Automatic assembling and disassembling equipment and assembling and disassembling method of blind flange of nuclear fusion device

Abstract

The invention discloses automatic assembly and disassembly equipment and an assembly method and disassembly method of a blind flange of a nuclear fusion device, and belongs to the field of automation equipment. The automatic assembling and disassembling device comprises a load power system used for providing flight power and configured to be remotely controlled through a wireless remote control device; the pose adjusting assembly comprises a first part and a second part, the first part is rotatably installed on the load power system around a first axis, the second part is installed on the first part around a second axis in a swinging mode, and the second axis is perpendicular to the first axis; the hoisting assembly is installed on the second part and used for hoisting and clamping the blind flange so that the first axis can be perpendicular to the flange sealing face; and the operation assembly is installed on the second part and used for screwing the bolt around a third axis, and the first axis is parallel to the third axis. By means of the structure, manpower intervention is reduced, operation safety is improved, equipment cost is reduced, assembling and disassembling efficiency is improved, the risk that a flange sealing face is scratched and deformed is reduced, and therefore the service life of the flange is prolonged.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic equipment, and particularly relates to an automatic mounting and dismounting device, a mounting method and a dismounting method of a blind plate flange of a nuclear fusion device. BACKGROUND

[0002] As a core sealing structure of industrial equipment such as pipelines and pressure vessels, the mounting and dismounting operation of the flange is crucial in equipment maintenance and overhaul, especially in the fields of energy and chemical industry. The flanges are often distributed in high-altitude pipe corridors, narrow equipment layers or dangerous environments (such as high-temperature and radiation zones). The existing mounting and dismounting of high-altitude complex scene flanges relies on large lifting equipment combined with a large number of manpower, which makes the mounting and dismounting maintenance operation of the flange face the dual bottleneck of efficiency and safety. In related technologies, in order to reduce manual intervention, an automatic mounting and dismounting device is introduced to complete the automatic mounting and dismounting of the flange through the cooperation of mechanical structures and driving devices.

[0003] However, the traditional manual installation and the existing automatic mounting and dismounting device still need the intervention of large lifting equipment. In addition, the blind plate flange of some large pressure vessels is installed on the side of the equipment with a certain angle. The dismounting of the high-altitude inclined flange needs to be adjusted dynamically at all times. The existing automatic mounting and dismounting device for flanges lacks the ability to adjust the angle, and it is difficult to meet the needs of mounting and dismounting of the inclined flange in high-altitude complex scenes. During installation and maintenance, whether the traditional manual installation or the automatic mounting and dismounting device, the protection of the flange sealing surface is particularly difficult, which easily causes the failure of the flange sealing surface, the damage of the flange, and even safety accidents. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides an automatic mounting and dismounting device, a mounting method and a dismounting method of a blind plate flange of a nuclear fusion device, which improves the operation safety, reduces the risk of scratching or deforming the flange sealing surface, and prolongs the service life of the flange.

[0005] In a first aspect, the present application provides an automatic mounting and dismounting device for mounting and dismounting a blind plate flange of a pressure vessel of a nuclear fusion device, comprising: a load power system for providing flying power, configured to be remotely controlled by a wireless radio control device; a pose adjustment assembly comprising a first part and a second part, the first part being rotatably mounted to the load power system about a first axis, and the second part being swingably mounted to the first part about a second axis perpendicular to the first axis; a lifting assembly mounted to the second part for lifting and clamping the blind plate flange, so that the first axis is perpendicular to the flange sealing surface of the blind plate flange; An operating assembly is mounted on the second part and used to rotate a bolt installed in a fixing hole of the blind plate flange about a third axis, the first axis being parallel to the third axis.

[0006] According to the automatic assembly and disassembly device, the load power system is used to replace a large hoisting device, the device can fly directly to a high altitude and work in a dangerous environment, the safety of work is improved, the cost of the device is reduced, the efficiency of assembly and disassembly is improved, the pose adjustment assembly and the hoisting assembly are cooperated to realize accurate alignment, the assembly and disassembly force is always applied to the flange sealing surface vertically, the dynamic requirement of the inclined flange is met, the damage of the sealing surface or the misalignment of the bolt caused by the angle deviation is effectively relieved, the risk of scratching or deformation of the flange sealing surface is reduced by the clamping design of the hoisting assembly and the parallel axis rotation of the operating assembly, the flange life is prolonged, and the efficient automatic disassembly of the operating assembly supports fast bolt processing, the assembly and disassembly time is shortened, the pre-tightening force of the multiple bolts is kept consistent, and the sealing reliability is improved.

[0007] According to an embodiment of the present application, the first part comprises: A support seat, the upper end of the support seat is connected to the load power system fixedly; A mounting shaft, the lower end of the support seat is connected to the second part through the mounting shaft, and the central axis of the mounting shaft is the second axis; A first driving mechanism, the first driving mechanism is mounted on the support seat, and the output end of the first driving mechanism is connected to the mounting shaft in power.

[0008] According to an embodiment of the present application, the load power system is configured to keep horizontal flight, the support seat is mounted on the load power system vertically, and the second axis is located in a horizontal plane.

[0009] According to an embodiment of the present application, the automatic assembly and disassembly device further comprises: A rotating assembly, the rotating assembly is fixedly mounted on the load power system, the output end of the rotating assembly is connected to the first part in power, and the rotating assembly is used to drive the pose adjustment assembly, the hoisting assembly and the operating assembly to rotate about the first axis.

[0010] According to an embodiment of the present application, the second part comprises a first main shaft and a second main shaft, the first main shaft is rotatably mounted on the first part about the second axis, and the second main shaft is slidably mounted on the first main shaft along the first axis; the hoisting assembly comprises: A plurality of clamping fingers, the clamping fingers are mounted on the second main shaft in a circumferential direction, and the clamping fingers are used to clamp the side wall of the blind plate flange. A hook is mounted on the first spindle for cooperating with a lifting lug on the blind plate flange.

[0011] According to one embodiment of the present application, the operation assembly comprises: A support ring is slidingly mounted on the second spindle along the first axis; A second driving mechanism and an adapter ring, the second driving mechanism is used to drive the adapter ring to rotate around the first axis and is mounted on the support ring; A connecting rod is mounted on the adapter ring; A third driving mechanism and a sleeve, both are mounted on the connecting rod, the sleeve is used to cover the head of the bolt to be screwed, and the third driving mechanism is used to drive the sleeve to rotate around the third axis.

[0012] According to one embodiment of the present application, the width of the plurality of fingers is configured to be variable, and the width of the connecting rod is configured to be variable.

[0013] According to one embodiment of the present application, the height of the connecting rod is configured to be variable.

[0014] According to one embodiment of the present application, the height of the fingers is configured to be variable.

[0015] According to one embodiment of the present application, the area of the fingers for contacting the blind plate flange is provided with a non-slip pad made of elastic material.

[0016] In a second aspect, the present application provides a mounting method of a blind plate flange of a pressure vessel of a nuclear fusion device, applied to the automatic mounting and dismounting equipment as described in any of the above solutions, the mounting method comprising: Controlling the automatic mounting and dismounting equipment carrying the blind plate flange to be mounted to fly to the target mounting position, wherein the flange sealing surface of the blind plate flange to be mounted is in a horizontal state; Controlling the first part of the pose adjustment assembly to rotate around the first axis to make the blind plate flange to be mounted face the target mounting direction; Controlling the second part of the pose adjustment assembly to swing around the second axis to make the central axis of the first spindle perpendicular to the flange sealing surface of the fixed flange of the pressure vessel; Controlling the lifting assembly to move towards the fixed flange of the pressure vessel until the blind plate flange to be mounted is butt-jointed with the fixed flange; Controlling the operation assembly to move towards the blind plate flange until the operation assembly is positioned and sleeved with at least part of the bolts pre-installed on the blind plate flange; Controlling the operation assembly to tighten the bolts, and in the case that all the bolts are pre-tightened after at least one sleeving and tightening operation, the blind plate flange is sealingly mounted on the fixed flange.

