Automatic assembling and disassembling device, method for assembling and disassembling blind flange of nuclear fusion device

Abstract

The application discloses an automatic assembling and disassembling device, a method for assembling and disassembling a blind plate flange of a nuclear fusion device, and belongs to the field of automatic devices. The automatic assembling and disassembling device comprises a load power system, a pose adjustment assembly, a hoisting assembly and an operating assembly. The load power system is configured to provide flying power and is remotely controllable by a radio remote control device. The pose adjustment assembly comprises a first part and a second part. The first part is rotatably mounted on the load power system about a first axis. The second part is swingably mounted on the first part about a second axis. The second axis is perpendicular to the first axis. The hoisting assembly is mounted on the second part and is used for hoisting and clamping the blind plate flange so that the first axis is perpendicular to a sealing surface of the flange. The operating assembly is mounted on the second part and is used for rotating a bolt about a third axis. The first axis is parallel to the third axis. The structure reduces human intervention, improves operation safety, reduces equipment cost, improves assembling and disassembling efficiency, reduces the risk of scratching and deforming the sealing surface of the flange, and prolongs the service life of the flange.

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:

[0006] A load power system is configured to provide flight power and can be remotely controlled by a radio remote control device;

[0007] A pose adjustment assembly includes a first part and a second part. The first part is rotatably mounted on the load power system about a first axis. The second part is swingably mounted on the first part about a second axis perpendicular to the first axis.

[0008] A lifting assembly is mounted on the second part and is used 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.

[0009] an operating assembly mounted on the second part for screwing 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.

[0010] According to the automatic assembly and disassembly device, the load power system is used to replace a large hoisting device, and the device can directly fly to a high altitude and work in a dangerous environment, so that 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 an inclined flange is met, the damage of the sealing surface or the misalignment of the bolt caused by an 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 screwing of the operating assembly, and the service life of the flange is prolonged. In addition, the efficient automatic disassembly and assembly 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.

[0011] According to an embodiment of the present application, the first part comprises:

[0012] a support seat, an upper end of the support seat being connected to the load power system fixedly;

[0013] a mounting shaft, a lower end of the support seat being connected to the second part through the mounting shaft, a central axis of the mounting shaft being the second axis;

[0014] a first driving mechanism, the first driving mechanism being mounted on the support seat and being power-connected to the mounting shaft at an output end.

[0015] According to an embodiment of the present application, the load power system is configured to keep horizontal flight, the support seat is vertically mounted on the load power system, and the second axis is located in a horizontal plane.

[0016] According to an embodiment of the present application, the automatic assembly and disassembly device further comprises:

[0017] a rotating assembly, the rotating assembly being fixedly mounted on the load power system and being power-connected to the first part at an output end, the rotating assembly being used to drive the pose adjustment assembly, the hoisting assembly and the operating assembly to rotate about the first axis.

[0018] 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 being rotatably mounted on the first part about the second axis, and the second main shaft being slidably mounted on the first main shaft along the first axis; the hoisting assembly comprises:

[0019] a plurality of fingers, mounted on the second spindle in a circumferential direction, for clamping a sidewall of the blind flange;

[0020] a hook, mounted on the first spindle, for cooperating with a lifting lug on the blind flange.

[0021] According to one embodiment of the present application, the operation assembly comprises:

[0022] a support ring, slidingly mounted on the second spindle along the first axis;

[0023] a second driving mechanism and an adapter ring, the second driving mechanism being configured to drive the adapter ring to rotate around the first axis relative to the support ring;

[0024] a connecting rod, mounted on the adapter ring;

[0025] a third driving mechanism and a sleeve, both mounted on the connecting rod, the sleeve being configured to be sleeved on a head of a bolt to be screwed, and the third driving mechanism being configured to drive the sleeve to rotate around the third axis.

[0026] 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.

[0027] According to one embodiment of the present application, the height of the connecting rod is configured to be variable.

[0028] According to one embodiment of the present application, the height of the fingers is configured to be variable.

[0029] According to one embodiment of the present application, the area of the fingers for contacting the blind flange is provided with a non-slip pad made of elastic material.

[0030] In a second aspect, the present application provides a method for installing a blind flange of a pressure vessel of a nuclear fusion device, applied to the automatic mounting and dismounting device as described in any of the above embodiments, the method comprising:

[0031] controlling the automatic mounting and dismounting device 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;

[0032] controlling the first part of the pose adjustment assembly to rotate around the first axis, so that the blind flange to be installed faces a target installation direction;

[0033] controlling the second part of the pose adjustment assembly to swing around the second axis, so that the central axis of the first spindle is perpendicular to the flange sealing surface of the fixed flange of the pressure vessel;

[0034] controlling the hoisting assembly to move towards the stationary flange of the pressure vessel until the flange of the blind plate to be installed is butted against the stationary flange;

[0035] controlling the operating assembly to move towards the flange of the blind plate until the operating assembly is positioned in sleeving with at least part of the bolts pre-installed on the flange of the blind plate;

[0036] controlling the operating 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 flange of the blind plate is sealingly installed on the stationary flange.

