Automatic overhauling device for main sealing pair and main bolt of nuclear power main cooling pump

Abstract

The invention belongs to the technical field of nuclear power station pump maintenance, and particularly relates to an automatic maintenance device for a main sealing pair and a main bolt of a nuclear power main cooling pump. Comprising a frame base, the frame base comprises a lower-layer fixing platform and an upper-layer rotating platform, and a main bolt hole cleaning module, a main bolt hole air drying module, a main bolt hole polishing module, a main bolt hole oiling module, a hole flange face cleaning module and a main bolt hole checking module are installed on the upper-layer rotating platform through installation supporting blocks or directly through bolts. A sealing surface inspection module, a revolving body rotating motor and a sealing surface cleaning module. The device has the beneficial effects that the device is suitable for checking and cleaning defects of a nuclear power station main pump sealing surface with a certain size, and cleaning, checking and maintaining a main bolt hole. Accurate positioning of the device is achieved in a contact mode and a non-contact mode; and the operation module is replaced in real time through intelligent equipment, so that the maintenance efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of nuclear power plant pump maintenance, and particularly relates to an automatic maintenance device for a main sealing pair and a main bolt of a nuclear power main cooling pump. BACKGROUND

[0002] The main sealing pair and the main bolt of the nuclear power plant main pump are important components of the radioactive boundary of the nuclear power plant primary loop, and the maintenance work is very important. However, due to the high detection quality requirement, narrow work area space, and high dose rate of the main sealing pair and the main bolt hole, the maintenance work is heavy, time-consuming, and the personnel dose is large. At present, when the state of the main pump main bolt thread hole and the sealing surface is checked, one is to use artificial support to install detection equipment for checking and maintenance, and the other is to use a crawling trolley to carry out checking and maintenance equipment. The existing checking method has the following problems: (1) The labor intensity of the artificial support maintenance method is high, and the automation level is low; (2) The artificial support maintenance method has a long operation time and a large personnel dose; (3) The artificial support maintenance method is inconvenient to operate, and has a great influence on the operation accuracy of the check; (4) The crawling trolley maintenance method has poor compatibility, cannot be applied to multiple crawling devices, and has low working efficiency.

[0003] With the increasing strictness of nuclear safety requirements, in order to improve the maintenance work quality of the main sealing pair and the main bolt thread hole of the nuclear power plant main pump, reduce the labor intensity, and reduce the personnel dose, it is necessary to develop a new type of automatic maintenance device for the main sealing pair and the main bolt of the nuclear power main pump. SUMMARY

[0004] The purpose of the present application is to provide an automatic maintenance device for the main sealing pair and the main bolt of the nuclear power main cooling pump, which can solve the problems of cleaning, air drying, checking, polishing and oiling of the main bolt hole of the nuclear power plant main pump, and cleaning and checking of the sealing surface.

[0005] The technical scheme of the present application is as follows: an automatic maintenance device for the main sealing pair and the main bolt of the nuclear power main cooling pump, comprising a frame base, the frame base comprising a lower fixed platform and an upper rotary platform, an outer layer of which is provided with a shielding body shell, the lower fixed platform is internally provided with a shielding grid, the upper rotary platform is further provided with a rotary support bearing, the upper rotary platform is provided with a main bolt hole cleaning module, a main bolt hole air drying module, a main bolt hole polishing module, a main bolt hole oiling module, a hole flange surface cleaning module, a main bolt hole checking module, a sealing surface checking module, a rotary body rotating motor and a sealing surface cleaning module through mounting support blocks or directly through bolts, and the upper rotary platform is connected with a shielding device through the rotary support bearing.

[0006] The main bolt hole cleaning module comprises a first quick-change tool, a first rotating motor, a first cleaning brush, a waste liquid suction pipe, a cleaning liquid supply pipe and a first fixed seat, the lower part of the first quick-change tool is connected with the first fixed seat with a hollow structure, the first fixed seat is sleeved with the first rotating motor, two first cleaning brushes are symmetrically connected on the rotating shaft of the first rotating motor, the waste liquid suction pipe and the cleaning liquid supply pipe are also installed in the first fixed seat, the first cleaning brush is driven to rotate by the first rotating motor, the first cleaning brush rotates around the thread surface to realize the cleaning of the whole thread surface.

[0007] The main bolt hole air drying module comprises a second quick-change tool, a second fixed seat and a hot air gun, the two ends of the second fixed seat are respectively connected with the second quick-change tool and the hot air gun, the hot air gun realizes the heating and blowing action through the electrical contact of the contact points of the second quick-change tool.