[0017] The installation method of the blind flange of the pressure vessel of the nuclear fusion device according to the present application, through the control design of the standardized installation process of the inclined blind flange as described above, from flight positioning, angle adjustment to bolt tightening, the whole process does not need manual intervention, greatly shortens the installation operation time, reduces the safety accidents caused by manual operation errors, and does not need to build a scaffold or use a large lifting equipment, greatly reduces the preparation time and labor cost, uses the high-precision cooperative control of the pose adjustment assembly and the lifting assembly, minimizes the perpendicularity and concentricity error of the blind flange and the fixed flange as much as possible, and the bolt installation position is accurate, thereby effectively relieving the sealing failure problem caused by installation deviation, and significantly reducing the leakage rate of the flange sealing surface.

[0018] In a third aspect, the present application provides a dismounting method of a blind flange of a pressure vessel of a nuclear fusion device, applied to the automatic mounting and dismounting equipment according to any one of the above-mentioned solutions, the dismounting method comprising: controlling the automatic mounting and dismounting equipment to fly to a target dismounting position; controlling the first part of the pose adjustment assembly to rotate around the first axis, so that the lifting assembly and the operation assembly are directed towards a target dismounting direction; controlling the second part of the pose adjustment assembly to swing around the second axis, so that the central axis of the first main shaft is perpendicular to the flange sealing surface of the blind flange to be dismounted; controlling the lifting assembly to move towards the blind flange, and controlling the lifting assembly to clamp the side wall of the blind flange to be dismounted; controlling the operation assembly to move towards the blind flange to be dismounted, until the operation assembly is positioned in sleeve connection with at least part of the pre-installed bolts on the blind flange to be dismounted, and controlling the operation assembly to loosen the bolts; in the case that all the bolts are loosened after at least one sleeve connection and loosening operation, controlling the operation assembly to move away from the fixed flange of the pressure vessel, and controlling the lifting assembly to cooperate with the lifting lug of the blind flange; controlling the lifting assembly to move away from the fixed flange of the pressure vessel, and controlling the second part of the pose adjustment assembly to swing around the second axis again, so that the flange sealing surface of the dismounted blind flange is in a horizontal state, in the case that the dismounted blind flange is completely separated from the positioning pin of the fixed flange.

[0019] According to the method for disassembling the blind flange of the pressure vessel of the nuclear fusion device of the present application, through the control design of the standardized disassembly process of the inclined blind flange, from flight positioning, angle adjustment to loosening of the bolts, the entire process does not require human intervention, which greatly shortens the disassembly operation time and reduces safety accidents caused by human operation errors. There is no need to build scaffolding or use large lifting equipment, which greatly reduces the preliminary preparation time and labor costs. The high-precision collaborative control of the posture adjustment component and the lifting component is utilized to minimize the verticality error between the disassembly force and the flange sealing surface. The bolt disassembly position is accurate, thereby effectively alleviating the problem of flange sealing surface deformation or bolt breakage caused by improper disassembly, providing a good foundation for subsequent installation.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 This is a schematic structural diagram of the automatic assembly and disassembly equipment provided in an embodiment of the present application; Figure 2 is a schematic diagram of the structure of the operating components provided in an embodiment of the present application; Figure 3 This is a flow chart of a method for installing a blind flange of a pressure vessel of a nuclear fusion device provided in an embodiment of the present application; Figure 4 It is a flow chart of a method for disassembling a blind flange of a pressure vessel of a nuclear fusion device provided in an embodiment of the present application.

[0022] Reference numerals: Automatic assembly and disassembly equipment 10; Load power system 11; Posture adjustment assembly 12, first part 121, support seat 1211, mounting shaft 1212, second part 122, first main shaft 1221, second main shaft 1222; Lifting assembly 13, clamping finger 131, first section 1311, second section 1312, anti-slip pad 13121, hook 132; Operating assembly 14, support ring 141, adapter ring 142, connecting rod 143, first rod 1431, second rod 1432, third driving mechanism 144, sleeve 145; Rotating assembly 15. DETAILED DESCRIPTION

[0023] Embodiments of the present application are described below in detail with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary only, and are for the purpose of explanation of the present application, and are not to be understood as a limitation of the present application.

[0024] The present application discloses an automatic assembly and disassembly device 10 for assembling and disassembling a blind flange of a pressure vessel of a nuclear fusion device.

[0025] Exemplarily, the pressure vessel of the nuclear fusion device can be a pressure relief tank of a vacuum chamber overpressure protection system in a tokamak device.

[0026] It should be noted that the blind flange is a special flange used to block the pipeline or equipment interface in the pressure vessel, and its core feature is that there is no central through hole, and the detachable sealing is achieved through bolt connection.

[0027] Reference is made below to Figures 1-2 The automatic assembly and disassembly device 10 according to the embodiments of the present application is described.

[0028] In some embodiments, as Figure 1 shown, the automatic assembly and disassembly device 10 includes a load power system 11, a pose adjustment assembly 12, a hoisting assembly 13, and an operating assembly 14.

[0029] As Figure 1 shown, the load power system 11 is used to provide flight power, and the load power system 11 is configured to be remotely controlled by a radio remote control device.

[0030] The load power system 11 enables the automatic assembly and disassembly device 10 to fly to a designated position, perform remote operation, and reduce manual intervention.

[0031] The load power system 11 can include, but is not limited to, a multi-rotor aircraft, a vertical take-off and landing fixed-wing aircraft, or a tethered flight platform, etc., and the embodiments of the present application do not limit this.

[0032] Exemplarily, as Figure 1 shown, the load power system 11 can be a four-rotor, six-rotor, or eight-rotor unmanned aerial vehicle, which adopts a brushless motor to drive the rotor, and the power source is a lithium battery or a hydrogen fuel cell, etc.

[0033] The radio remote control device can integrate a 5G / WiFi module to support remote control (such as a ground control station or a handheld remote control) to transmit flight parameters (such as height, attitude, load weight, etc.) in real time.

[0034] Further, the load power system 11 can also integrate a satellite navigation system and a visual positioning system, and combine simultaneous localization and mapping technology to achieve automatic obstacle avoidance and precise hovering.

[0035] As shown in Figure 1 , the pose adjustment assembly 12 comprises a first part 121 and a second part 122, the first part 121 is rotatably mounted on the load power system 11 about a first axis, the second part 122 is swingably mounted on the first part 121 about a second axis, the second axis is perpendicular to the first axis; the hoisting assembly 13 is mounted on the second part 122, and the hoisting assembly 13 is used for hoisting and clamping the blind plate flange, so that the first axis is perpendicular to the flange sealing surface of the blind plate flange.

[0036] In other words, the swing of the second part 122 can adjust the included angle between the first axis and the vertical, wherein the included angle between the first axis and the vertical is also the included angle between the flange sealing surface of the blind plate flange clamped by the hoisting assembly 13 and the horizontal plane, in this way, the pose adjustment assembly 12 can autonomously adjust the included angle between the first axis and the vertical, and the hoisting assembly 13 is used for keeping the blind plate flange in the correct posture during hoisting under the drive of the second part 122, so as to accurately install and disassemble, thereby adapting to the installation and disassembly requirements of flanges with different inclinations.

