Nuclear reactor pressure vessel inspection device tray docking station connection device and method

Abstract

The invention belongs to the technical field of pressure vessel nondestructive testing, and provides a nuclear reactor pressure vessel inspection device tray docking station connecting device which comprises a tray docking station mounting plate arranged outside a stand column in a sleeving mode, a circular guide rail and a fixed gear are arranged in the middle of the tray docking station mounting plate, and the fixed gear is meshed with a rotating motor gear of a rotating motor assembly. The rotating motor assembly is connected with the tightening motor assembly, the tray docking station mounting plate is provided with a notch connected with a tray, a limiting air cylinder is arranged on the side face of the notch and used for clamping the tray, and a driving device is arranged below the tray docking station mounting plate and meshed with the rack of the stand column. Through an underwater butt joint mode, the interchangeability of the interface trays is realized, the tool replacement time is shortened, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of non-destructive testing of pressure vessels, and in particular relates to a pallet docking device and method for a nuclear reactor pressure vessel inspection device. Background Art

[0002] The nuclear reactor pressure vessel, a core component of the reactor's primary circuit, consists of multiple parts, including flanges, a barrel section, inlet and outlet pipes, and a bottom head. Underwater ultrasonic testing of pressure vessels covers a wide range of inspection targets, including multiple weld types, corresponding to a variety of probe trays of varying shapes and structures. Currently, the most popular pressure vessel inspection method involves using a manipulator mounted on a fixed platform to carry a specific probe tray.

[0003] For this inspection mode, the pallet needs to be replaced frequently when the inspection object changes. Since the connection interfaces between the probe pallet and the manipulator are different, it is usually necessary to use the island's ring crane multiple times to separate the manipulator or other types of carrier tools from the inspection equipment and manually replace them on the pool shore, which delays the inspection time. At the same time, the radiation risk is introduced due to the multiple disassembly and installation of the pallet, which affects the inspection efficiency. Summary of the Invention

[0004] The purpose of this application is to overcome the defects of the existing technology and provide a pallet docking device and method for a nuclear reactor pressure vessel inspection device, which realizes the interchangeability of each interface pallet through underwater docking, shortens the tool replacement time, and improves inspection efficiency.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] In the first aspect, the present application provides a pallet docking device for a nuclear reactor pressure vessel inspection device, comprising a pallet docking plate mounted on the outside of a column, a circular guide rail and a fixed gear being provided in the middle of the pallet docking plate, the fixed gear being engaged with the rotating motor gear of the rotating motor assembly, and the rotating motor assembly being connected to tighten the motor assembly; the pallet docking plate having a slot, the slot being connected to a pallet, a limiting cylinder being provided on the side of the slot for clamping the pallet; a driving device being provided below the pallet docking plate for engaging with the rack of the column.

[0007] In some embodiments, the tray is mounted on the tray dock mounting plate via a plug-in connection component, wherein the plug-in connection component includes a plug-in connector and a fixed connector.

[0008] In some embodiments, the plug-in component has a guide column, the fixed connector has a plug-in guide hole that cooperates with the guide column, and a rotating head is rotatably connected to the fixed connector.

[0009] In some embodiments, the bottom of the rotating head is a screw structure, the bottom of the plug-in unit has threads, and the screw structure engages with the threads.

[0010] In some embodiments, a guide groove is provided above the rotating head, and the guide groove cooperates with a guide edge of the tightening motor assembly.

[0011] In some embodiments, the tightening motor assembly includes a tightening motor, a rotary joint, and a tightening motor cover, and the rotary joint is directly connected to the main shaft of the tightening motor.

[0012] In some embodiments, the rotating motor assembly is connected to the connecting plate via screws, the connecting plate is mounted with a docking cylinder, and the tightening motor assembly is mounted at the front end of the docking cylinder.

[0013] In some embodiments, a slider is provided on the circular guide rail.