[0037] According to the installation method of the flange of the blind plate of the pressure vessel of the nuclear fusion device, through the control design of the standardized installation process of the inclined flange of the blind plate, from the flight positioning, the angle adjustment to the bolt tightening, the whole process does not need manual intervention, greatly shortens the installation operation time, reduces the safety accidents caused by the manual operation errors, and does not need to build a scaffold or use a large hoisting equipment, greatly reduces the preparation time and the labor cost in the early stage, utilizes the high-precision cooperative control of the pose adjustment assembly and the hoisting assembly, minimizes the perpendicularity error and the concentricity error of the flange of the blind plate and the stationary flange as much as possible, and the bolt installation position is accurate, thereby effectively relieving the sealing failure problem caused by the installation deviation, and significantly reducing the leakage rate of the flange sealing surface.

[0038] In a third aspect, the application provides a dismounting method of a flange of a blind plate of a pressure vessel of a nuclear fusion device, applied to the automatic mounting and dismounting equipment according to any one of the preceding aspects, and the dismounting method comprises:

[0039] controlling the automatic mounting and dismounting equipment to fly to a target dismounting position;

[0040] controlling the first part of the pose adjustment assembly to rotate around the first axis, so that the hoisting assembly and the operating assembly are directed towards a target dismounting direction;

[0041] 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 flange of the blind plate to be dismounted;

[0042] controlling the hoisting assembly to move towards the flange of the blind plate, and controlling the hoisting assembly to clamp the side wall of the flange of the blind plate to be dismounted;

[0043] controlling the operating assembly to move towards the flange of the blind plate to be dismounted until the operating assembly is positioned in sleeving with at least part of the bolts pre-installed on the flange of the blind plate to be dismounted, and controlling the operating assembly to loosen the bolts;

[0044] control the operation assembly to move away from the fixed flange of the pressure vessel, control the lifting assembly to cooperate with the lifting lug of the blind flange, and control the pose adjustment assembly to swing the second part of the pose adjustment assembly around the second axis again to make the flange sealing surface of the detached blind flange horizontal.

[0045] control the lifting assembly to move away from the fixed flange of the pressure vessel, in the case that the detached blind flange is completely separated from the positioning pin of the fixed flange, control the pose adjustment assembly to swing the second part of the pose adjustment assembly around the second axis again to make the flange sealing surface of the detached blind flange horizontal.

[0046] The method for disassembling the blind flange of the pressure vessel of the nuclear fusion device according to the present application, through the control design of the standardized disassembly process of the inclined blind flange as described above, from the flight positioning, angle adjustment to the bolt loosening, the whole process does not need manual intervention, greatly shortens the disassembly 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 error between the disassembly force and the flange sealing surface as much as possible, the bolt disassembly position is accurate, thereby effectively alleviating the problems of flange sealing surface deformation or bolt fracture caused by improper disassembly, providing a good foundation for subsequent installation.

[0047] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter in the description. BRIEF DESCRIPTION OF DRAWINGS

[0048] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the description of the embodiments, taken in conjunction with the following drawings in which:

[0049] Figure 1 is a structural schematic diagram of an automatic assembly and disassembly equipment provided by an embodiment of the present application;

[0050] Figure 2 is a structural schematic diagram of an operation assembly provided by an embodiment of the present application;

[0051] Figure 3 is a flowchart of a method for assembling the blind flange of the pressure vessel of the nuclear fusion device provided by an embodiment of the present application;

[0052] Figure 4 is a flowchart of a method for disassembling the blind flange of the pressure vessel of the nuclear fusion device provided by an embodiment of the present application.

[0053] Reference signs:

[0054] Automatic assembly and disassembly equipment 10;

[0055] Load power system 11;

[0056] pose adjustment assembly 12, first part 121, support seat 1211, mounting shaft 1212, second part 122, first main shaft 1221, second main shaft 1222;

[0057] hoisting assembly 13, clamping fingers 131, first section 1311, second section 1312, anti-slip pad 13121, lifting hook 132;

[0058] operation assembly 14, support ring 141, adapter ring 142, connecting rod 143, first rod 1431, second rod 1432, third driving mechanism 144, sleeve 145;

[0059] rotary assembly 15. DETAILED DESCRIPTION

[0060] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are exemplary only, and are not intended to limit the present application.

[0061] 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.

[0062] 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.

[0063] 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 it is detachably sealed through bolt connection.

[0064] The following refers to Figures 1-2 The automatic assembly and disassembly device 10 according to the embodiments of the present application is described.

[0065] 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 operation assembly 14.

[0066] As Figure 1 shown, the load power system 11 is configured to provide flight power, and the load power system 11 is configured to be remotely controlled by a radio remote control device.

[0067] The load power system 11 enables the automatic assembly and disassembly device 10 to fly to a designated location, perform remote operation, and reduce manual intervention.

[0068] 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, and the like, and the embodiments of the present application do not limit the same.

[0069] As shown in the example, Figure 1 The load power system 11 can be a quadcopter, hexacopter or octocopter unmanned aerial vehicle, driven by brushless motors, and powered by lithium batteries or hydrogen fuel cells, etc.