[0037] It can be understood that the second part 122 swings in a certain plane to directly change the included angle between the first axis and the vertical, only one degree of freedom needs to be controlled, compared with a complex multi-joint pose adjustment (such as a mechanical arm), the quality distribution of single-degree-of-freedom rotation is more concentrated, the moment of inertia is reduced, the flight attitude control difficulty is reduced, the flight stability is improved, and then the control algorithm is simplified, and the failure rate is reduced. Combined with the perpendicular constraint of the first axis and the second axis, no matter how the second part 122 rotates about the second axis, the first axis is always parallel to the central axis of the second part 122, that is, the central axis of the second part 122 is perpendicular to the flange sealing surface, which provides strong structural support for the vertical application of the disassembly force to the flange sealing surface, thereby reducing the oblique force to cause bolt thread slipping or uneven pressure on the sealing surface, and improving the consistency of the bolt pretightening force, and reducing the medium leakage.

[0038] The swing of the second part 122 can be realized by a mechanical arm, a universal joint, a gear and a rack, or a worm and a gear, and the like, and the embodiments of the present application do not limit this.

[0039] As shown in Figure 1 , the first part 121 rotates about the first axis, thereby driving the entire pose adjustment assembly 12, the hoisting assembly 13 and the operation assembly 14 to rotate about the first axis, and the hoisting assembly 13 and the operation assembly 14 are directed towards the target direction, that is, the flange sealing surface of the blind plate flange loaded by the hoisting assembly 13 is completely directed towards the flange sealing surface of the fixed flange during installation, and the hoisting assembly 13 and the operation assembly 14 are completely directed towards the flange sealing surface of the blind plate flange to be disassembled during disassembly.

[0040] The rotation of the first part 121 around the first axis can be achieved by self-rotation of the load power system 11 or by introducing an external driving device, and the embodiments of the present application do not make any limitation in this regard.

[0041] The lifting assembly 13 can adopt an adaptive clamp mechanism, a vacuum chuck or an electromagnetic holding system to realize the clamping action of the blind plate flange, and the embodiments of the present application do not make any limitation in this regard.

[0042] The lifting assembly 13 can adopt a hook, a high-strength lifting chain, a rigging system or a combination of at least two of them to realize the lifting of the blind plate flange, and the embodiments of the present application do not make any limitation in this regard.

[0043] As shown in Figure 1 The operation assembly 14 is installed on the second part 122, and the operation assembly 14 is used to rotate the bolt installed in the fixing hole of the blind plate flange around the third axis, and the first axis is parallel to the third axis.

[0044] The operation assembly 14 can automatically rotate the bolt, and the third axis remains parallel to the first axis during the rotation process, so that the installation and disassembly of the blind plate flange are successfully completed.

[0045] The operation assembly 14 can adopt an automatic wrench, a mechanical arm or an automatic screwdriver sleeve to realize the rotation of the bolt, and the embodiments of the present application do not make any limitation in this regard.

[0046] It can be understood that, on the one hand, by using the flight capability of the load power system 11, the automatic installation and disassembly device 10 can enter the area (such as high altitude or radiation prohibited area) that the traditional device cannot reach, without the intervention of large lifting equipment, and the wireless remote control supports remote operation, the operator controls in a safe area, and the accidents are reduced; and the flight mobility allows the device to be quickly deployed, which is suitable for emergency maintenance scenes. On the other hand, the self-rotation of the first part 121 can accurately adjust the orientation of the lifting assembly 13 and the operation assembly 14, and the swing of the second part 122 can dynamically adapt to the flange inclination angle, solving the problem that the existing device is difficult to handle the side-sloping flange; and the pose adjustment assembly 12 is linked with the lifting assembly 13, maintaining the operation stability, such as maintaining the angle under the flight vibration, preventing the flange from slipping during the operation. On the other hand, the lifting assembly 13 forces the first axis to be perpendicular to the flange sealing surface, so that the installation and disassembly force is always applied vertically, effectively avoiding the condition that the sealing surface is crushed or the flange is deformed due to the oblique force. On the other hand, since the first axis is parallel to the third axis, the rotation force is consistent in the axial direction, reducing the risk of bolt fracture or thread slipping, and in the case of synchronous rotation of multiple bolts, the pre-tightening of the multiple bolts is uniform, effectively relieving the sealing failure caused by over-tightening of a single point.

[0047] In summary, the load power system 11 provides mobility, the pose adjustment assembly 12 handles angles, the hoisting assembly 13 realizes alignment, and the operation assembly 14 performs assembly and disassembly tasks, and the four work together to realize the integration of "flying-adjusting-clamping-screwing", and the automatic assembly and disassembly device 10 can fully autonomously complete assembly and disassembly in complex scenarios such as nuclear fusion, such as disassembling old flanges and installing new flanges, thereby reducing manual steps, reducing equipment costs, shortening maintenance downtime, and improving the operation efficiency of nuclear fusion devices.

[0048] The automatic assembly and disassembly device 10 provided by the embodiments of the present application, through the above-mentioned load power system 11, pose adjustment assembly 12, hoisting assembly 13 and operation assembly 14, the load power system 11 replaces large hoisting equipment, allowing the device to directly fly to high altitude and dangerous environment for work, thereby reducing human intervention, improving work safety, reducing equipment costs, improving assembly and disassembly efficiency, and the pose adjustment assembly 12 and the hoisting assembly 13 work together to realize precise alignment, so that the assembly and disassembly force is always applied vertically to the flange sealing surface, adapting to the dynamic needs of inclined flanges, effectively relieving the damage to the sealing surface or the misalignment of the bolts caused by the angle deviation, and the clamping design of the hoisting assembly 13 combined with the parallel axis screwing of the operation assembly 14 reduces the risk of scratching or deforming the flange sealing surface, thereby prolonging the service life of the flange. In addition, the efficient and automatic disassembly of the operation assembly 14 supports fast bolt processing, shortens the assembly and disassembly time, and helps to keep the pre-tightening force of multiple bolts consistent, thereby improving the sealing reliability.

[0049] In some embodiments, as shown in FIG. 1, the first part 121 includes a support seat 1211, a mounting shaft 1212 and a first driving mechanism. Figure 1

[0050] The upper end of the support seat 1211 is connected to the load power system 11; the lower end of the support seat 1211 is connected to the second part 122 through the mounting shaft 1212, and the central axis of the mounting shaft 1212 is the second axis; the first driving mechanism is installed on the support seat 1211, and the output end of the first driving mechanism is power-connected with the mounting shaft 1212.

[0051] The support seat 1211 serves as an adapter to stably and reliably install the mounting shaft 1212, the first driving mechanism, the second part 122, the hoisting assembly 13 and the operation assembly 14 and other components under the load power system 11, thereby providing rigid support for them.

[0052] The support seat 1211 has flexible and various structural forms, including but not limited to U-shaped or T-shaped, and the embodiments of the present application do not limit this.

[0053] ​The mounting shaft 1212 is pivotally mounted on the support seat 1211, and the mounting shaft 1212 is fixedly connected with the upper end of the second part 122, so that the output end of the first driving mechanism can drive the mounting shaft 1212 to rotate, thereby driving the second part 122 to swing around the second axis.

[0054] The first driving mechanism can include, but is not limited to, a servo motor, a hydraulic motor, or a swing cylinder, and the like, and the embodiments of the present application do not limit this.

