection Point 5d: Running initial position - 815 mm.

[0100] At this time, for the hoisting mechanism, when its actual position is less than inflection point 1c, the speed ratio is 18000 / 20000. When its actual position is greater than inflection point 1c and less than inflection point 2c, the speed ratio is 9000 / 20000. When its actual position is greater than inflection point 2c and the trolley is less than inflection point 2d, the speed ratio is 4000 / 20000.

[0101] For the trolley mechanism, when its actual position is greater than inflection point 2d, the speed ratio is 18000 / 20000. When its actual position is greater than inflection point 3d and less than inflection point 2d, the speed ratio is 18000 / 20000. When its actual position is greater than inflection point 1d and less than inflection point 3d, the speed ratio is 15000 / 20000. When its actual position is less than inflection point 1d, the speed ratio is 4000 / 20000.

[0102] In some embodiments, when the new fuel container is a container from Factory 812, during the erection stage of the flipping process of packing the Factory 812 container:

[0103] For the hoisting mechanism, when its actual position is greater than inflection point 2a, the speed ratio is 2000 / 20000. When its actual position is less than inflection point 1a, the speed ratio is 15000 / 20000. When its actual position is greater than inflection point 1a and less than inflection point 2a, the speed ratio is 5000 / 20000.

[0104] For the trolley mechanism, when its actual position is greater than inflection point 3b, the speed ratio is 6000 / 20000. When its actual position is greater than inflection point 1b and less than inflection point 3b, the speed ratio is 16000 / 20000. When its actual position is greater than inflection point 2b and less than inflection point 1b, the speed ratio is 12000 / 20000. When its actual position is less than inflection point 2b, the speed ratio is 6000 / 20000.

[0105] When the new fuel container is a container from Factory 812, during the laying - flat stage of the flipping process of packing the Factory 812 container:

[0106] For the hoisting mechanism, when its actual position is less than inflection point 1c, the speed ratio is 18000 / 20000. When its actual position is greater than inflection point 2c and the trolley is less than inflection point 5d, the speed ratio is 4000 / 20000. When its actual position is greater than inflection point 1c and less than inflection point 2c, the speed ratio is 9000 / 20000.

[0107] For the trolley mechanism, when its actual position is greater than inflection point 2d, the speed ratio is 18000 / 20000. When its actual position is greater than inflection point 3d and less than inflection point 2d, the speed ratio is 18000 / 20000. When its actual position is greater than inflection point 2d and less than inflection point 3d, the speed ratio is 15000 / 20000. When its actual position is less than inflection point 1d, the speed ratio is 4000 / 20000.

[0108] In some embodiments, when the new fuel container is a ha container, during the erection stage of the turnover process of the ha container reception, the hoisting inflection points include inflection point 1e and inflection point 2e, and the running inflection points include inflection point 1f, inflection point 2f, and inflection point 3f. Among them, inflection point 1e is less than inflection point 2e, inflection point 2f is less than inflection point 1f, and inflection point 1f is less than inflection point 3f. In a specific embodiment, inflection point 1e: hoisting initial position + 3200mm; inflection point 2e: hoisting initial position + 3850mm; inflection point 1f: running initial position + 2427mm; inflection point 2f: running initial position + 400mm; inflection point 3f: running initial position + 3150mm.

[0109] At this time, for the hoisting mechanism, when its actual position is greater than inflection point 2e, the speed ratio is 2000 / 20000. When its actual position is less than inflection point 1e, the speed ratio is 16000 / 20000. When its actual position is greater than inflection point 1e and less than inflection point 2e, the speed ratio is 6000 / 20000.

[0110] For the trolley mechanism, when its actual position is greater than inflection point 3f, the speed ratio is 6000 / 20000. When its actual position is greater than inflection point 1f and less than inflection point 3f, the speed ratio is 16000 / 20000. When its actual position is greater than inflection point 2f and less than inflection point 1f, the speed ratio is 12000 / 20000. When its actual position is less than inflection point 2f, the speed ratio is 6000 / 20000.