[0014] In some embodiments, a boss is provided in the middle of the tray dock mounting plate, the circular guide rail is provided on the boss, the fixed gear is provided on the step surface, and the notch is a wedge-shaped positioning notch.

[0015] In a second aspect, the present application provides a method for docking a pallet of a nuclear reactor pressure vessel inspection device, comprising:

[0016] The plug-in unit is moved upward to mate with the fixed connector, the guide post on the plug-in unit is inserted into the plug-in guide hole, the guide post is inserted into the fixed connector, and the rotating head contacts the thread of the plug-in unit;

[0017] The rotating motor gear is driven to move circumferentially along the axis of the docking station, so that the rotating docking head is positioned above the fixed connector, and the position of the rotating docking head is adjusted so that the guide groove on the rotating head matches the edge on the rotating docking head in the projection direction. The docking cylinder pushes the tightening motor assembly downward, and the rotating docking head is inserted into the guide groove of the fixed connector. The tightening motor is driven to drive the rotating head to rotate, and the screw at the bottom of the rotating head engages and docks with the threaded hole at the bottom of the docking plug, and is gradually tightened, and the probe tray is fixed on the carrier;

[0018] After carrying the probe tray back to the tray placement point, it moves from top to bottom so that the boss cooperates with the wedge-shaped positioning notch, and the limit cylinder extends out of the fixed tray to drive the rotating docking head to be positioned above the fixed connector. After the rotating docking head is inserted into the guide groove, the motor is tightened to reverse the rotation to disengage the fixed connector from the plug-in. The carrier moves downward until the plug-in completely leaves the fixed connector, completing the disassembly and positioning of the probe tray.

[0019] Compared with the prior art, the nuclear reactor pressure vessel inspection device pallet docking device and method provided in this application have the following beneficial effects:

[0020] The present application provides a docking method for a manipulator and a probe tray, which adopts an integrated layout of the probe tray to make its interface consistent with that of the carrier, and fixes it on a docking station of an inspection device for storing different types of trays. When necessary, a manipulator or other carrier can be used to achieve interchangeability of each interface tray through underwater docking, thereby shortening tool replacement time and improving inspection efficiency.

[0021] This application uses a probe tray docking station to carry a variety of trays, with an integrated layout and a unified interface, providing conditions for rapid tray replacement.

[0022] Furthermore, the probe tray of the present application is docked with the carrier, and the positioning process of the tray adopts a guide structure, which can achieve precise positioning remotely.

[0023] Furthermore, the probe tray is installed and disassembled by simulating manual tightening and loosening, and the mechanical connection has high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of this application, the following is a brief introduction to the drawings required for the technical description.

[0025] Figure 1 A schematic diagram of the structure of the pallet docking station connection device for the nuclear reactor pressure vessel inspection device provided in this application;

[0026] Figure 2 A schematic diagram of the structure of the pallet docking station mounting plate provided for this application;

[0027] Figure 3 A schematic diagram of the structure of the bottom connector of the probe tray provided for this application;

[0028] Figure 4 A front view of the bottom connector of the probe tray provided for this application;

[0029] Figure 5 A top view of the fixed connection member provided for this application;

[0030] Figure 6 A schematic diagram of the structure of the butt-tightening components provided in this application;

[0031] Figure 7 Schematic diagram of the tray placement provided for this application.

[0032] Description of reference numerals:

[0033] 1. Fillet pallet; 2. Pipe pallet; 3. Cylinder pallet; 4. Column; 5. Circular guide rail pair; 6. Tightening motor assembly; 7. Pallet docking station mounting plate; 8. Rotating motor assembly; 9. Limit cylinder; 10. Fixed gear; 11. Connecting plate; 12. Docking cylinder; 13. Docking plug; 14. Drive unit;

[0034] 31. Fixed connector; 32. Rotating head; 311. Insertion guide hole; 321. Guide groove;

[0035] 51. Circular guide rail; 52. Slider;

[0036] 61. Rotate the joint; 611. Guide edge; 62. Tighten the motor cover;

[0037] 71. Wedge-shaped positioning groove; 81. Rotating motor gear; 82. Rotating motor cover. DETAILED DESCRIPTION

[0038] The following is further explained in detail through specific implementation methods.