[0055] The automatic assembly and disassembly equipment 10 provided by the embodiments of the present application, through the setting of the support seat 1211, the mounting shaft 1212 and the first driving mechanism, the support seat 1211 as a mechanical anchor point, connects the load power system 11 and the second part 122 as a whole, realizes the integrated assembly of the pose adjustment assembly 12, the hoisting assembly 13 and the operation assembly 14 on the rack of the load power system 11, effectively disperses the gravity, torque and other loads in the process of blind plate flange hoisting and bolt screwing, improves the bending stiffness of the second part 122 when swinging, reduces the flange shaking amplitude when screwing the bolt, improves the structural stability of the automatic assembly and disassembly equipment 10, and directly realizes the swinging of the second part 122 by using the mounting shaft 1212 and the first driving mechanism, simplifies the overall structure design, realizes the miniaturization and compactness of the pose driving assembly, thereby reducing the overall volume of the automatic assembly and disassembly equipment 10, and improving the assembly efficiency of the automatic assembly and disassembly equipment 10.

[0056] In some embodiments, the load power system 11 is configured to maintain horizontal flight, the support seat 1211 is vertically mounted on the load power system 11, and the second axis is located in the horizontal plane.

[0057] It can be understood that, since the adjustment of the inclination angle only needs to rely on the structures of the aforementioned support seat 1211, mounting shaft 1212, first driving mechanism and second part 122, the rack platform of the load power system 11 should maintain a constant attitude, so as not to affect the accurate control of the inclination angle. Furthermore, if the load power system 11 further tilts in flight under heavy load, it is extremely likely to cause flight bumping, falling and the like, and the load power system 11 is difficult to accurately control the inclination angle due to the heavy load. Based on this, in order to balance the flight stability of the load power system 11 and the accuracy of the inclination angle adjustment, the load power system 11 is controlled to always maintain a horizontal attitude without any pitching, rolling and the like, the support seat 1211 is vertically mounted to cooperate with the horizontal second axis to construct an orthogonal coordinate system, so that the angle between the first axis and the vertical direction is only accurately adjusted by the simple swinging of the pose adjustment assembly 12, avoiding multi-degree-of-freedom coupling interference, reducing the control complexity, and enhancing the angle control accuracy.

[0058] The automatic assembly and disassembly device 10 provided by the embodiment of the present application, through the above-mentioned auxiliary power horizontal flight and the vertical installation of the supporting seat 1211, in combination with the setting of the horizontal second axis, decouples the flight and the operation posture, significantly reduces the negative influence of the flight posture fluctuation under the high-altitude wind disturbance on the swing of the second part, thereby greatly improving the accuracy of the blind plate flange alignment, simplifies the control target, and when the operator remotely controls the device, the operator does not need to frequently adapt to the complex posture change, thereby reducing the operation difficulty, saving the flight control calculation power, and reducing the risk of crash, in addition, the horizontal requirement of the second axis is only guaranteed by machining, and there is no need for complex calibration on site, thereby improving the assembly fault tolerance.

[0059] In some embodiments, as shown in Figure 1 The automatic assembly and disassembly device 10 further comprises a rotating assembly 15.

[0060] The rotating assembly 15 is fixedly installed on the load power system 11, and the output end of the rotating assembly 15 is in power connection with the first part 121, for driving the posture adjustment assembly 12, the hoisting assembly 13 and the operation assembly 14 to rotate around the first axis.

[0061] The rotating assembly 15 can be fixedly connected with the lower surface of the load power system 11 through screw connection, clamping or riveting, etc., and the embodiment of the present application does not make any limitation.

[0062] The rotating assembly 15 drives the first part 121 in the posture adjustment assembly 12 connected therewith to rotate around the first axis through the output rotating power, and in turn drives the hoisting assembly 13 and the operation assembly 14 connected therewith to synchronously rotate around the first axis.

[0063] The rotating assembly 15 can utilize a motor or a hydraulic motor to realize the rotating drive of the first part, and the embodiment of the present application does not make any limitation.

[0064] It can be understood that, on the one hand, the design of the rotating assembly 15 enables the pose adjustment assembly 12, the hoisting assembly 13 and the operating assembly 14 to rotate around the first axis, greatly increasing the operation freedom of the device in three-dimensional space. When facing different positions and angles of the blind flange, it is not necessary to frequently adjust the flight attitude of the load power system 11, but only to control the overall rotation of the device through the rotating assembly 15, so as to quickly align the hoisting assembly 13 and the operating assembly 14 with the blind flange, improve the adaptability of the device to different working conditions, and make the assembly and disassembly operation more flexible and efficient. On the other hand, by accurately controlling the rotation angle and speed of the rotating assembly 15, accurate positioning and operation of the blind flange can be realized. For example, when hoisting the blind flange, the orientation of the flange can be accurately adjusted to accurately align it with the installation position; when screwing the bolt, the operating assembly 14 can be ensured to act on the bolt at the best angle, improving the quality and efficiency of the bolt screwing. At the same time, the repeated adjustment time caused by inaccurate positioning is reduced, and the cycle of the entire assembly and disassembly operation is shortened. On the other hand, the introduction of the rotating assembly 15 enables the operator to realize the rotation of the device in a specific direction by controlling the rotating assembly 15, without the need to complexly coordinate multiple flight control parameters of the load power system 11, which greatly simplifies the operation process and reduces the requirement for the skill level of the operator.

[0065] In some embodiments, as shown in FIG. 1, the second part 122 comprises a first main shaft 1221 and a second main shaft 1222, the first main shaft 1221 is rotatably installed on the first part 121 around the second axis, and the second main shaft 1222 is slidably installed on the first main shaft 1221 along the first axis; the hoisting assembly 13 comprises a plurality of clamping fingers 131 and a lifting hook 132. Figure 1

[0066] The plurality of clamping fingers 131 are installed on the second main shaft 1222 in a circumferential direction, and are used to clamp the side wall of the blind flange; the lifting hook 132 is installed on the first main shaft 1221, and is used to cooperate with the lifting lug on the blind flange.

[0067] The sliding installation of the second main shaft 1222 is used to adjust the position of the lifting hook 132 and the plurality of clamping fingers 131, that is, the second main shaft 1222 can provide axial sliding freedom; the clamping fingers 131 are used to realize radial clamping to fix the blind flange; and the lifting hook 132 is responsible for suspending the blind flange through the lifting lug.

[0068] The sliding of the second main shaft 1222 can be driven by an electric push rod, a hydraulic cylinder or a screw nut, etc.; the driving mode of the clamping fingers 131 includes but is not limited to electricity, hydraulic pressure or pneumatic pressure, etc., and the embodiments of the present application do not limit this.

[0069] As shown in FIG. 1, the operating assembly 14 comprises a plurality of operating tools 141 and a plurality of operating mechanisms 142. Figure 1 ​As shown, a plurality of clamping fingers 131 are connected to the outer side wall of the second main shaft 1222 at intervals along the circumferential direction, wherein a plurality means two or more.

[0070] For example, Figure 1 As shown, in order to realize the basic centering function of the lifting assembly 13, four clamping fingers 131 are provided.

[0071] The structure of the hook 132 is flexible and diverse, and the present application embodiment does not limit this. Figure 1 As shown, the hook 132 can adopt a double hook system, with two independent hooks 132 arranged symmetrically, and the hooks 132 are driven to extend and retract by a motor or a cylinder to control the opening and closing of the two hooks 132; for another example, the hook 132 can adopt a self-locking electric hook, which is rotated by a worm gear reducer and is equipped with an in-position detection sensor to form a mechanical interlock with the lifting lug of the blind flange; for another example, the hook 132 can also adopt a hydraulic quick-change hook, the hook body can have a built-in stress monitoring sensor, which is driven by a hydraulic motor to achieve swing, and is equipped with a laser alignment system to achieve automatic alignment with the lifting lug of the blind flange.