[0111] When the new fuel container is a ha container, during the laying - flat stage of the turnover process of the ha container reception, the hoisting inflection points include inflection point 1g, inflection point 2g, and inflection point 3g, and the running inflection points include inflection point 1h, inflection point 2h, inflection point 3h, inflection point 4h, inflection point 5h, inflection point 6h, and inflection point 7h. Among them, inflection point 3g is less than inflection point 1g, inflection point 1g is less than inflection point 2g, inflection point 7h is less than inflection point 4h, inflection point 4h is less than inflection point 6h, inflection point 6h is less than inflection point 5h, inflection point 5h is less than inflection point 2h, inflection point 2h is less than inflection point 1h, and inflection point 1h is less than inflection point 3h. In a specific embodiment, inflection point 1g: hoisting initial position - 600mm; inflection point 2g: hoisting initial position - 100mm; inflection point 3g: hoisting initial position - 3900mm; inflection point 1h: running initial position + 2427mm; inflection point 2h: running initial position + 400mm; inflection point 3h: running initial position + 3150mm; inflection point 4h: running initial position - 4215mm; inflection point 5h: running initial position - 710mm; inflection point 6h: running initial position - 2000mm; inflection point 7h: running initial position - 4400mm.

[0112] At this time, for the hoisting mechanism, when its actual position is greater than the inflection point 2g, the speed ratio is 3000 / 20000. When its actual position is less than the inflection point 1g, the speed ratio is 18000 / 20000. When its actual position is greater than the inflection point 1g and less than the inflection point 2g, the speed ratio is 6000 / 20000.

[0113] For the trolley mechanism, when its actual position is greater than the inflection point 5h, the speed ratio is 18000 / 20000. When its actual position is greater than the inflection point 6h and less than the inflection point 5h, the speed ratio is 20000 / 20000. When its actual position is greater than the inflection point 4h and less than the inflection point 6h, the speed ratio is 20000 / 20000. When its actual position is less than the inflection point 4h, the speed ratio is 5000 / 20000.

[0114] In some embodiments, when the new fuel container is a Ha container, during the erection stage of the flipping process of packing the Ha container:

[0115] For the hoisting mechanism, when its actual position is greater than the inflection point 2e, the speed ratio is 2000 / 20000. When its actual position is less than the inflection point 1e, the speed ratio is 16000 / 20000. When its actual position is greater than the inflection point 1e and less than the inflection point 2e, the speed ratio is 6000 / 20000.

[0116] For the trolley mechanism, when its actual position is greater than the inflection point 3f, the speed ratio is 6000 / 20000. When its actual position is greater than the inflection point 1f and less than the inflection point 3f, the speed ratio is 16000 / 20000. When its actual position is greater than the inflection point 2f and less than the inflection point 1f, the speed ratio is 12000 / 20000. When its actual position is less than the inflection point 2f, the speed ratio is 6000 / 20000.

[0117] When the new fuel container is a Ha container, during the laying - flat stage of the flipping process of packing the Ha container:

[0118] For the hoisting mechanism, when its actual position is greater than the inflection point 2g, the speed ratio is 3000 / 20000. When its actual position is less than the inflection point 1g, the speed ratio is 18000 / 20000. When its actual position is greater than the inflection point 1g and less than the inflection point 2g, the speed ratio is 6000 / 20000.

[0119] For the trolley mechanism, when its actual position is greater than the inflection point 5h, the speed ratio is 18000 / 20000. When its actual position is greater than the inflection point 6h and less than the inflection point 5h, the speed ratio is 20000 / 20000. When its actual position is greater than the inflection point 4h and less than the inflection point 6h, the speed ratio is 20000 / 20000. When its actual position is less than the inflection point 4h, the speed ratio is 5000 / 20000.

[0120] It should be noted that 20000 is not the true value of the speed, but the rated operating speed of the auxiliary crane is divided into 20000 units. For example, a speed ratio of 2000 / 20000 means that the actual speed is 1 / 10 of the rated operating speed of the auxiliary crane.