[0008] The main bolt hole inspection module comprises a third quick-change tool, a camera and a prism, the camera is connected to the third quick-change tool, the prism is arranged below the camera, during detection, the prism is inserted into the thread hole and rotates around the thread wall to guide the thread image out and then the camera takes a photo.

[0009] The main bolt hole polishing module comprises a fourth quick-change tool, a second rotating motor, a second cleaning brush, a negative pressure dust suction pipe and a third fixed seat, the fourth quick-change tool is connected with the third fixed seat with a hollow structure, the third fixed seat is sleeved with the second rotating motor, two second cleaning brushes are connected on the rotating shaft of the second rotating motor, the third fixed seat is also connected with the negative pressure dust suction pipe.

[0010] The main bolt hole oiling module comprises a fifth quick-change tool, a third rotating motor, a felt wheel, an oil storage pipe and a fourth fixed seat, the fifth quick-change tool is connected with the fourth fixed seat with a hollow structure, the fourth fixed seat is sleeved with the third rotating motor, two felt wheels are connected on the rotating shaft of the third rotating motor, the fourth fixed seat is also connected with the oil storage pipe, the felt wheel rotates around the thread wall, and the oil squeezed out of the oil storage pipe is brushed onto the thread hole wall by the felt wheel.

[0011] The sealing surface cleaning module comprises a sixth quick-change tool, a fourth rotating motor, a cleaning wheel, a belt drive and a fifth fixed seat, the sixth quick-change tool is connected with the fifth fixed seat with a frame structure, the fifth fixed seat is installed with the fourth rotating motor, the rotating shaft of the fourth rotating motor drives the cleaning wheel through the belt drive, the fourth rotating motor drives the cleaning wheel to rotate, and the rotating disc drives the sealing surface cleaning module to move on the sealing surface to clean the sealing surface.

[0012] The sealing surface inspection module comprises a sixth fixing seat, a line array camera and a light source, two line array cameras are connected to the lower part of the sixth fixing seat through mounting brackets, the light source is connected to the sixth fixing seat through a mounting bracket, the light source is located at the middle position of the two line array cameras, and the line array cameras realize detection of damage and scratches of the sealing surface of the main pump.

[0013] The nuclear power main pump main sealing pair and main bolt automatic maintenance device has been verified through tests, and the tests show that the test device is suitable for nuclear power plant main pump sealing surface defect inspection and cleaning, and the main bolt hole cleaning, inspection, maintenance and maintenance. Through contact and non-contact technology, accurate positioning of the device is realized; through intelligent equipment, real-time replacement of the operation module is realized, and the maintenance efficiency is improved. Compared with the prior art, in addition to the inspection function, the small space multifunctional module integration function is solved, the shielding function is increased, the applicability to large equipment is improved, once positioning and installation can cover all working areas, and the working efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 A nuclear power main cooling pump main sealing pair and main bolt automatic maintenance device provided by the present application is shown in the top view; Figure 2 A frame base (including a lower fixed platform with a shielding chamber) is shown in the schematic view; Figure 3 A mechanical arm activity area is shown in the schematic view; Figure 4 A main bolt hole cleaning module is shown in the schematic view; Figure 5 A main bolt hole air drying module is shown in the schematic view; Figure 6 A main bolt hole inspection module is shown in the schematic view; Figure 7 A main bolt hole polishing module is shown in the schematic view; Figure 8 A main bolt hole oiling module is shown in the schematic view; Figure 9 A sealing surface cleaning module is shown in the schematic view; Figure 10 A sealing surface inspection module is shown in the schematic view; Figure 11 An automatic maintenance device operation flowchart is shown in the schematic view.

[0015] In the figure: 9, main bolt hole cleaning module; 10, main bolt hole air drying module; 11, main bolt hole polishing module; 12, main bolt hole oiling module; 13, hole flange face cleaning module; 14, main bolt hole inspection module; 15, sealing surface inspection module; 16, swivel body rotating motor; 17, sealing surface cleaning module; 18, swivel bearing; 19, shielding body shell; 20, shielding grid, 21, swivel body rotating area; 22, manipulator active area; 23, first quick-change tooling; 24, first rotating motor; 25, first cleaning brush; 26, waste liquid suction pipe; 27, cleaning liquid supply pipe; 28, first fixed seat; 29, second quick-change tooling; 30, second fixed seat; 31, hot air gun; 32, third quick-change tooling; 33, camera; 34, prism, 35, fourth quick-change tooling; 36, second rotating motor; 37, second cleaning brush; 38, negative pressure dust suction pipe; 39, third fixed seat; 40, fifth quick-change tooling; 41, third rotating motor; 42, felt wheel; 43, oil storage pipe; 44, fourth fixed seat; 45, sixth quick-change tooling; 46, fourth rotating motor; 47, cleaning wheel; 48, belt drive; 49, fifth fixed seat, 50, sixth fixed seat; 51, linear array camera; 52, light source. DETAILED DESCRIPTION