[0072] The automatic assembly and disassembly equipment 10 provided in the embodiment of the present application, through the arrangement of the above-mentioned hook 132 and multiple clamping fingers 131, the second main shaft 1222 slides to adjust the installation distance, so as to help the blind flange and the positioning pins on the fixed flange to be smoothly coupled or decoupled without damaging the flange sealing surface, thereby improving the reliability and stability during the assembly and disassembly process. The multiple clamping fingers 131 spaced apart along the circumference, on the basis of the basic function of fixing the position of the blind flange, also help to automatically level and align the lifting component 13 with the blind flange, thereby improving the assembly and disassembly accuracy. The clamping fingers 131 are used to radially constrain the side wall of the blind flange, combined with the hook 132 to suspend gravity, so that even if any mechanism fails during operation, the blind flange can still be kept basically stable, thereby significantly reducing the risk of the flange falling, and thus significantly reducing the accident rate.

[0073] In some embodiments, the height of the clamping fingers 131 is configured to be variable.

[0074] It should be noted that if Figure 1 As shown, the height direction of the clamping finger 131 is the extension direction of the first main axis 1221, that is, the direction of the first axis.

[0075] Among them, the clamping finger 131 can achieve height change by adopting a telescopic sleeve structure, a gear rack lifting structure, a pneumatic pleated tube structure, a stepped mounting seat structure or an electromagnetic locking slider structure, etc., and the embodiments of the present application do not limit this.

[0076] For example, the gripping finger 131 can achieve height change through a telescopic sleeve structure. Specifically, Figure 1As shown, the clamp finger 131 can include a first section 1311 and a second section 1312, the first section 1311 is connected between the second main shaft 1222 and the second section 1312, the first section 1311 extends along the radial direction of the blind plate flange, the second section 1312 extends along the axial direction of the blind plate flange, and the second section 1312 includes a nested multi-stage telescopic pipe, and the telescopic pipe is driven to slide by an electric or pneumatic manner to adjust the height of the clamp finger 131.

[0077] The automatic assembly and disassembly equipment 10 provided by the embodiments of the present application is designed with the height of the clamp finger 131 being variable, so that the clamp finger 131 can be adjusted in the axial (parallel to the first axis direction) clamping position, adapt to the height of the lug, bolt or boss and other protruding structures on the blind plate flange, reduce the probability of accidental interference and collision, not only compensate for the manufacturing tolerance of the blind plate flange, but also adapt to different models of blind plate flanges, thereby significantly improving the operation ability of the equipment on the complex structure flange.

[0078] In some embodiments, as shown in Figure 1 and Figure 2 The operation assembly 14 includes a support ring 141, an adapter ring 142, a connecting rod 143, a second driving mechanism, a third driving mechanism 144 and a sleeve 145.

[0079] The support ring 141 is slidingly installed on the second main shaft 1222 along the first axis; the second driving mechanism is used to drive the adapter ring 142 to rotate around the first axis and be installed on the support ring 141; the connecting rod 143 is installed on the adapter ring 142; the third driving mechanism 144 and the sleeve 145 are both installed on the connecting rod 143, the sleeve 145 is used to be sleeved into the head of the bolt to be screwed, and the third driving mechanism 144 is used to drive the sleeve 145 to rotate around the third axis.

[0080] As shown in Figure 1 When the support ring 141 slides along the first axis in a direction away from the first part 121, that is, the support ring 141 drives the sleeve 145 to press down, so that the corresponding bolt can be sleeved into the sleeve 145; when the support ring 141 slides along the first axis in a direction close to the first part 121, that is, the support ring 141 drives the sleeve 145 to rise, so that the corresponding bolt can be separated from the sleeve 145.

[0081] The connecting rod 143 can be provided with one or more, and multiple connecting rods 143 can be installed on the adapter ring 142 in a circumferential direction, wherein multiple means two or more than two.

[0082] For example, in some embodiments, as shown in Figure 2 Four connecting rods 143 can be installed on four adapter rings 142 in a circumferential direction.

[0083] As shown in Figure 1 andFigure 2 As shown, the support ring 141 and the adapter ring 142 are concentrically arranged, and the second driving mechanism drives the adapter ring 142 to rotate around the first axis, that is, around its own central axis, thereby driving the connecting rod 143 to move from one fixing hole to another fixing hole, thereby changing the spatial position of the sleeve 145, so that the same sleeve 145 can be used to install and remove bolts in fixing holes in different positions.

[0084] Among them, the second driving mechanism may include but is not limited to an electric motor or a hydraulic motor, etc., and the embodiment of the present application does not limit this.

[0085] The third driving mechanism 144 drives the sleeve 145 to rotate clockwise or counterclockwise around its central axis to tighten or loosen the bolt sleeved on the sleeve 145 .

[0086] Among them, the third driving mechanism 144 may include but is not limited to an electric motor or a hydraulic motor, etc., and this embodiment of the application does not limit this.

[0087] In some embodiments, as Figure 2 As shown, a plurality of third driving mechanisms 144 and a plurality of sleeves 145 can be provided, and the plurality of third driving mechanisms 144 and the plurality of sleeves 145 are provided in a one-to-one correspondence. In other words, a plurality of bolts can be screwed synchronously at a single time.

[0088] In other embodiments, only one third driving mechanism 144 and only one sleeve 145 may be provided. In other words, only one bolt is screwed at a time.

[0089] The automatic assembly and disassembly equipment 10 provided in the embodiment of the present application, through the arrangement of the above-mentioned support ring 141, adapter ring 142, second drive mechanism, connecting rod 143, third drive mechanism 144 and sleeve 145, on the one hand, the support ring 141 can fine-tune the axial distance between the sleeve 145 and the bolt, lift the support ring 141 to avoid functional interference with the lifting assembly 13, and screw the bolt close to the blind flange when lowering; on the other hand, with the first axis (vertical flange sealing surface) as the center, the movement trajectory of the sleeve 145 remains concentric with the bolt distribution circle, effectively reducing the shear damage of the bolt caused by tangential misalignment; on the other hand, the same sleeve 145 can operate multiple bolts sequentially, and multiple connecting rods 143 and multiple sleeves 145 can support the simultaneous assembly and disassembly of multiple bolts, thereby greatly improving the assembly and disassembly efficiency.

[0090] In some embodiments, the widths of the plurality of fingers 131 are configured to be variable, and the width of the connecting rod 143 is configured to be variable.

[0091] It should be noted that if Figure 1 As shown, the width direction of the clamping fingers 131 and the width direction of the connecting rod 143 are the directions in the vertical plane of the first axis, that is, the radial direction of the blind flange.

[0092] Among them, the clamping finger 131 can achieve width change by adopting a telescopic sleeve structure, a gear rack lifting structure, a pneumatic pleated tube structure, a stepped mounting seat structure or an electromagnetic locking slider structure, etc., and the embodiments of the present application do not limit this.

[0093] For example, the clamping finger 131 can change its width by means of a telescopic sleeve structure. Specifically, Figure 1 As shown, the clamping finger 131 may include a first section 1311 and a second section 1312, the first section 1311 is connected between the second main shaft 1222 and the second section 1312, the first section 1311 extends radially along the blind flange, and the second section 1312 extends axially along the blind flange, and the first section 1311 includes a nested multi-stage telescopic tube, which is driven to slide electrically or pneumatically to adjust the width of the clamping finger 131.

[0094] It is understood that the width of the clamping fingers 131 is adjusted to accommodate blind flanges of varying outer diameters. For standard blind flanges, the distance from the fixing hole to the center axis is proportional to the outer diameter of the blind flange. Therefore, to accommodate variations in the width of the clamping fingers 131, the width of the connecting rod 143 must also be adaptively adjusted. Of course, for non-standard blind flanges, the outer diameter may vary while the distance from the fixing hole to the center axis remains unchanged.