[0121] In some embodiments, the method further includes: determining an allowable fluctuation range according to the actual load weight during the flipping process. Determining a weight protection value according to the actual load weight and the allowable fluctuation range. The weight protection value is used for the trigger mechanism of the automatic stop of the auxiliary crane in case of flipping abnormality, and can play a role in protecting the automatic stop of the flipping abnormality, further improving the safety performance of the system.

[0122] In some embodiments, the method further sets a one-key switching button. The one-key switching button is used to cancel the automatic flipping control function and restore the original designed function of the auxiliary crane as a crane. In this embodiment, the automatic flipping function is a supplement to the original design. When the automatic flipping function is abnormal, only one-key switching (clicking the manual and automatic switching button on the touch screen or powering off and restarting) is required to restore the original designed function, so as to ensure the normal use of the original designed function without increasing the burden of the original design.

[0123] In some embodiments, the control system further includes a touch screen connected to the control end, and the method further includes a pre-start check step:

[0124] Before the system starts, perform the following check operations:

[0125] Detect whether the mode selection of the touch screen is switched to the automatic mode.

[0126] Detect whether the rope-breaking detection limit state of the hoisting mechanism is normal.

[0127] Detect whether the upper limit of the hoisting mechanism is not triggered.

[0128] Detect whether the deviation angle fault is not triggered.

[0129] If all the check items are satisfied, enter the start step. If any check item is not satisfied, stay in the pre-start check step and wait for the conditions to be met.

[0130] That is to say, in the embodiments of the present invention, it is required to meet the following conditions: the mode selection of the touch screen is switched to automatic, the rope-breaking detection limit state of the main hoisting mechanism is normal, the upper limit of the main hoisting mechanism is not triggered, and the deviation angle fault is not triggered, then the automatic flipping is ready.

[0131] In some embodiments, the method further includes a start step:

[0132] Confirm whether the automatic flipping start button is triggered.

[0133] Check whether the automatic flip stop button is not triggered.

[0134] Check whether both the automatic operation in-place stop of the hoisting mechanism and the automatic operation in-place stop of the traveling mechanism are not triggered. That is, if the hoisting mechanism and the gantry mechanism have not yet moved to the end coordinate values (i.e., the termination positions) set for automatic operation, it means that the automatic operation in-place stops are not triggered.

[0135] Check whether the operating limit conditions of the gantry mechanism and the hoisting mechanism are not triggered. It can be understood that if the safety stop limit, anti-collision limit, anti-wire rope overlapping limit, etc., which limit the operation of the gantry mechanism and the hoisting mechanism, have not actuated, it means that the corresponding operating limit conditions are not triggered. If these protection switches actuate, automatic flipping operations are not allowed.

[0136] If all of the above conditions are met, the system enters the automatic flip control state.

[0137] That is to say, in the embodiments of the present invention, the following conditions are required to be met: automatic flip is ready, the automatic flip start button is pressed, the automatic flip stop button is not triggered, neither the hoisting automatic operation nor the traveling automatic operation in-place stop is triggered, and the gantry and hoisting operation limit conditions are not triggered, then the automatic flip truly starts.

[0138] In another preferred embodiment, the auxiliary crane of this embodiment includes a control end, a hoisting mechanism, and a gantry mechanism. The hoisting mechanism is provided with a wire rope encoder, and the gantry mechanism is provided with a laser rangefinder. The control end is used to adopt the automatic flip control method for the nuclear power new fuel container as described in the above embodiment.

[0139] The wire rope encoder is installed on the base by means of bolt connection. The base is fixed on the wire rope pressing device support of the auxiliary hoisting mechanism of the auxiliary crane, and is used to measure the actual rising distance and the actual falling distance of the hoisting mechanism to determine the actual position of the hoisting mechanism. The other end of the wire rope encoder is connected to the support by a bayonet connection, and the support is fixed to the wire rope anti-drop guard plate of the hook pulley through bolts.