[0016] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0017] As Figure 1 shown, the automatic maintenance device for main sealing pair and main bolt of nuclear power main cooling pump provided by the application comprises a frame base, as Figure 2As shown, the frame base, consisting of a lower fixed platform with a shielded chamber and an upper rotating platform, serves as the physical foundation for the entire sealing surface and main bolt hole operating equipment. It supports the entire equipment and also provides positioning. Its outer layer is designed with a shielding shell 19, which provides radiation protection for operators and equipment. The lower fixed platform is a circular platform constructed primarily of austenitic stainless steel. In addition to a sufficient lead shielding layer cast inside, it provides good protection for personnel and equipment. A shielding grille 20 with a welded steel grid structure is also included to strengthen its support. Flexible sealing strips are designed on the lower fixed platform to prevent the sealing surface and main bolt hole from being damaged. The upper rotary platform is a circular platform. The main material is austenitic stainless steel. A slewing support bearing 18 is also provided on the outside of the upper rotary platform. The main bolt hole cleaning module 9, main bolt hole air drying module 10, main bolt hole polishing module 11, main bolt hole oiling module 12, hole flange surface cleaning module 13, main bolt hole inspection module 14, sealing surface inspection module 15, rotary body rotating motor 16 and sealing surface cleaning module 17 are installed on the upper rotary platform by installing a support block or directly by bolts. The upper rotary platform is connected to the shielding device through a slewing support bearing 18. When operating, impurities and debris generated may cross each other or fall into the hydraulic components of the main pump.

[0018] like Figure 4 As shown, the main bolt hole cleaning module includes a first quick-change fixture 23, a first rotary motor 24, a first cleaning brush 25, a waste liquid suction pipe 26, a cleaning liquid supply pipe 27, and a first fixed base 28. The first quick-change fixture 23 is connected to the hollow first fixed base 28 at its lower portion. The first rotary motor 24 is housed within the first fixed base 28. Two first cleaning brushes 25 are symmetrically connected to the rotation axis of the first rotary motor 24. The first fixed base 28 also houses the waste liquid suction pipe 26 and cleaning liquid supply pipe 27. The first cleaning brushes 25 are driven by the first rotary motor 24 to rotate against the threaded surface. Simultaneously, driven by the robot's sixth axis, the first cleaning brushes 25 rotate circumferentially around the threaded surface, achieving full-surface cleaning. The first cleaning brushes 25 are made of nylon. The cleaning liquid supply pipe 27 is connected to a piston pump and cylinder, which intermittently injects cleaning liquid into the main bolt hole. The first cleaning brushes 25 are immersed in the cleaning liquid and rotated by the first rotary motor 24 to complete the screw hole cleaning. The waste liquid after cleaning is sucked back into the cleaning liquid storage tank through the waste liquid suction pipe 26. The storage tank is equipped with a filter to filter and recover impurities in the cleaning liquid so that the cleaning liquid can be recycled.

[0019] like Figure 5As shown in the figure, the main bolt hole air-drying module includes a second quick-change tool 29, a second fixed base 30, and a hot air gun 31. The two ends of the second fixed base 30 are respectively connected with the second quick-change tool 29 and the hot air gun 31. The hot air gun 31 realizes the heating and blowing action through the electrical contact of the contact points of the second quick-change tool 29. The hot air gun 31 adopts a large-power resistance heating wire, and is provided with an elongated bent pipe nozzle at the front end, which is beneficial to blowing. The hot air gun can be stretched into the thread hole to blow and dry the thread wall and the bottom hole. The hot air gun is controlled by the robot, and multi-angle blowing can be realized.

[0020] As shown in the figure, Figure 6 As shown in the figure, the main bolt hole inspection module includes a third quick-change tool 32, a camera 33, and a prism 34. The camera 33 is connected to the third quick-change tool 32, and the prism 34 is arranged below the camera 33. During detection, the prism 34 is inserted into the thread hole. The prism 34 is controlled by the robot to rotate around the thread wall to guide the thread image out and then take a picture by the camera. The quality of the thread is determined by comparing multiple frames of pictures.

[0021] After the camera takes a picture, the optical image signal is converted into a digital image signal and output. Each time, only one row of pixels is collected. The digital image signal is transmitted to the control part through network communication to complete image splicing, analysis and processing, and output, so as to determine the defect information of the bolt hole.