[0095] Among them, the connecting rod 143 can achieve width change by adopting a telescopic sleeve structure, a gear rack lifting structure, a pneumatic pleated tube structure, a stepped mounting seat structure or an electromagnetic locking slider structure, etc., and the embodiments of the present application do not limit this.

[0096] For example, the connecting rod 143 can change its width by a telescopic sleeve structure. Specifically, Figure 2 As shown, the connecting rod 143 may include a first rod 1431 and a second rod 1432. The first rod 1431 connects the adapter ring 142 and the second rod 1432. The first rod 1431 extends radially along the blind flange, and the second rod 1432 extends axially along the blind flange. The first rod 1431 includes nested multi-stage telescopic tubes, which are driven to slide electrically or pneumatically to adjust the width of the connecting rod 143.

[0097] The automatic assembly and disassembly device 10 provided by the embodiment of the present application is compatible with blind plate flanges of various specifications and sizes, and the connecting rod 143 can always match the flange bolt distribution circle, and the height of the connecting rod 143 is configured to be variable, which maximizes the full-size adaptive capability of the lifting assembly 13 and the operating assembly 14, thereby improving the compatibility and versatility of the automatic assembly and disassembly device 10 as much as possible.

[0098] In some embodiments, the height of the connecting rod 143 is configured to be variable.

[0099] It should be noted that the connecting rod 143 is the direction of the first axis, that is, the axial direction of the blind plate flange.

[0100] The height of the connecting rod 143 can be changed by using a telescopic sleeve structure, a gear and rack lifting structure, a pneumatic crimped pipe structure, a stepped mounting clamping seat structure or an electromagnetic locking sliding block structure, and the like, which is not limited in the embodiment of the present application.

[0101] For example, the connecting rod 143 changes the width by using a telescopic sleeve structure, specifically, as shown in Figure 2 The connecting rod 143 can include a first rod 1431 and a second rod 1432, the first rod 1431 is connected between the adapter ring 142 and the second rod 1432, the first rod 1431 extends along the radial direction of the blind plate flange, the second rod 1432 extends along the axial direction of the blind plate flange, the second rod 1432 includes a nested multi-stage telescopic pipe, and the telescopic pipe is driven to slide by an electric or pneumatic manner to adjust the height of the connecting rod 143.

[0102] The automatic assembly and disassembly device 10 provided by the embodiment of the present application is compatible with blind plate flanges of various specifications and sizes, and the connecting rod 143 can always match the flange bolt distribution circle, and the height of the connecting rod 143 is configured to be variable, which maximizes the full-size adaptive capability of the lifting assembly 13 and the operating assembly 14, thereby improving the compatibility and versatility of the automatic assembly and disassembly device 10 as much as possible.

[0103] In some embodiments, as shown in Figure 1 The area of the finger 131 used to contact the blind plate flange is provided with an anti-skid pad 13121 made of an elastic material.

[0104] It should be noted that the elastic material used by the anti-skid pad 13121 needs to have sufficient friction coefficient to reduce the relative displacement between the blind plate flange and the clamp finger 131 in the clamped state.

[0105] The elastic material with anti-skid property can include, but is not limited to, natural rubber, nitrile rubber, silicone rubber, fluororubber, polyurethane, or thermoplastic elastomer, etc., and the embodiments of the present application do not limit this.

[0106] The automatic mounting and dismounting device 10 provided by the embodiments of the present application sets the anti-skid pad 13121 made of elastic material in the area where the clamp finger 131 contacts the blind plate flange. On the one hand, the contact friction is greatly increased, effectively reducing the incidence of safety accidents caused by flange slipping; on the other hand, the characteristics of the elastic material enable the anti-skid pad 13121 to fill the small recesses and unevenness on the surface of the flange, forming full contact and compensating for the clamping hidden dangers caused by flange manufacturing errors or wear; on the other hand, compared with rigid clamping, the elastic anti-skid pad 13121 can greatly reduce the damage such as scratches and indentations on the surface of the blind plate flange, protect the sealing surface of the flange from being damaged, and maintain the sealing performance of the pressure vessel; on the other hand, the elastic pad can buffer the impact load generated by the start and stop of the equipment or the shaking, reducing the risk of deformation or cracking of the blind plate flange caused by impact.

[0107] The present application also discloses a mounting method for a blind plate flange of a pressure vessel of a nuclear fusion device, which is applied to the automatic mounting and dismounting device 10 of any of the above-mentioned solutions.

[0108] In some embodiments, as shown in Figure 3 The mounting method includes steps 410, 420, 430, 440, 450, and 460.

[0109] Step 410: Control the automatic mounting and dismounting device 10 carrying the blind plate flange to be installed to fly to the target mounting position, wherein the flange sealing surface of the blind plate flange to be installed is in a horizontal state.

[0110] In actual execution, the automatic mounting and dismounting device 10 carrying the blind plate flange to be installed performs space coordinate identification on the fixed flange on the pressure vessel through laser radar or industrial camera, that is, the load power system 11 can accurately transport the blind plate flange to the target mounting position by flying according to the preset path and real-time positioning, and the blind plate flange to be carried and the fixed flange maintain a suitable distance at the target mounting position. In this way, the installation efficiency can be improved, manual intervention can be reduced, and the accuracy of the mounting position can be ensured. The pose adjustment assembly 12 in the initial state controls the first main shaft 1221 to remain vertical, that is, the flange sealing surface of the blind plate flange remains horizontal during the entire flight process, so as to reduce the probability of bolt falling off or sealing surface collision damage during installation in the flight process.

[0111] Step 420, control the first part 121 of the pose adjustment assembly 12 to rotate around the first axis, so that the blind plate flange to be installed faces the target installation direction.

[0112] In actual implementation, after reaching the target installation position, the first part 121 is controlled to rotate around the first axis. The attitude information can be fed back through the built-in angle sensor, and the orientation of the blind plate flange is accurately adjusted to be consistent with the target installation direction.

[0113] Step 430, control the second part 122 of the pose adjustment assembly 12 to swing around the second axis, so that the first axis is perpendicular to the flange sealing surface of the fixed flange of the pressure vessel.

[0114] In actual implementation, the installation shaft 1212 is controlled to rotate by the first driving mechanism, and the first main shaft 1221 is swung, so that the first axis is perpendicular to the flange sealing surface of the fixed flange. This process can utilize the angle sensor and the closed-loop control system to monitor and correct the angle deviation in real time, and try to control the perpendicularity error within a very small range, laying a foundation for accurate butt joint.

[0115] Step 440, control the lifting assembly 13 to move towards the fixed flange of the pressure vessel until the blind plate flange to be installed is butt jointed with the fixed flange.

[0116] In actual implementation, the blind plate flange is stably lowered to the fixed flange position by the second main shaft 1222 sliding along the first main shaft 1221, in cooperation with the multiple clamping fingers 131 and the lifting hook 132, so that the flange sealing surface of the blind plate flange is aligned and fitted with the flange sealing surface of the fixed flange, preparing for subsequent bolt fastening.

[0117] Step 450, control the operation assembly 14 to move towards the blind plate flange until the operation assembly 14 is positioned and sleeved with at least part of the pre-installed bolts on the blind plate flange.

[0118] In actual implementation, the connecting rod 143 can be slowly pressed down to accurately sleeve into the corresponding bolt head. In this step, the variable width design of the connecting rod 143 can adapt to different bolt spacings to ensure accurate positioning of the sleeve 145; at the same time, sensors can be integrated in the sleeve 145 for real-time monitoring of the butt joint state of the sleeve 145 and the bolt, reducing installation errors caused by deviations.