[0039] like Figures 1 to 7 As shown, the present application provides a pallet docking device for nuclear reactor pressure vessel inspection equipment, comprising a pallet docking body, a plug-in connection component, and a docking tightening component. The pallet docking body comprises a pallet docking mounting plate 7, a circular guide rail pair 5, and a drive device 14. The plug-in connection component comprises various types of pallets and a plug-in connector 13, which is fixed to the end of the manipulator. The docking tightening component comprises a rotating motor assembly 8 and a tightening motor assembly 6.

[0040] The pallet docking station mounting plate 7 is mounted on the exterior of the column 4, which is equipped with a longitudinally arranged rack. Various types of pallets are distributed along the outer edge of the pallet docking station mounting plate 7, including cylindrical pallets 1, pipe-type pallets 2, and rounded-corner pallets 3. A drive unit 14 is mounted below the pallet docking station mounting plate 7. Bolted to the pallet docking station mounting plate 7, the drive unit 14's gear meshes with the rack on the column 4, driving the entire pallet docking station up and down along the column 4.

[0041] like Figure 2 and Figure 7As shown, there is a processed wedge-shaped positioning notch 71 on the tray dock mounting plate 7, which is used to position different types of probe trays. The wedge-shaped positioning notch 71 cooperates with the fixed connector 31 to install a variety of different types of trays. A limiting cylinder 9 is provided next to the wedge-shaped positioning notch 71, which is used to clamp the tray and limit its upward movement. There is a boss structure in the middle of the tray dock mounting plate 7, and a circumferentially arranged circular guide rail 51 is installed on the boss. A fixed gear 10 is installed on the step surface of the boss to facilitate the positioning of the fixed gear 10. The fixed gear 10 is composed of an arc-shaped rack. A slider 52 is provided on the circular guide rail 51, and the slider 52 is used to be connected to the rotating motor assembly 8 by screws and move on the circular guide rail. The circular guide rail 51 is used to guide the rotating motor assembly 8. The slider 52 is connected to the rotating motor assembly 8 by screws and moves on the circular guide rail.

[0042] Optionally, a plurality of circular holes are provided on the tray dock mounting plate 7. The purpose and function of providing the circular holes is to reduce the weight while ensuring the rigidity of the tray dock.

[0043] Plug-in connection components such as Figures 3 to 5 As shown, different types of pallets retain a unified docking interface. Taking the cylindrical pallet 1 as an example, the plug-in 13 is mounted on the manipulator and moves upward with the manipulator. The plug-in 13 is equipped with a guide post with a cone at the upper end to facilitate the guidance of the docking guide hole 311 in the fixed connector 31. The docking guide hole 311 has a bell-shaped structure to provide redundancy during docking. Optionally, the number of guide posts is four, arranged in an array.

[0044] The fixed connector 31 is provided with four guide holes 311 for insertion. A rotating head 32 is rotatably connected to the center of the fixed connector 31. The bottom of the rotating head 32 is a screw structure that engages with the threads on the bottom of the insert 13. The rotating head 32 and the fixed connector 31 are capable of relative movement. A guide groove 321 is provided above the rotating head 32 to mate with the guide edge 611.