[0022] As shown in the figure, Figure 7 As shown in the figure, the main bolt hole polishing module includes a fourth quick-change tool 35, a second rotating motor 36, a second cleaning brush 37, a negative pressure dust collection pipe 38, and a third fixed base 39. The fourth quick-change tool 35 is connected with a hollow third fixed base 39. The third fixed base 39 is sleeved with the second rotating motor 36. The rotating shaft of the second rotating motor 36 is connected with two second cleaning brushes 37. The third fixed base 39 is also connected with the negative pressure dust collection pipe 38. The polishing module is an important process for cleaning the bolt hole. The polishing module and the cleaning module have the same design structure and movement mode. The difference is that two polishing brushes are used to act at the same time, which can shorten the polishing time. In addition, the polishing brush is made of nylon brush with abrasive.

[0023] As shown in the figure, Figure 8 As shown in the figure, the main bolt hole oiling module includes a fifth quick-change tool 40, a third rotating motor 41, a felt wheel 42, an oil storage pipe 43, and a fourth fixed base 44. The fifth quick-change tool 40 is connected with a hollow fourth fixed base 44. The fourth fixed base 44 is sleeved with the third rotating motor 41. The rotating shaft of the third rotating motor 41 is connected with two felt wheels 42. The fourth fixed base 44 is also connected with the oil storage pipe 43. The felt wheel 42 rotates around the thread wall, and the oil squeezed out of the oil storage pipe 43 is brushed onto the thread hole wall by the felt wheel 42. When not in use, the center pipe of the oil storage pipe 43 moves downward. The hole position of the oil storage pipe and the center pipe is staggered, and the oil storage pipe stops oiling.

[0024] AsFigure 9 As shown, the seal surface cleaning module includes a sixth quick-change tool 45, a fourth rotary motor 46, a cleaning wheel 47, a belt drive 48 and a fifth fixed base 49. The sixth quick-change tool 45 is connected with the fifth fixed base 49 of the frame structure, the fourth rotary motor 46 is installed in the fifth fixed base 49, the rotating shaft of the fourth rotary motor 46 drives the cleaning wheel 47 through the belt drive 48, and the seal surface cleaning adopts a dry cleaning method. In use, the robot picks up the seal surface cleaning module above the seal surface, the fourth rotary motor 46 drives the cleaning wheel 47 to rotate, and the rotating disc drives the seal surface cleaning module to move on the seal surface, so as to clean the seal surface.

[0025] As shown in the figure, Figure 10 As shown, the seal surface inspection module includes a sixth fixed base 50, a linear array camera 51 and a light source 52. The lower part of the sixth fixed base 50 is connected with two linear array cameras 51 through mounting brackets, and the sixth fixed base 50 is connected with a light source 52 through a mounting bracket. The light source 52 is located in the middle position between the two linear array cameras 51. The linear array camera needs to realize two functions, one is to detect the damage, scratches and the like of the main pump seal surface. When the seal surface is inspected, the camera is fixed on the rotating disc, and the seal surface inspection module moves on the seal surface with the rotating disc, so as to uniformly scan the seal surface.

[0026] The mechanical arm selects the IRB1300-10 / 1.15 model, picks up each functional module through quick-change tools and other components, the end of the mechanical arm is installed with a force sensor and a quick-change module, realizes the cleaning, drying, inspection, polishing, anti-bite agent smearing and seal surface cleaning and inspection functions of the main bolt hole. At the same time, the real-time feedback module feeds back the force in the horizontal and vertical directions, realizes protection and prevents collision. The main pump main sealing pair and the main bolt hole are inspected and repaired. The range of the mechanical hand reaches a radius of 1150mm, and cooperates with the upper rotating platform to operate all the main sealing pairs and the main bolt hole of the main pump. The size of the mechanical arm equipment installed on the simulation body is φ2450mm×2798mm, the mechanical hand activity radius is less than or equal to 1420 degrees, the positioning accuracy is ≤1mm, the effective load of the quick-change module is ≤10Kg, and the working power voltage is 380V.

[0027] The end of the mechanical arm is installed with a laser reflection sensor, which scans the edge of the threaded hole multiple times to confirm the position of the thread and the coaxiality of the mechanical arm and the main pump seal surface.