[0140] It can be understood that the original designed electrical components of the nuclear power plant auxiliary crane mainly include a PLC control system, a frequency converter, a limit switch, a circuit breaker, a contactor, a relay, a weighing control device, a motor, an encoder, etc. This patent application adds relevant components on the basis of the original auxiliary crane to achieve the purpose of controlling automatic flipping, mainly including the following components: adding a wire rope encoder to the main hoisting mechanism, adding a laser rangefinder to the gantry mechanism of different sizes, adding a touch screen to the control cabinet, adding a touch screen to the button box, and adding one CP341 module and one input / output module each.

[0141] In some embodiments, the control system operates through the replaced operation button box, and the turnover process parameters are displayed on the touch screen of the control cabinet and the operation box touch screen. After the hoisting mechanism, trolley mechanism, and gantry mechanism are preset with the initial positions and the load of the weighing system is within the initial range, the automatic turnover system performs initial condition detection. If the above conditions are all met, the turnover control mode can be switched to automatic on the button box. After pressing the start button, the automatic turnover system will control the main hoisting mechanism and the gantry mechanism to run automatically. When the turnover frame forms different angles with the horizontal plane, the system will give different operating speeds to the main hoisting mechanism and the gantry mechanism. During the automatic turnover operation, the system will always control the wire rope angle of the main hoisting mechanism within the range set by the system, and monitor the change value of the load weight in real time. The overload value is based on the component force generated in the vertical direction when the angle between the turnover frame and the horizontal plane changes, plus a certain amount of load allowable deviation value.

[0142] On the touch screen of the control cabinet and the display screen of the button box, the angle between the turnover frame and the horizontal plane, the main hoisting load weight, the main hoisting real-time position, the main hoisting target position, the difference between the main hoisting real-time position and the target position, the gantry real-time position, the gantry target position, the difference between the gantry real-time position and the target position, the given speed of the main hoisting mechanism, the actual operating speed of the main hoisting mechanism, the given speed of the gantry mechanism, and the actual operating speed of the gantry mechanism can be displayed in real time. On the touch screen of the control cabinet, the digital and analog information of the main hoisting mechanism, auxiliary hoisting mechanism, trolley mechanism, and gantry mechanism collected by the original system DI module can also be displayed. If the automatic turnover process is stopped actively or passively during the automatic turnover process, it can be manually turned over after stopping.

[0143] When this control system is in use, it can be switched to the automatic mode through the touch screen button, and can be switched to the manual mode if not in use. In the manual mode, electrical components such as the main hoisting position detection, gantry position detection, trolley position detection, AI module, and DI / DO module added in the system architecture will no longer participate in the system control, and the original design use state of the crane can be restored at any time. Even if the equipment added in this part fails, the system will directly bypass it in the manual mode without affecting the control function of the original vehicle, but will prompt the fault information on the touch screen.

[0144] It can be understood that in the embodiments of the present invention, the Harbin container and the 812 factory container are respectively used to conduct tests in a total of 8 states of no-load and with load (new fuel reception: the 812 factory container is fully loaded and horizontally turned to vertical, the 812 factory container is empty and vertically turned to horizontal, the Harbin container is fully loaded and horizontally turned to vertical, the Harbin container is empty and vertically turned to horizontal; packing operation: the 812 factory container is empty and horizontally turned to vertical, the 812 factory container is fully loaded and vertically turned to horizontal, the Harbin container is empty and horizontally turned to vertical, the Harbin container is fully loaded and vertically turned to horizontal), which fully meets the requirements of new fuel reception and packing operation, the safety has been essentially improved, and the efficiency has also been significantly improved.

[0145] The present application can achieve the following technical effects:

[0146] 1) Through the preset control logic, the automatic flipping of the new fuel container is realized, reducing the risks such as the container being lifted, pulled, and violently shaken during the new fuel receiving process, and improving the safety of new fuel receiving.