[0045] Butt tightening parts such as Figure 6As shown, the docking and tightening components include a tightening motor assembly 6 and a rotating motor assembly 8. The rotating motor assembly 8 includes a rotating motor, a rotating motor gear 81, and a rotating motor cover 82. The rotating motor gear 81 is connected to the bottom of the rotating motor. The rotating motor gear 81 is engaged with the fixed gear 10. The rotating motor of the rotating motor assembly 8 drives the rotating motor gear 81 to move circumferentially. The purpose and function of the circumferential movement is to dock the tightening motor assembly 6 with different pallet interfaces through circumferential movement to achieve the grabbing / lowering of the pallet. The rotating motor assembly 8 is connected to the connecting plate 11 by screws. The connecting plate 11 is equipped with a docking cylinder 12. The front end of the docking cylinder 12 is equipped with the tightening motor assembly 6. The tightening motor assembly 6 includes a tightening motor, a rotary docking joint 61 and a tightening motor cover 62. A guide edge 611 is provided at the bottom of the rotary docking joint 61. The rotary docking joint 61 is directly connected to the main shaft of the tightening motor.

[0046] Preferably, the exterior of the tightening motor cover 62 and the rotating motor cover 82 is provided with a waterproof structure and waterproofed to meet the requirements of the motor working underwater.

[0047] In addition, based on the above-mentioned nuclear reactor pressure vessel inspection device pallet docking device, the present application also provides a nuclear reactor pressure vessel inspection device pallet docking method, including the following:

[0048] Positioning and docking steps: When docking is required, a robot or other carrier carries the docking insert 13 upward to mate with the fixed connector 31. Using a camera or sensor, the guide post on the docking insert 13 is inserted through the tapered guide structure into the docking guide hole 311 for positioning. A limit cylinder 9 above the tray restricts the tray's upward and downward movement. Once the guide post on the docking insert 13 is fully inserted into the fixed connector 31, the screw structure at the bottom of the rotating head 32 contacts the threads at the bottom of the docking insert 13, completing the preparations for tightening.

[0049] Tightening installation steps: The rotating motor assembly 8 drives the rotating motor gear 81 to move circumferentially along the docking axis, positioning the rotating docking joint 61 in the tightening motor assembly 6 directly above the fixed connector 31. The tightening motor assembly 6 adjusts the position of the rotating docking joint 61 through servo control so that the guide groove 321 on the rotating head 32 mates with the edge of the rotating docking joint 611 in the projection direction. The docking cylinder 12 pushes the tightening motor assembly 6 downward. After the rotating docking joint 61 is inserted into the guide groove 321 of the fixed connector 31, the tightening motor is driven to rotate, driving the rotating head 32 to rotate. The screw at the bottom of the rotating head 32 engages with the threaded hole at the bottom of the docking plug 13, and the screw is gradually tightened. The probe tray is fixed to the manipulator or other carrier.

[0050] Tray removal and placement steps: Contrary to the installation method of the probe tray, the robot or other carrier carries the probe tray back to the tray placement point and moves from top to bottom, such as Figure 7 As shown. The wedge-shaped boss of the tray fixed connector 31 cooperates with the wedge-shaped positioning notch 71 on the tray dock mounting plate 7. Once in place, the limit cylinder 9 extends out of the fixed tray and the probe tray is fixed. Subsequently, consistent with the above steps, the rotary motor assembly 8 drives the rotary docking head 61 to be positioned directly above the fixed connector 31. After the rotary docking head 61 is inserted into the guide groove 321 of the fixed connector 31, the motor is tightened to reverse and disengage the fixed connector 31 from the plug-in 13. The manipulator or other carrier moves downward until the plug-in 13 completely leaves the fixed connector 31, completing the disassembly and positioning operation of the probe tray.

[0051] The above description is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection of the present application.

Claims

1. A pallet docking station connection device for a nuclear reactor pressure vessel inspection device, characterized in that: The invention comprises a pallet docking station mounting plate (7) sleeved on the outside of the column (4), wherein a circular guide rail (51) and a fixed gear (10) are provided in the middle of the pallet docking station mounting plate (7), wherein the fixed gear (10) is engaged with a rotating motor gear (81) of a rotating motor assembly (8), and the rotating motor assembly (8) is connected to the tightening motor assembly (6); the pallet docking station mounting plate (7) has a notch, wherein the notch is connected to the pallet, and a limiting cylinder (9) is provided on the side of the notch for clamping the pallet; and a driving device (14) is provided below the pallet docking station mounting plate (7) and is engaged with the rack of the column (4).