[0070] The wireless remote control device can integrate a 5G / WiFi module to support remote operation (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.

[0071] Further, the load power system 11 can also integrate a satellite navigation system and a visual positioning system, combined with simultaneous localization and mapping technology, to achieve automatic obstacle avoidance and precise hovering.

[0072] As shown in the example, Figure 1 The pose adjustment assembly 12 includes 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, and the second part 122 is swingably mounted on the first part 121 about a second axis perpendicular to the first axis; the hoisting assembly 13 is mounted on the second part 122, and the hoisting assembly 13 is used to hoist and clamp the blind plate flange, so that the first axis is perpendicular to the flange sealing surface of the blind plate flange.

[0073] 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 to keep the blind plate flange in the correct attitude during hoisting under the driving 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.

[0074] Understandably, the second part 122 oscillates within a plane, directly changing the angle between the first axis and the vertical. Only one degree of freedom needs to be controlled. Compared to complex multi-joint pose adjustments (such as a robotic arm), single-degree-of-freedom rotation results in a more concentrated mass distribution, reducing rotational inertia and thus lowering the difficulty of flight attitude control, improving flight stability, simplifying the control algorithm, and reducing the failure rate. Combined with the perpendicular constraint between the first and second axes, regardless of how the second part 122 rotates around the second axis, the first axis remains 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. This provides strong structural support for ensuring that the assembly and disassembly forces are always applied perpendicularly to the flange sealing surface, thereby reducing the risk of bolt stripping or uneven pressure on the sealing surface caused by oblique forces, improving the consistency of bolt preload, and reducing media leakage.

[0075] The swing of the second part 122 can be achieved by a structure such as a robotic arm, universal joint, gear rack or worm gear, etc., and the embodiments of this application do not limit this.

[0076] like Figure 1 As shown, the first part 121 rotates around the first axis, thereby driving the entire posture adjustment assembly 12, the hoisting assembly 13 and the operating assembly 14 to rotate around the first axis. The hoisting assembly 13 and the operating assembly 14 face the target direction, that is, during installation, the flange sealing surface of the blind flange loaded by the hoisting assembly 13 is completely facing the flange sealing surface of the fixed flange, and during disassembly, the hoisting assembly 13 and the operating assembly 14 are completely facing the flange sealing surface of the blind flange to be disassembled.

[0077] The rotation of the first part 121 around the first axis can be achieved by the rotation of the load power system 11 or by introducing an external drive device. This application embodiment does not limit this.

[0078] The lifting assembly 13 can use an adaptive clamping mechanism, vacuum suction cup or electromagnetic holding system to perform the clamping action on the blind flange, and the embodiments of this application do not limit this.

[0079] The lifting assembly 13 can use hooks, high-strength lifting chains, rigging systems, or at least a combination of both to lift the blind flange, and this application embodiment does not limit this.

[0080] like Figure 1 As shown, the operating component 14 is installed in the second part 122. The operating component 14 is used to screw the bolts installed in the fixing holes of the blind flange around the third axis. The first axis is parallel to the third axis.

[0081] The operating component 14 can automatically tighten the bolts, and the third axis remains parallel to the first axis during the tightening process, thus smoothly completing the installation and removal of the blind flange.

[0082] The operation assembly 14 can adopt a structure such as an automatic wrench, a mechanical arm, or an automatic screwdriver sleeve to realize the screwing action on the bolt, and the embodiments of the present application do not limit this.

[0083] It can be understood that, on the one hand, by using the flight capability of the load power system 11, the automatic assembly and disassembly device 10 can enter an area (such as high altitude or a radiation prohibited area) that a traditional device cannot reach, without the intervention of a large hoisting device, with remote control support for remote operation, and the operator controls in a safe area to reduce accidents; and the flight mobility allows the device to be quickly deployed, which is suitable for emergency maintenance scenarios. On the other hand, the self-rotation of the first part 121 can accurately adjust the orientation of the hoisting assembly 13 and the operation assembly 14, and the swing of the second part 122 can dynamically adapt to the inclination angle of the flange, solving the problem that the existing device is difficult to handle a side-sloping flange; and the pose adjustment assembly 12 is linked with the hoisting assembly 13 to maintain the operation stability, such as maintaining the angle under flight vibration and preventing the flange from slipping during operation. On the other hand, the hoisting assembly 13 forces the first axis to be perpendicular to the flange sealing surface, so that the assembly 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 screwing force is axial, reducing the risk of bolt fracture or thread slipping, and in the case of synchronous screwing of multiple bolts, the multiple bolts are pre-tightened uniformly, effectively relieving the sealing failure caused by over-tightening of a single point.

[0084] In summary, the load power system 11 provides mobility, the pose adjustment assembly 12 handles the angle, the hoisting assembly 13 realizes the positioning, and the operation assembly 14 performs the assembly and disassembly task, and the four are cooperated to realize the integration of “flight-adjustment-clamping-screwing”, and in a complex scene such as nuclear fusion, the automatic assembly and disassembly device 10 can fully autonomously complete the assembly and disassembly, such as disassembling an old flange and installing a new flange, reducing manual steps, reducing device cost, shortening maintenance downtime, and improving the operation efficiency of the nuclear fusion device.