[0119] Step 460, control the operation assembly 14 to tighten the bolts. In the case that all bolts are pre-tightened after at least one sleeving and tightening operation, the blind plate flange is sealed and installed on the fixed flange.

[0120] In actual implementation, generally speaking, the number of sleeves 145 is much less than the number of bolts to be pre-tightened, that is, single sleeve pre-tightening can only tighten part of the bolts. In this case, after the sleeve 145 on the operating assembly 14 completes the first time of pressing down, sleeving and pre-tightening, the sleeve 145 needs to be lifted up to be separated from the bolt that has been tightened this time under the driving of the connecting rod 143. Under the driving of the rotating movement of the adapter around the first axis, the sleeve 145 moves to the next bolt and performs the second time of pressing down, sleeving and pre-tightening. The above process is repeated until all the bolts are tightened.

[0121] It should be noted that, without considering the cost, the number of sleeves 145 can be equal to the number of bolts to be pre-tightened, so that all the bolts can be pre-tightened only by single sleeve tightening operation.

[0122] The installation method of the blind flange of the pressure vessel of the nuclear fusion device provided by the embodiment of the present application controls and designs the standard installation process of the inclined blind flange from flight positioning, angle adjustment to bolt tightening. The whole process does not need manual intervention, greatly shortens the installation operation time, reduces the safety accidents caused by manual operation errors, and does not need to build a scaffold or use a large lifting device, greatly reduces the preparation time and labor cost in the early stage, uses the high-precision cooperative control of the pose adjustment assembly 12 and the lifting assembly 13 to minimize the perpendicularity and concentricity error of the blind flange and the fixed flange, and the bolt installation position is accurate, thereby effectively alleviating the sealing failure problem caused by installation deviation and significantly reducing the leakage rate of the flange sealing surface.

[0123] The present application also discloses a dismounting method of a blind flange of a pressure vessel of a nuclear fusion device, which is applied to the automatic mounting and dismounting device 10 of any one of the above solutions.

[0124] In some embodiments, as shown in Figure 4 The dismounting method comprises the following steps: step 510, step 520, step 530, step 540, step 550, step 560 and step 570.

[0125] Step 510: Control the automatic mounting and dismounting device 10 to fly to the target dismounting position.

[0126] In actual execution, the automatic assembly and disassembly device 10 identifies the space coordinates of the blind plate flange to be disassembled on the pressure container through a laser radar or an industrial camera, that is, the load power system 11 can fly and position in real time according to a preset path, accurately fly to a target disassembly position, and keep the hoisting assembly 13 at an appropriate distance from the blind plate flange at the target disassembly position. In this way, the disassembly efficiency can be improved, manual intervention can be reduced, and the accuracy of the disassembly position can be ensured. Under normal circumstances, the pose adjustment assembly 12 controls the first main shaft 1221 to remain vertical to reduce eccentric force of the load power system 11.

[0127] Step 520: control the first part 121 of the pose adjustment assembly 12 to rotate around the first axis, so that the hoisting assembly 13 and the operating assembly 14 are directed towards a target disassembly direction.

[0128] In actual execution, after reaching the target disassembly position, the first part 121 is controlled to rotate around the first axis. The attitude information can be fed back through an angle sensor or the like, and the orientation of the blind plate flange is accurately adjusted so as to be consistent with the target disassembly direction.

[0129] Step 530: control the second part 122 of the pose adjustment assembly 12 to swing around the second axis, so that the first axis is perpendicular to the flange sealing surface of the blind plate flange to be disassembled.

[0130] In actual execution, the mounting shaft 1212 is controlled to rotate through the first driving mechanism, and the first main shaft 1221 is swung to make the first axis perpendicular to the flange sealing surface of the blind plate flange to be disassembled. This process can utilize an angle sensor and a closed-loop control system to monitor and correct the angle deviation in real time, so as to control the perpendicularity error within a very small range as far as possible, thereby laying a foundation for accurate centering and clamping.

[0131] Step 540: control the hoisting assembly 13 to move towards the blind plate flange, and control the hoisting assembly 13 to clamp the side wall of the blind plate flange to be disassembled.

[0132] In actual execution, the second main shaft 1222 is controlled to slide along the first main shaft 1221, and the plurality of clamping fingers 131 are stably lowered to the outside of the blind plate flange to be disassembled. During this process, the plurality of clamping fingers 131 are always in an open state and do not contact the blind plate flange. After being lowered to a set position, the plurality of clamping fingers 131 are controlled to close until the plurality of clamping fingers 131 abut against the side wall of the blind plate flange to be disassembled. The plurality of clamping fingers 131 are automatically centered with the blind plate flange to be disassembled, thereby completing the clamping of the blind plate flange to be disassembled.

[0133] Step 550: control the operating assembly 14 to move towards the blind plate flange to be disassembled until the operating assembly 14 is positioned in a sleeved manner with at least part of the bolt positioning sleeve preassembled on the blind plate flange to be disassembled, and control the operating assembly 14 to loosen the bolt.

[0134] In actual implementation, the connecting rod 143 can be slowly pressed down to the sleeve 145 to be accurately sleeved on the corresponding bolt head. In this step, the variable width design of the connecting rod 143 can adapt to different bolt spacings, ensuring accurate positioning of the sleeve 145; at the same time, sensors can be integrated in the sleeve 145 for real-time monitoring of the butt joint state of the sleeve 145 and the bolt, reducing the failure of disassembly caused by deviation. After confirming that the bolt is sleeved in place, the third driving mechanism 144 drives the sleeve 145 to rotate to gradually rotate the bolt out of the fixing hole of the fixed flange, to a state that can be easily removed later.

[0135] Step 560, in the case that all bolts are released from fastening after at least one sleeving and loosening operation, control the operation assembly 14 to move away from the fixed flange of the pressure vessel, and control the lifting assembly 13 to cooperate with the lifting lugs of the blind flange.

[0136] In actual implementation, generally speaking, the number of sleeves 145 is much less than the number of bolts that need to be pre-tightened, in other words, a single sleeving and loosening can only release part of the bolts. In this case, after the sleeve 145 on the operation assembly 14 completes the first pressing down, sleeving and loosening action, the sleeve 145 needs to be lifted up to separate from the bolts that have been loosened this time under the action of the connecting rod 143. Under the rotation of the adapter around the first axis, the sleeve 145 moves to the next bolt and performs the second pressing down, sleeving and loosening action, and so on, until all bolts are released from fastening. Then control the connecting rod to rise to a position where the sleeve is higher than the lower surface of the lifting hook 132, and determine that the operation assembly 14 will not interfere with the cooperation between the lifting hook 132 and the lifting lug before controlling the lifting hook 132 to move to lock with the lifting lug on the blind flange.

[0137] It should be noted that, without considering the cost, the number of sleeves 145 can be equal to the number of bolts to be removed, so that all bolts can be released from fastening after only a single sleeving and loosening operation.

[0138] Step 570, control the lifting assembly 13 to move away from the fixed flange of the pressure vessel, and control the second part 122 of the pose adjustment assembly 12 to swing again around the second axis to make the flange sealing surface of the removed blind flange horizontal when the removed blind flange is completely separated from the positioning pins of the fixed flange.

[0139] In actual implementation, the disassembled blind flange clamped by the plurality of clamping fingers 131 is smoothly lifted away from the flange sealing surface of the fixed flange by sliding the second main shaft 1222 along the first main shaft 1221 until the blind flange is completely separated from the positioning pin of the fixed flange, so that the accidental collision and scratching between the blind flange and the fixed flange can be effectively reduced, the risk of damaging the flange sealing surface is reduced, and the service life of the blind flange and the fixed flange is prolonged. Then, the inclined first main shaft 1221 is restored to the vertical posture by the pose adjustment assembly 12, so that the flange sealing surface of the disassembled blind flange is turned to the horizontal state. This operation can avoid the center of gravity deviation caused by the inclination of the flange, maintain the stability of the load power system 11 during hoisting, and finally control the load power system 11 to safely evacuate the work area carrying the disassembled flange.