2. The pallet docking device for nuclear reactor pressure vessel inspection equipment according to claim 1, characterized in that: The pallet is mounted on the pallet docking station mounting plate (7) via a plug-in connection component, wherein the plug-in connection component comprises a plug-in connector (13) and a fixed connector (31) that are plug-fitted.

3. The pallet docking station connection device for nuclear reactor pressure vessel inspection equipment according to claim 2, characterized in that: The plug-in component (13) has a guide column, the fixed connection component (31) has a plug-in guide hole (311) matched with the guide column, and a rotating head (32) is rotatably connected to the fixed connection component (31).

4. The pallet docking station connection device for nuclear reactor pressure vessel inspection equipment according to claim 3, characterized in that: The bottom of the rotating head (32) is a screw structure, the bottom of the plug-in unit (13) has a thread, and the screw structure is engaged with the thread.

5. The pallet docking device for nuclear reactor pressure vessel inspection equipment according to claim 3, characterized in that: A guide groove (321) is provided above the rotating head (32), and the guide groove (321) cooperates with the guide edge (611) of the tightening motor assembly (6).

6. The pallet docking device for nuclear reactor pressure vessel inspection equipment according to claim 1, characterized in that: The tightening motor assembly (6) comprises a tightening motor, a rotary joint (61) and a tightening motor cover (62); the rotary joint (61) is directly connected to the main shaft of the tightening motor.

7. The pallet docking device for nuclear reactor pressure vessel inspection equipment according to claim 1, characterized in that: The rotating motor assembly (8) is connected to the connecting plate (11) via screws. The connecting plate (11) is equipped with a docking cylinder (12), and the front end of the docking cylinder (12) is equipped with the tightening motor assembly (6).

8. The pallet docking device for nuclear reactor pressure vessel inspection equipment according to claim 1, characterized in that: A slider (52) is provided on the circular guide rail (51).

9. The pallet docking device for nuclear reactor pressure vessel inspection equipment according to claim 1, characterized in that: A boss is provided in the middle of the tray dock mounting plate (7), the circular guide rail (51) is provided on the boss, the fixed gear (10) is provided on the step surface, and the notch is a wedge-shaped positioning notch (71).

10. A method for connecting a pallet docking station to a nuclear reactor pressure vessel inspection device, characterized in that: The pallet docking device for a nuclear reactor pressure vessel inspection device according to any one of claims 1 to 9 comprises: The plug-in unit (13) is moved upward to cooperate with the fixed connector (31), the guide column on the plug-in unit (13) is inserted into the plug-in guide hole (311), the guide column is inserted into the fixed connector (31), and the rotating head (32) is in threaded contact with the plug-in unit (13); The rotating motor gear (81) is driven to move circumferentially along the axis of the docking station, so that the rotating docking joint (61) is positioned above the fixed connector (31), and the position of the rotating docking joint (61) is adjusted so that the guide groove (321) on the rotating head (32) is matched with the edge of the rotating docking joint (611) in the projection direction, and the docking cylinder (12) pushes the tightening motor assembly (6) to move downward, and the rotating docking joint (61) is inserted into the guide groove (321), and the tightening motor is driven to rotate the rotating head (32), and the screw at the bottom of the rotating head (32) is engaged with the threaded hole at the bottom of the docking plug (13); After the probe tray is brought back to the tray placement point, it moves from top to bottom so that the boss cooperates with the wedge-shaped positioning notch (71), and the limiting cylinder (9) extends out of the fixed tray to drive the rotating docking joint (61) to be positioned above the fixed connector (31). After the rotating docking joint (61) is inserted into the guide groove (321), the motor is tightened to reverse and the fixed connector (31) is disengaged from the plug-in (13). The carrier moves downward until the plug-in (13) completely leaves the fixed connector (31), completing the disassembly and positioning of the probe tray.

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