[0085] The automatic assembling and disassembling device 10 provided by the embodiment of the present application is provided with the load power system 11, the pose adjusting assembly 12, the hoisting assembly 13 and the operating assembly 14. The load power system 11 replaces the large hoisting device, allows the device to directly fly to high altitude and dangerous environment for operation, reduces human intervention, improves operation safety, reduces device cost, improves assembling and disassembling efficiency, the pose adjusting assembly 12 and the hoisting assembly 13 are coordinated to realize accurate alignment, the assembling and disassembling force is always applied to the flange sealing surface vertically, the dynamic requirement of the inclined flange is adapted, the damage of the sealing surface or the misalignment of the bolt caused by the angle deviation is effectively relieved, the clamping design of the hoisting assembly 13 is combined with the parallel axis screwing of the operating assembly 14 to reduce the risk of scratching or deforming the flange sealing surface, thereby prolonging the service life of the flange, in addition, the efficient automatic disassembling and assembling of the operating assembly 14 supports fast bolt processing, shortens the assembling and disassembling time, helps to keep the pre-tightening force of the multiple bolts consistent, and thereby improves the sealing reliability.

[0086] In some embodiments, as shown in Figure 1 The first part 121 comprises a supporting seat 1211, a mounting shaft 1212 and a first driving mechanism.

[0087] The upper end of the supporting seat 1211 is connected to the load power system 11, the lower end of the supporting seat 1211 is connected to the second part 122 through the mounting shaft 1212, the center axis of the mounting shaft 1212 is the second axis, and the first driving mechanism is installed on the supporting seat 1211 and is in power connection with the mounting shaft 1212.

[0088] The supporting seat 1211 is used 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 operating assembly 14 and other components under the load power system 11, and provides rigid support for them.

[0089] The supporting seat 1211 has flexible and various structural forms, including but not limited to U-shaped or T-shaped, and the embodiment of the present application does not limit this.

[0090] The mounting shaft 1212 is pivotally installed on the supporting seat 1211, and the upper end of the second part 122 is fixedly connected to the mounting shaft 1212, 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.

[0091] The first driving mechanism can include but is not limited to a servo motor, a hydraulic motor or a swing cylinder, and the embodiment of the present application does not limit this.

[0092] The automatic assembling and disassembling device 10 provided by the embodiment of the present application, through the setting of the supporting seat 1211, the mounting shaft 1212 and the first driving mechanism, the supporting seat 1211 is used as a mechanical anchor point to connect the load power system 11 and the second part 122 as a whole, so that 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 is realized, the gravity and torque loads in the process of hoisting and screwing the blind plate flange are effectively dispersed, the bending stiffness of the second part 122 when swinging is improved, the flange shaking amplitude when screwing the bolt is reduced, the structural stability of the automatic assembling and disassembling device 10 is improved, the swing of the second part 122 is directly realized by using the mounting shaft 1212 and the first driving mechanism, the overall structure design is simplified, the miniaturization and compactness of the pose driving assembly are realized, so that the overall volume of the automatic assembling and disassembling device 10 is reduced, and the assembly efficiency of the automatic assembling and disassembling device 10 is improved.

[0093] In some embodiments, the load power system 11 is configured to maintain horizontal flight, the supporting seat 1211 is vertically installed on the load power system 11, and the second axis is located in a horizontal plane.

[0094] It can be understood that, since the adjustment of the inclination angle only needs to rely on the foregoing supporting seat 1211, mounting shaft 1212, first driving mechanism and second part 122, etc., the rack platform of the load power system 11 should maintain a constant pose, so as not to affect the accurate control of the inclination angle. Furthermore, if the load power system 11 further tilts in flight under a large load, it is extremely likely to cause flight bumping, falling, etc., 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 pose and not to perform any pitching, rolling, etc. The supporting seat 1211 is vertically installed 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 adjusted by the simple swing of the pose adjustment assembly 12 for accurate control, avoiding multi-degree-of-freedom coupling interference, reducing control complexity and enhancing angle control accuracy.

[0095] The automatic assembling and disassembling device 10 provided by the embodiment of the present application, through the foregoing structure design of auxiliary power horizontal flight and vertical installation of the supporting seat 1211, in combination with the setting of the horizontal second axis, the flight and the operation pose are decoupled, the negative influence of flight pose fluctuation under high-altitude wind disturbance on the swing of the second part is significantly reduced, so that the blind plate flange alignment accuracy is greatly improved, the control target is simplified, and when the operator remotely controls the device, it is not necessary to frequently adapt to complex pose changes, the operation difficulty is reduced, the flight control calculation power is saved, and the risk of crashing is reduced. In addition, the horizontal requirement of the second axis is only guaranteed by mechanical processing, and complex calibration is not required on site, so that the assembly fault tolerance is improved.

[0096] In some embodiments, as shown in Figure 1 The automatic assembly and disassembly device 10 further comprises a rotating assembly 15.