[0028] The device has the advantages of convenient installation, stable operation, simple operation, good environmental adaptability, etc.; the inspection and maintenance device can rotate along the sealing surface of the main pump by 360 degrees by using the mechanical hand to carry each functional module, can cover all the bolt thread holes and the sealing surface at one time, can complete all the inspection work at one time, saves the equipment installation time, improves the inspection and maintenance efficiency, has good operability, the rotating platform can realize high automation operation, is favorable for reducing the operation difficulty and reducing the radiation dose of the operation personnel, the platform has high integration degree, each functional module can be separately disassembled, stored and maintained, or can be integrally stored, and occupies less nuclear facility plant space.

Claims

1. An automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump, characterized by: It includes a frame base, which includes a lower fixed platform and an upper rotating platform, the outer layer of which is provided with a shielding body shell, the interior of the lower fixed platform is provided with a shielding grille, and the outer side of the upper rotating platform is also provided with a slewing support bearing. The upper rotating platform is provided with a main bolt hole cleaning module, a main bolt hole air drying module, a main bolt hole polishing module, a main bolt hole oiling module, a hole flange surface cleaning module, a main bolt hole inspection module, a sealing surface inspection module, a rotating body rotating motor and a sealing surface cleaning module by installing a support block or directly by bolts. The upper rotating platform is connected to the shielding device through a slewing support bearing.

2. The automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump according to claim 1, characterized in that: The main bolt hole cleaning module includes a first quick-change tool, a first rotating motor, a first cleaning brush, a waste liquid suction pipe, a cleaning liquid supply pipe and a first fixed seat. The lower part of the first quick-change tool is connected to the first fixed seat with a hollow structure. The first fixed seat is equipped with the first rotating motor. Two first cleaning brushes are symmetrically connected to the rotating shaft of the first rotating motor. The waste liquid suction pipe and the cleaning liquid supply pipe are also installed in the first fixed seat. The first cleaning brush is driven to rotate by the first rotating motor. The first cleaning brush rotates circumferentially around the thread surface to achieve cleaning of the entire thread surface.

3. The automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump according to claim 1, characterized in that: The main bolt hole air-drying module includes a second quick-change tooling, a second fixing seat and a hot air gun. The two ends of the second fixing seat are respectively connected to the second quick-change tooling and the hot air gun. The hot air gun realizes heating and blowing action through electrical contact of the contacts of the second quick-change tooling.

4. The automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump according to claim 1, characterized in that: The main bolt hole inspection module includes a third quick-change tooling, a camera and a prism. The camera is connected to the third quick-change tooling, and the prism is arranged under the camera. During inspection, the prism penetrates into the threaded hole, rotates in a circle around the threaded wall, and the thread image is exported and then photographed by the camera.

5. The automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump according to claim 1, characterized in that: The main bolt hole polishing module includes a fourth quick-change tooling, a second rotating motor, a second cleaning brush, a negative pressure dust suction tube and a third fixed seat. The fourth quick-change tooling is connected to the hollow third fixed seat. The second rotating motor is installed in the third fixed seat. Two second cleaning brushes are connected to the rotating shaft of the second rotating motor. The negative pressure dust suction tube is also connected to the third fixed seat.

6. The automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump according to claim 1, characterized in that: The main bolt hole oiling module includes a fifth quick-change tooling, a third rotating motor, a felt wheel, an oil storage pipe and a fourth fixed seat. The fifth quick-change tooling is connected to the hollow fourth fixed seat. The third rotating motor is installed inside the fourth fixed seat. Two felt wheels are connected to the rotating shaft of the third rotating motor. The fourth fixed seat is also connected to the oil storage pipe. The felt wheel rotates around the threaded wall, and the oil squeezed out of the oil storage pipe is brushed onto the screw hole wall through the felt wheel.

7. The automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump according to claim 1, characterized in that: The sealing surface cleaning module includes a sixth quick-change tooling, a fourth rotating motor, a cleaning wheel, a belt drive and a fifth fixed seat. The sixth quick-change tooling is connected to the fifth fixed seat with a frame structure. The fourth rotating motor is installed in the fifth fixed seat. The rotating shaft of the fourth rotating motor drives the cleaning wheel through the belt drive. The fourth rotating motor drives the cleaning wheel to rotate and the turntable to drive the sealing surface cleaning module to move on the sealing surface to clean the sealing surface.

8. The automatic maintenance device for the main seal pair and main bolts of a nuclear power main cooling pump according to claim 1, characterized in that: The sealing surface inspection module includes a sixth fixing seat, a linear array camera and a light source. The lower part of the sixth fixing seat is connected to two linear array cameras through a mounting bracket. The sixth fixing seat is connected to the light source through a mounting bracket. The light source is located between the two linear array cameras. The linear array camera can detect damage and scratches on the sealing surface of the main pump.

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