[0147] 2) By reducing the relevant risks, fuel assembly damage can be avoided, and economic losses can be avoided.

[0148] 3) By reducing the relevant risks, the acceleration sensor can be prevented from operating during the new fuel receiving process, avoiding the events related to the safety assessment of the fuel assembly caused thereby, and indirectly improving the efficiency of new fuel receiving.

[0149] 4) The automation of the flipping of the new fuel container is realized. The operator does not need to reduce the speed to give himself response time, indirectly improving the efficiency of new fuel receiving.

[0150] The present invention is applicable to the automatic flipping of new fuel containers during the new fuel receiving process in nuclear power plants, and can even be extended to the automatic flipping during the hoisting of large equipment in other similar industries and fields in the market, effectively reducing the risks brought by manual flipping by fuel operators. At the same time, the present invention is applicable to the nuclear fuel transport containers of China National Nuclear Corporation's 812 Factory and the Ha assembly transport containers of China Guangdong Nuclear Power Group, which are commonly used in domestic pressurized water reactor nuclear power plants at the present stage. Of course, when the parameters of different new fuel containers are inconsistent in different manufacturers, it is also applicable after slightly modifying the parameters.

[0151] Those skilled in the art can further realize that, combining the units and algorithm steps of the examples described in the embodiments disclosed herein, they can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the compositions and steps of the examples have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0152] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0153] It can be understood that the above embodiments only represent the preferred embodiments of the present invention, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can also be made, which all fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made to the scope of the claims of the present invention shall fall within the scope covered by the claims of the present invention.

Claims

1. A method for automatically controlling the flipping of a new nuclear fuel container, which is applied to an auxiliary crane, is characterized in that, The new fuel container includes a tipping bracket loaded with new fuel assemblies. The auxiliary crane includes a hoisting mechanism for moving the tipping bracket in the Z-axis direction and a trolley mechanism for moving the tipping bracket in the X-axis direction. The automatic tipping control method for the new nuclear fuel container includes the following steps: S1. Determine the initial positions of the hoisting mechanism and the trolley mechanism; S2. Determine the tipping stroke; the tipping stroke includes the hoisting stroke of the hoisting mechanism and the running stroke of the trolley mechanism; S3. According to the initial position and the hoisting stroke of the hoisting mechanism, determine the termination position of the hoisting mechanism, and according to the initial position and the running stroke of the trolley mechanism, determine the termination position of the trolley mechanism; S4. According to the preset tipping curve, set the ideal hoisting speed of the hoisting mechanism and the ideal running speed of the trolley mechanism in different sections respectively, and during the tipping process, dynamically adjust the actual hoisting speed of the hoisting mechanism and the actual running speed of the trolley mechanism according to the set different ideal speeds; the preset tipping curve is the preset tipping trajectory of the tipping bracket; S5. Monitor the actual position of the hoisting mechanism, and judge whether to control the hoisting mechanism to stop moving according to the comparison result between the actual position of the hoisting mechanism and its termination position; S6. Monitor the actual position of the trolley mechanism, and judge whether to control the trolley mechanism to stop moving according to the comparison result between the actual position of the trolley mechanism and its termination position.

2. The automatic flipping control method for a new nuclear power fuel container according to claim 1, characterized in that, Step S4 includes: Determine the hoisting inflection points and the running inflection points according to the preset tipping curve; the hoisting inflection points are used to set the ideal hoisting speed of the hoisting mechanism, and the running inflection points are used to set the ideal running speed of the trolley mechanism; the number of hoisting inflection points is at least one, and the number of running inflection points is at least one; During the tipping process, adjust the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection points, and adjust the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points.

3. The automatic flipping control method for the new nuclear power fuel container according to claim 2, wherein, The tipping process includes the process of tipping from horizontal to vertical with load and the process of tipping from vertical to horizontal without load; in the erection stage and the laying-down stage, the hoisting inflection points are different, and the running inflection points are different; for different types of new fuel containers, the hoisting inflection points are different, and the running inflection points are different.