[0097] The rotating assembly 15 is fixedly installed on the load power system 11, and an output end of the rotating assembly 15 is in power connection with the first part 121 for driving the pose adjustment assembly 12, the hoisting assembly 13 and the operating assembly 14 to rotate around the first axis.

[0098] The rotating assembly 15 can be fixedly connected with the lower surface of the load power system 11 through thread connection, clamping or riveting, etc., and the embodiments of the present application do not limit this.

[0099] The rotating assembly 15 drives the first part 121 in the pose adjustment assembly 12 connected therewith to rotate around the first axis through output rotation power, and further drives the hoisting assembly 13 and the operating assembly 14 connected therewith to synchronously rotate around the first axis.

[0100] The rotating assembly 15 can utilize a motor or a hydraulic motor to realize rotation driving of the first part, and the embodiments of the present application do not limit this.

[0101] 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 degree of the device in the three-dimensional space. When facing the blind plate flange at different positions and angles, 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 that the hoisting assembly 13 and the operating assembly 14 can be quickly aligned with the blind plate flange, improving the adaptability of the device to different working conditions and making the assembly and disassembly operation more flexible and efficient. On the other hand, through accurate control of the rotation angle and speed of the rotating assembly 15, accurate positioning and operation of the blind plate flange can be realized. For example, when hoisting the blind plate flange, the orientation of the flange can be accurately adjusted to be accurately aligned 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.

[0102] In some embodiments, as shown in Figure 1As shown, the second part 122 comprises a first main shaft 1221 and a second main shaft 1222, the first main shaft 1221 is rotatably mounted on the first part 121 around the second axis, and the second main shaft 1222 is slidably mounted 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.

[0103] The plurality of clamping fingers 131 are circumferentially spaced apart and mounted on the second main shaft 1222, and are used to clamp the side wall of the blind flange; the lifting hook 132 is mounted on the first main shaft 1221, and is used to cooperate with the lifting lug on the blind flange.

[0104] The sliding mounting 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 an axial sliding degree of 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.

[0105] Among them, 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.

[0106] As shown in the figure, Figure 1 The plurality of clamping fingers 131 are circumferentially spaced apart and connected to the outer side wall of the second main shaft 1222, wherein the plurality indicates two or more than two.

[0107] Exemplarily, as shown in the figure, Figure 1 To realize the basic centering function of the hoisting assembly 13, the clamping fingers 131 are provided with four.

[0108] The structure of the lifting hook 132 is flexible and various, and the embodiments of the present application do not limit this. For example, as shown in the figure, Figure 1 The lifting hook 132 can adopt a double hook system, two independent lifting hooks 132 are symmetrically arranged, and the lifting hook 132 is driven to stretch and retract by a motor or a cylinder to control the opening and closing of the two lifting hooks 132; for another example, the lifting hook 132 can adopt a self-locking electric lifting hook, which realizes rotation through a worm gear reducer, and is equipped with a position detection sensor and a mechanical interlocking with the lifting lug of the blind flange; for another example, the lifting hook 132 can also adopt a hydraulic quick-change hook, the hook body can be provided with a stress monitoring sensor, and the swinging is realized through a hydraulic motor drive, and a laser alignment system is equipped to realize automatic centering with the lifting lug of the blind flange.

[0109] The automatic assembly and disassembly device 10 provided by the embodiment of the present application is configured to adjust the installation distance of the second spindle 1222 through the hook 132 and the plurality of clamping fingers 131, so as to help the blind plate flange and the positioning pin on the fixed flange to be coupled or decoupled smoothly without damaging the sealing surface of the flange, improve the reliability and stability in the assembly and disassembly process, and improve the assembly and disassembly accuracy by the plurality of clamping fingers 131 which are spaced apart in the circumferential direction and help the lifting assembly 13 to be automatically leveled and centered with the blind plate flange based on the basic function of fixing the position of the blind plate flange, and by the clamping fingers 131 which constrain the side wall of the blind plate flange in the radial direction and the hook 132 which suspends the gravity, the blind plate flange can be kept stable even when any mechanism fails during operation, so as to significantly reduce the risk of flange falling and the accident rate.

[0110] In some embodiments, the height of the clamping finger 131 is variable.

[0111] It should be noted that, as shown in Figure 1 , the height direction of the clamping finger 131 is the extension direction of the first spindle 1221, that is, the direction of the first axis.

[0112] The clamping finger 131 can be implemented by using a telescopic sleeve structure, a gear and rack lifting structure, a pneumatic bellows structure, a stepped mounting clamp structure or an electromagnetic locking slider structure, and the like, and the embodiment of the present application does not limit the height change.

[0113] Exemplarily, the clamping finger 131 is implemented by a telescopic sleeve structure, and specifically, as shown in Figure 1 , the clamping finger 131 can include a first section 1311 and a second section 1312, the first section 1311 is connected between the second spindle 1222 and the second section 1312, the first section 1311 extends in the radial direction of the blind plate flange, the second section 1312 extends in the axial direction of the blind plate flange, and the second section 1312 includes a plurality of nested telescopic pipes, the telescopic pipes are driven to slide by an electric or pneumatic manner to adjust the height of the clamping finger 131.