[0140] The disassembly method of the blind flange of the pressure vessel of the nuclear fusion device provided by the embodiments of the present application can greatly shorten the disassembly operation time, reduce safety accidents caused by manual operation errors, and greatly reduce the preparation time and labor cost without the need to build a scaffold or use a large lifting device. By using the high-precision cooperative control of the pose adjustment assembly 12 and the lifting assembly 13, the perpendicularity error between the disassembly force and the flange sealing surface is minimized, the bolt disassembly position is accurate, and the problems of deformation of the flange sealing surface and breakage of the bolt caused by improper disassembly are effectively alleviated, thereby providing a good foundation for subsequent installation.

[0141] It should be noted that the installation method and disassembly method of the blind flange described in the present application are applicable to the use scenario of the inclined flange. For the installation of the horizontal flange, step 430 is not needed, and for the disassembly of the horizontal flange, steps 530 and 570 are not needed.

[0142] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and are not limited in number, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in an "or" relationship.

[0143] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship shown in the drawings, which are only for convenience of description of the application and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0144] In the description of the application, "first feature" and "second feature" can include one or more of the features.

[0145] In the description of the application, "a plurality of" means two or more.

[0146] In the description of the application, "above" or "below" the first feature of the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them.

[0147] In the description of the application, "above", "over" and "on" of the first feature of the second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the first feature is higher than the second feature in horizontal height.

[0148] Other configurations of … according to embodiments of the application, such as … and …, and operations are known to those skilled in the art, and are not described in detail here.

[0149] In the description of the application, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the description of the application, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0150] Although embodiments of the application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations of the embodiments can be made without departing from the principles and spirit of the application, and the scope of the application is defined by the claims and their equivalents.

Claims

1. An automatic assembly and disassembly device for assembling and disassembling the blind flange of the pressure vessel of a nuclear fusion device, characterized in that: include: a load power system for providing flight power, configured to be remotely controlled by a radio remote control device; The posture adjustment assembly includes a first part and a second part, wherein the first part is rotatably mounted on the load power system around a first axis, and the second part is swingably mounted on the first part around a second axis, wherein the second axis is perpendicular to the first axis; a hoisting assembly, mounted on the second portion, for hoisting and clamping the blind flange so that the first axis is perpendicular to the flange sealing surface of the blind flange; An operating assembly is mounted on the second portion and is used to screw a bolt mounted in the fixing hole of the blind flange around a third axis, wherein the first axis is parallel to the third axis.

2. The automatic assembly and disassembly equipment according to claim 1, characterized in that: The first part includes: A support seat, the upper end of which is connected to the load power system; an installation shaft, wherein the lower end of the support seat is hingedly connected to the second part via the installation shaft, and the central axis of the installation shaft is the second axis; The first driving mechanism is installed on the supporting seat, and the output end is dynamically connected to the installation shaft.

3. The automatic assembly and disassembly equipment according to claim 2, characterized in that: The load power system is configured to maintain horizontal flight, the support base is vertically installed on the load power system, and the second axis is located in a horizontal plane.

4. The automatic assembly and disassembly equipment according to claim 1, characterized in that: Also includes: A rotating assembly is fixedly mounted on the load power system, and an output end of the rotating assembly is connected to the first part of the power, for driving the posture adjustment assembly, the hoisting assembly and the operating assembly to rotate around a first axis.

5. The automatic assembly and disassembly equipment according to any one of claims 1 to 4, characterized in that: The second part includes a first main shaft and a second main shaft, the first main shaft is rotatably mounted on the first part around a second axis, and the second main shaft is slidably mounted on the first main shaft along the first axis; the lifting assembly includes: a plurality of clamping fingers, mounted on the second main shaft at intervals along the circumferential direction, for clamping the side wall of the blind flange; A hook is installed on the first main shaft and is used to cooperate with the lifting ear on the blind flange.

6. The automatic assembly and disassembly equipment according to claim 5, characterized in that: The operating components include: a support ring, slidably mounted on the second main shaft along the first axis; a second driving mechanism and an adapter ring, wherein the second driving mechanism is used to drive the adapter to rotate around a first axis and be mounted on the support ring; A connecting rod, mounted on the adapter ring; The third driving mechanism and the sleeve are both installed on the connecting rod. The sleeve is used to be inserted into the head of the bolt to be screwed. The third driving mechanism is used to drive the sleeve to rotate around the third axis.

7. The automatic assembly and disassembly equipment according to claim 6, characterized in that: The widths of the plurality of clamping fingers are configured to be variable, and the width of the connecting rod is configured to be variable; and / or, The height of the connecting rod is configured to be variable.

8. The automatic assembly and disassembly equipment according to claim 5, characterized in that: The height of the clamping fingers is configured to be variable; and / or, An area of ​​the clamping finger for contacting the blind flange is provided with an anti-slip pad, which is made of elastic material.

9. A method for installing a blind flange of a pressure vessel of a nuclear fusion device, applied to the automatic assembly and disassembly equipment according to any one of claims 1 to 8, characterized in that: include: Controlling the automatic assembly and disassembly equipment carrying the blind flange to be installed to fly to a target installation position, wherein the flange sealing surface of the blind flange to be installed is in a horizontal state; Controlling the first portion of the posture adjustment assembly to rotate about the first axis so that the blind flange to be installed faces a target installation direction; controlling the second portion of the posture adjustment assembly to swing around the second axis so that the first axis is perpendicular to a flange sealing surface of a fixed flange of the pressure vessel; Controlling the lifting assembly to move toward the fixed flange of the pressure vessel until the blind flange to be installed is butted against the fixed flange; Controlling the operating assembly to move toward the blind flange until the operating assembly is positioned and sleeved with at least a portion of the bolts pre-installed on the blind flange; The operating assembly is controlled to tighten the bolts. After all the bolts are pre-tightened through at least one sleeve tightening operation, the blind flange is sealed and installed on the fixed flange.

10. A method for disassembling a blind flange of a pressure vessel of a nuclear fusion device, applied to the automatic assembly and disassembly equipment according to any one of claims 1 to 8, characterized in that: include: Controlling the automatic assembly and disassembly equipment to fly to a target disassembly position; Controlling the first portion of the posture adjustment assembly to rotate about the first axis so that the hoisting assembly and the operating assembly face a target disassembly direction; controlling the second portion of the posture adjustment assembly to swing around the second axis so that the first axis is perpendicular to the flange sealing surface of the blind flange to be removed; Controlling the lifting assembly to move toward the blind flange, and controlling the lifting assembly to clamp the side wall of the blind flange to be removed; Controlling the operating assembly to move toward the blind flange to be disassembled until the operating assembly is positioned and sleeved with at least a portion of the bolts pre-installed on the blind flange to be disassembled, and controlling the operating assembly to loosen the bolts; When all bolts are released after at least one sleeve loosening operation, the operating assembly is controlled to be away from the fixed flange of the pressure vessel, and the lifting assembly is controlled to cooperate with the lifting lug of the blind flange; Control the lifting assembly to move away from the fixed flange of the pressure vessel. When the disassembled blind flange is completely separated from the locating pin of the fixed flange, control the second part of the posture adjustment assembly to swing around the second axis again so that the flange sealing surface of the disassembled blind flange is in a horizontal state.

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