4. The automatic flipping control method for the new nuclear power fuel container according to claim 3, wherein When the new fuel container is the 812-factory container, in the erection stage of the tipping process of receiving the 812-factory container, the hoisting inflection points include inflection point 1a and inflection point 2a, and the running inflection points include inflection point 1b, inflection point 2b, and inflection point 3b; among them, inflection point 1a is less than inflection point 2a, inflection point 2b is less than inflection point 1b, and inflection point 1b is less than inflection point 3b; in the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection points, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points during the tipping process, it includes: For the hoisting mechanism, when its actual position is greater than inflection point 2a, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1a, the speed ratio is 15000 / 20000; when its actual position is greater than inflection point 1a and less than inflection point 2a, the speed ratio is 5000 / 20000; For the trolley mechanism, when its actual position is greater than inflection point 3b, the speed ratio is 6000 / 20000; when its actual position is greater than inflection point 1b and less than inflection point 3b, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 2b and less than inflection point 1b, the speed ratio is 12000 / 20000; when its actual position is less than inflection point 2b, the speed ratio is 6000 / 20000; When the new fuel container is the container from Factory 812, during the flattening stage of the flipping process when receiving the container from Factory 812, the hoisting inflection points include inflection point 1c, inflection point 2c, and inflection point 3c, and the running inflection points include inflection point 1d, inflection point 2d, inflection point 3d, inflection point 4d, and inflection point 5d; among them, inflection point 3c is less than inflection point 1c, inflection point 1c is less than inflection point 2c, inflection point 1d is less than inflection point 4d, inflection point 4d is less than inflection point 3d, inflection point 3d is less than inflection point 5d, and inflection point 5d is less than inflection point 2d; during the flipping process, in the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection points, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points, it includes: For the hoisting mechanism, when its actual position is less than inflection point 1c, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 1c and less than inflection point 2c, the speed ratio is 9000 / 20000; when its actual position is greater than inflection point 2c and the trolley is less than inflection point 2d, the speed ratio is 4000 / 20000; For the trolley mechanism, when its actual position is greater than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 3d and less than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 1d and less than inflection point 3d, the speed ratio is 15000 / 20000; when its actual position is less than inflection point 1d, the speed ratio is 4000 / 20000.

5. The automatic flipping control method for the new nuclear power fuel container according to claim 4, wherein, When the new fuel container is the container from Factory 812, during the erecting stage of the flipping process when packing the container from Factory 812, during the flipping process, in the step of adjusting the actual hoisting speed of the hoisting mechanism according to the comparison result between the actual position of the hoisting mechanism and the hoisting inflection points, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points, it includes: For the hoisting mechanism, when its actual position is greater than inflection point 2a, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1a, the speed ratio is 15000 / 20000; when its actual position is greater than inflection point 1a and less than inflection point 2a, the speed ratio is 5000 / 20000; For the cart mechanism, when its actual position is greater than inflection point 3b, the speed ratio is 6000 / 20000; when its actual position is greater than inflection point 1b and less than inflection point 3b, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 2b and less than inflection point 1b, the speed ratio is 12000 / 20000; when its actual position is less than inflection point 2b, the speed ratio is 6000 / 20000; and / or When the new fuel container is a container from Factory 812, during the flattening stage of the flipping process of packing the Factory 812 container, in the step of adjusting the actual lifting speed of the lifting mechanism according to the comparison result between the actual position of the lifting mechanism and the lifting inflection point, and adjusting the actual running speed of the cart mechanism according to the comparison result between the actual position of the cart mechanism and the running inflection point during the flipping process, it includes: For the lifting mechanism, when its actual position is less than inflection point 1c, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 2c and the cart is less than inflection point 5d, the speed ratio is 4000 / 20000; when its actual position is greater than inflection point 1c and less than inflection point 2c, the speed ratio is 9000 / 20000; For the cart mechanism, when its actual position is greater than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 3d and less than inflection point 2d, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 2d and less than inflection point 3d, the speed ratio is 15000 / 20000; when its actual position is less than inflection point 1d, the speed ratio is 4000 / 20000.