[0114] The automatic assembly and disassembly device 10 provided by the embodiment of the present application is configured to adjust the installation distance of the second spindle 1222 through the hook 132 and the plurality of clamping fingers 131, so as to help the blind plate flange and the positioning pin on the fixed flange to be coupled or decoupled smoothly without damaging the sealing surface of the flange, improve the reliability and stability in the assembly and disassembly process, and improve the assembly and disassembly accuracy by the plurality of clamping fingers 131 which are spaced apart in the circumferential direction and help the lifting assembly 13 to be automatically leveled and centered with the blind plate flange based on the basic function of fixing the position of the blind plate flange, and by the clamping fingers 131 which constrain the side wall of the blind plate flange in the radial direction and the hook 132 which suspends the gravity, the blind plate flange can be kept stable even when any mechanism fails during operation, so as to significantly reduce the risk of flange falling and the accident rate.

[0115] In some embodiments, as shown in Figure 1 and Figure 2As shown, the operation assembly 14 comprises 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.

[0116] The support ring 141 is slidingly mounted along a first axis on the second main shaft 1222; the second driving mechanism is configured to drive the adapter ring 142 to rotate around the first axis on the support ring 141; the connecting rod 143 is mounted on the adapter ring 142; the third driving mechanism 144 and the sleeve 145 are both mounted on the connecting rod 143, the sleeve 145 is configured to be sleeved on the head of a bolt to be screwed, and the third driving mechanism 144 is configured to drive the sleeve 145 to rotate around a third axis.

[0117] As shown in Figure 1 , when the support ring 141 slides along the first axis in a direction away from the first part 121, i.e. the support ring 141 drives the sleeve 145 to move downward, so that the corresponding bolt can be sleeved in the sleeve 145; when the support ring 141 slides along the first axis in a direction close to the first part 121, i.e. the support ring 141 drives the sleeve 145 to move upward, so that the corresponding bolt can be separated from the sleeve 145.

[0118] The connecting rod 143 can be provided with one or more, and the plurality of connecting rods 143 can be installed on the adapter ring 142 in a circumferential interval, wherein the plurality represents two or more than two.

[0119] 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 interval.

[0120] As shown in Figure 1 and Figure 2 , 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, i.e. around the central axis of itself, thereby driving the connecting rod 143 to move from one fixed hole to another fixed hole, and further changing the spatial position of the sleeve 145, so that the same sleeve 145 can assemble and disassemble the bolts in different position fixed holes.

[0121] Among them, the second driving mechanism can include but not limited to motor or hydraulic motor, etc., the embodiments of the present application do not make limitation.

[0122] The third driving mechanism 144 drives the sleeve 145 to rotate clockwise or counterclockwise around the central axis of itself to tighten or loosen the bolt sleeved on the sleeve 145.

[0123] Among them, the third driving mechanism 144 can include but not limited to motor or hydraulic motor, etc., the embodiments of the present application do not make limitation.

[0124] In some embodiments, asFigure 2 As shown, the third driving mechanism 144 and the sleeve 145 can each be provided in multiple, and the multiple third driving mechanisms 144 and the multiple sleeves 145 are provided in one-to-one correspondence, in other words, a plurality of bolts are twisted simultaneously.

[0125] In other embodiments, the third driving mechanism 144 and the sleeve 145 can each be provided only one, in other words, only one bolt is twisted at a time.

[0126] The automatic assembly and disassembly device 10 provided by the embodiments of the present application, through the provision of the support ring 141, the adapter ring 142, the second driving mechanism, the connecting rod 143, the third driving mechanism 144 and the sleeve 145, on the one hand, the support ring 141 can fine-tune the axial distance between the sleeve 145 and the bolt, and the support ring 141 is lifted to avoid functional interference with the hoisting assembly 13, and when it is lowered, it is close to the blind plate flange to twist the bolt; on the other hand, taking the first axis (perpendicular to the flange sealing surface) as the center, the motion track of the sleeve 145 and the bolt distribution circle remain concentric, effectively reducing the bolt shear damage caused by tangential misplacement; in addition, the same sleeve 145 can sequentially operate multiple bolts, and multiple connecting rods 143 and multiple sleeves 145 can support the synchronous assembly and disassembly of multiple bolts, thereby greatly improving the assembly and disassembly efficiency.

[0127] In some embodiments, the width of the plurality of fingers 131 is configured to be variable, and the width of the connecting rod 143 is configured to be variable.

[0128] It should be noted that, as Figure 1 shown, the width direction of the finger 131 and the width direction of the connecting rod 143 are the directions in the perpendicular plane of the first axis, that is, the radial direction of the blind plate flange.

[0129] Among them, the finger 131 can realize width change by adopting telescopic sleeve structure, gear and rack lifting structure, pneumatic wrinkle pipe structure, stepped mounting clamping seat structure or electromagnetic locking slider structure, etc., the embodiments of the present application do not limit this.

[0130] Exemplarily, the finger 131 realizes width change by telescopic sleeve structure, specifically, as Figure 1 shown, the finger 131 can include a first segment 1311 and a second segment 1312, the first segment 1311 is connected between the second main shaft 1222 and the second segment 1312, the first segment 1311 extends in the radial direction of the blind plate flange, the second segment 1312 extends in the axial direction of the blind plate flange, the first segment 1311 includes nested multi-stage telescopic pipes, and the width of the finger 131 is adjusted by driving the telescopic pipes to slide in an electric or pneumatic manner.

[0131] It can be understood that the width of the clamping fingers 131 is adjusted to match the blind plate flanges of different outer diameters. For a standard blind plate flange, there is a set proportional relationship between the distance from the fixed hole to the center axis and the outer diameter of the blind plate flange. Therefore, in order to match the change in the width of the clamping fingers 131, the width of the connecting rod 143 also needs to be adaptively changed. Of course, for non-standard blind plate flanges, there can also be a change in the outer diameter while the distance from the fixed hole to the center axis remains unchanged.

[0132] The connecting rod 143 can change in width by using a telescopic sleeve structure, a gear and rack lifting structure, a pneumatic bellows tube structure, a stepped mounting clamping seat structure, or an electromagnetic locking sliding block structure, and the like. The embodiments of the present application do not limit this.

[0133] For example, the connecting rod 143 changes in 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 in the radial direction of the blind plate flange. The second rod 1432 extends in the axial direction of the blind plate flange. The first rod 1431 includes nested multi-stage telescopic pipes. The telescopic pipes are driven to slide by an electric or pneumatic manner to adjust the width of the connecting rod 143.

[0134] The automatic assembly and disassembly device 10 provided by the embodiments of the present application can be compatible with blind plate flanges of multiple specifications and sizes through the structure design that the widths of the multiple clamping fingers 131 are variable and the width of the connecting rod 143 is variable. The connecting rod 143 can always match the flange bolt distribution circle. In combination with the structure design that the heights of the clamping fingers 131 are variable, the full-size adaptive capability of the lifting assembly 13 and the operating assembly 14 is maximally optimized, thereby improving the compatibility and versatility of the automatic assembly and disassembly device 10 as much as possible.

[0135] In some embodiments, the height of the connecting rod 143 is variable.

[0136] 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.

[0137] The connecting rod 143 can change in height by using a telescopic sleeve structure, a gear and rack lifting structure, a pneumatic bellows tube structure, a stepped mounting clamping seat structure, or an electromagnetic locking sliding block structure, and the like. The embodiments of the present application do not limit this.

[0138] For example, the connecting rod 143 changes in width by using a telescopic sleeve structure. Specifically, as shown in Figure 2As shown, 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, and 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.

[0139] The automatic assembly and disassembly device 10 provided by the embodiment of the present application has a structure design that the height of the connecting rod 143 is variable, so that the connecting rod 143 can adapt to the height of the lug, bolt or boss and other protruding structures on the blind plate flange, and the probability of accidental interference and collision is reduced. In combination with the sliding ability of the support ring in the first axis direction and the variable width of the connecting rod 143, the free telescopic ability of the connecting rod 143 can further expand the space moving ability of the sleeve 145 in the first axis direction, and the activity freedom of the operating assembly 14 is maximally improved, so that the adaptability of the device to the complex operating environment and the complex structure flange is maximally improved.

[0140] In some embodiments, as shown, Figure 1 As shown, the anti-skid pad 13121 made of elastic material is arranged on the region of the finger 131 for contacting the blind plate flange.

[0141] It should be noted that the elastic material used by the anti-skid pad 13121 needs to have a sufficient friction coefficient to reduce the relative displacement between the blind plate flange and the finger 131 in the clamping state.

[0142] 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 embodiment of the present application does not limit this.

[0143] The automatic assembly and disassembly device 10 provided by the embodiment of the present application has the anti-skid pad 13121 made of elastic material arranged on the region of the finger 131 for contacting the blind plate flange. On the one hand, the contact friction is greatly increased, and the incidence of safety accidents caused by the flange falling is effectively reduced. 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, form overall contact, and compensate for the clamping hidden danger caused by the manufacturing error or wear of the flange. 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 device or the shaking, and reduce the risk of deformation or cracking of the blind plate flange caused by the impact.

[0144] The application also discloses a mounting 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 in any one of the above solutions.

[0145] In some embodiments, as shown in the figure, the mounting method comprises steps 410, 420, 430, 440, 450 and 460. Figure 3

[0146] Step 410: control the automatic mounting and dismounting device 10 carrying the blind flange to be mounted to fly to a target mounting position, wherein the flange sealing surface of the blind flange to be mounted is in a horizontal state.

[0147] In actual implementation, the automatic mounting and dismounting device 10 carrying the blind flange to be mounted performs space coordinate identification on the fixed flange on the pressure vessel through a laser radar or an industrial camera, that is, the load power system 11 can accurately transport the blind flange to the target mounting position by flying according to a preset path and real-time positioning, and in the target mounting position, the blind flange to be mounted is kept at an appropriate distance from the fixed flange. 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 spindle 1221 to keep vertical, that is, the flange sealing surface of the blind flange keeps horizontal during the whole flight process, so as to reduce the probability of bolt falling off or sealing surface collision damage during installation in the flight process.