6. The automatic flipping control method for the new nuclear fuel container according to claim 3, wherein When the new fuel container is a container from Factory H, during the erection stage of the flipping process of receiving the Factory H container, the lifting inflection points include inflection point 1e and inflection point 2e, and the running inflection points include inflection point 1f, inflection point 2f, and inflection point 3f, where inflection point 1e is less than inflection point 2e, inflection point 2f is less than inflection point 1f, and inflection point 1f is less than inflection point 3f; In the step of adjusting the actual lifting speed of the lifting mechanism according to the comparison result between the actual position of the lifting mechanism and the lifting inflection point, and adjusting the actual running speed of the cart mechanism according to the comparison result between the actual position of the cart mechanism and the running inflection point during the flipping process, it includes: For the lifting mechanism, when its actual position is greater than inflection point 2e, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1e, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 1e and less than inflection point 2e, the speed ratio is 6000 / 20000; For the cart mechanism, when its actual position is greater than inflection point 3f, the speed ratio is 6000 / 20000; when its actual position is greater than inflection point 1f and less than inflection point 3f, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 2f and less than inflection point 1f, the speed ratio is 12000 / 20000; when its actual position is less than inflection point 2f, the speed ratio is 6000 / 20000; When the new fuel container is a Ha container, during the flattening stage of the turning process when the Ha container is received, the lifting inflection points include inflection point 1g, inflection point 2g, and inflection point 3g, and the running inflection points include inflection point 1h, inflection point 2h, inflection point 3h, inflection point 4h, inflection point 5h, inflection point 6h, and inflection point 7h. Among them, inflection point 3g is less than inflection point 1g, inflection point 1g is less than inflection point 2g, inflection point 7h is less than inflection point 4h, inflection point 4h is less than inflection point 6h, inflection point 6h is less than inflection point 5h, inflection point 5h is less than inflection point 2h, inflection point 2h is less than inflection point 1h, and inflection point 1h is less than inflection point 3h; In the step of adjusting the actual lifting speed of the lifting mechanism according to the comparison result between the actual position of the lifting mechanism and the lifting inflection points, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points during the turning process, it includes: For the lifting mechanism, when its actual position is greater than inflection point 2g, the speed ratio is 3000 / 20000; when its actual position is less than inflection point 1g, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 1g and less than inflection point 2g, the speed ratio is 6000 / 20000; For the trolley mechanism, when its actual position is greater than inflection point 5h, the speed ratio is 18000 / 20000; when its actual position is greater than inflection point 6h and less than inflection point 5h, the speed ratio is 20000 / 20000; when its actual position is greater than inflection point 4h and less than inflection point 6h, the speed ratio is 20000 / 20000; when its actual position is less than inflection point 4h, the speed ratio is 5000 / 20000.

7. The automatic flipping control method for a new nuclear power fuel container according to claim 6, characterized in that When the new fuel container is a Ha container, during the erecting stage of the turning process when the Ha container is packed, in the step of adjusting the actual lifting speed of the lifting mechanism according to the comparison result between the actual position of the lifting mechanism and the lifting inflection points, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points during the turning process, it includes: For the lifting mechanism, when its actual position is greater than inflection point 2e, the speed ratio is 2000 / 20000; when its actual position is less than inflection point 1e, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 1e and less than inflection point 2e, the speed ratio is 6000 / 20000; For the trolley mechanism, when its actual position is greater than inflection point 3f, the speed ratio is 6000 / 20000; when its actual position is greater than inflection point 1f and less than inflection point 3f, the speed ratio is 16000 / 20000; when its actual position is greater than inflection point 2f and less than inflection point 1f, the speed ratio is 12000 / 20000; when its actual position is less than inflection point 2f, the speed ratio is 6000 / 20000; and / or When the new fuel container is a Ha container, during the flattening stage of the turning process when the Ha container is packed, in the step of adjusting the actual lifting speed of the lifting mechanism according to the comparison result between the actual position of the lifting mechanism and the lifting inflection points, and adjusting the actual running speed of the trolley mechanism according to the comparison result between the actual position of the trolley mechanism and the running inflection points during the turning process, it includes: For the hoisting mechanism, when its actual position is greater than the inflection point 2g, the speed ratio is 3000 / 20000; when its actual position is less than the inflection point 1g, the speed ratio is 18000 / 20000; when its actual position is greater than the inflection point 1g and less than the inflection point 2g, the speed ratio is 6000 / 20000; For the trolley mechanism, when its actual position is greater than the inflection point 5h, the speed ratio is 18000 / 20000; when its actual position is greater than the inflection point 6h and less than the inflection point 5h, the speed ratio is 20000 / 20000; when its actual position is greater than the inflection point 4h and less than the inflection point 6h, the speed ratio is 20000 / 20000; when its actual position is less than the inflection point 4h, the speed ratio is 5000 / 20000.

8. The automatic flipping control method for the new nuclear power fuel container according to claim 1, characterized in that, Step S5 includes: In the erection stage of the flipping process, when the hoisting mechanism hoists to an actual position greater than or equal to the termination position of the hoisting mechanism, control the hoisting mechanism to stop moving; In the laying-flat stage of the flipping process, when the hoisting mechanism hoists to an actual position less than or equal to the termination position of the hoisting mechanism, control the hoisting mechanism to stop moving; and / or Step S6 includes: In the erection stage of the flipping process, when the trolley mechanism runs to an actual position greater than or equal to the end position of the trolley mechanism, control the trolley mechanism to stop moving; In the laying-flat stage of the flipping process, when the trolley mechanism runs to an actual position less than or equal to the end position of the trolley mechanism, control the trolley mechanism to stop moving.

9. The automatic flipping control method for the new nuclear fuel container according to claim 1, wherein The method further includes: Determine the allowable fluctuation range according to the actual load weight during the flipping process; Determine the weight protection value according to the actual load weight and the allowable fluctuation range; the weight protection value is used for the trigger mechanism to assist the crane to automatically stop running in case of abnormal flipping; Or, the method further includes: Set a one-key switching button; the one-key switching button is used to cancel the automatic flipping control function and restore the original design function of the auxiliary crane as a crane; Or, the control system further includes a touch screen connected to the control terminal, and the method further includes a pre-start inspection step: Before the system starts, perform the following inspection operations: Detect whether the mode selection of the touch screen is switched to the automatic mode; Detect whether the wire-breaking detection limit state of the hoisting mechanism is normal; Detect whether the upper limit of the hoisting mechanism is not triggered; Detect whether the deviation angle fault is not triggered; If all inspection items are satisfied, enter the start-up step; if any inspection item is not satisfied, stay in the pre-start inspection step and wait for the conditions to be met; Or, the method further includes a start-up step: Confirm whether the automatic flipping start button is triggered; Detect whether the automatic flipping stop button is not triggered; Detect whether the automatic stop of the hoisting mechanism running in place and the automatic stop of the running mechanism running in place are not triggered; Detect whether the running limit conditions of the trolley mechanism and the hoisting mechanism are not triggered; If all the above conditions are satisfied, the system enters the automatic flipping control state.

10. An auxiliary crane, characterized in that, It includes a control terminal, a hoisting mechanism and a trolley mechanism. The hoisting mechanism is provided with a wire rope encoder, and the trolley mechanism is provided with a laser rangefinder; the control terminal is used to adopt the automatic flipping control method for the new nuclear fuel container as described in any one of claims 1 to 9; The draw-wire encoder is installed on the base by means of bolt connection. The base is fixed on the rope pressing device bracket of the auxiliary hoist's auxiliary hoisting mechanism and is used to measure the actual rising distance and the actual falling distance of the hoisting mechanism to determine the actual position of the hoisting mechanism.

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