[0148] Step 420: control the first part 121 of the pose adjustment assembly 12 to rotate around the first axis, so that the blind flange to be mounted faces a target mounting direction.

[0149] In actual implementation, after reaching the target mounting position, the first part 121 is controlled to rotate around the first axis, and the attitude information is fed back through a built-in angle sensor or the like, so as to accurately adjust the orientation of the blind flange to make it consistent with the target mounting direction.

[0150] 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.

[0151] In actual implementation, the mounting shaft 1212 is controlled to rotate through the first driving mechanism, and the first spindle 1221 is swung, so that the first axis is perpendicular to the flange sealing surface of the fixed flange. In this process, the angle sensor and the closed-loop control system can be used 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, and lay a foundation for accurate butt joint.

[0152] Step 440: control the hoisting assembly 13 to move towards the fixed flange of the pressure vessel until the blind flange to be mounted is butt jointed with the fixed flange. ​

[0153] In actual execution, through sliding of the second main shaft 1222 along the first main shaft 1221, clamping by the plurality of clamping fingers 131 and hanging by the hook 132, the blind flange is stably lowered to the fixed flange position, so that the flange sealing surface of the blind flange is aligned and attached to the flange sealing surface of the fixed flange, and preparation is made for subsequent bolt fastening.

[0154] Step 450, control the operation assembly 14 to move towards the blind flange until the operation assembly 14 is positioned and sleeved with at least part of the pre-installed bolts on the blind flange.

[0155] In actual execution, 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, ensuring accurate positioning of the sleeve 145; at the same time, a sensor 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.

[0156] Step 460, control the operation assembly 14 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 flange is sealingly installed on the fixed flange.

[0157] In actual execution, generally speaking, the number of sleeves 145 is much smaller than the number of bolts that need to be pre-tightened, in other words, single sleeving and pre-tightening can only tighten part of the bolts. In this case, after the sleeve 145 on the operation assembly 14 completes the first pressing down, sleeving and pre-tightening action, the sleeve 145 needs to be lifted up to separate from the bolt that has been tightened this time under the driving 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 pre-tightening action, and so on until all the bolts are tightened.

[0158] It should be noted that, without considering the cost, the number of sleeves 145 can also be equal to the number of bolts that need to be pre-tightened, so that all the bolts can be pre-tightened only by single sleeving and tightening operation.

[0159] The blind flange installation method for the pressure vessel of the nuclear fusion device provided in this application embodiment, through the control design of the standardized installation process of the inclined blind flange described above, from flight positioning and angle adjustment to bolt tightening, the entire process does not require manual intervention, which greatly shortens the installation time, reduces safety accidents caused by human error, and eliminates the need to build scaffolding or use large hoisting equipment, significantly reducing the preparation time and labor costs. By utilizing the high-precision collaborative control of the posture adjustment component 12 and the hoisting component 13, the perpendicularity and concentricity errors between the blind flange and the fixed flange are minimized as much as possible, 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.

[0160] This application also discloses a method for disassembling the blind flange of the pressure vessel of a nuclear fusion device, which is applied to the automatic assembly and disassembly equipment 10 of any of the above schemes.

[0161] In some embodiments, such as Figure 4 As shown, the disassembly method includes steps 510, 520, 530, 540, 550, 560, and 570.

[0162] Step 510: Control the automatic disassembly / removal device 10 to fly to the target disassembly position.

[0163] In actual operation, the automated assembly / disassembly equipment 10 uses LiDAR or an industrial camera to identify the spatial coordinates of the blind flange to be disassembled on the pressure vessel. The load power system 11 can then fly accurately to the target disassembly position by following a preset path and real-time positioning. At this target disassembly position, the lifting assembly 13 maintains a suitable distance from the blind flange. This improves disassembly efficiency, reduces manual intervention, and ensures the accuracy of the disassembly position. Under normal conditions, the posture adjustment assembly 12 controls the first main shaft 1221 to remain vertical to reduce the eccentric force on the load power system 11.

[0164] Step 520: Control the first part 121 of the pose adjustment component 12 to rotate around the first axis, so that the hoisting component 13 and the operating component 14 are oriented toward the target dismantling direction.

[0165] In actual execution, after reaching the target disassembly position, the first part 121 is controlled to rotate around the first axis. The orientation of the blind flange can be precisely adjusted by feedback of attitude information through angle sensors, etc., so that it is consistent with the target disassembly direction.

[0166] 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 flange to be disassembled.

[0167] In actual implementation, the first driving mechanism is controlled to rotate the mounting shaft 1212, thereby driving the first main shaft 1221 to swing, so that the first axis is 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 minimum range as far as possible, thereby laying a foundation for accurate centering and clamping.

[0168] Step 540, control the lifting assembly 13 to move towards the blind plate flange, and control the lifting assembly 13 to clamp the side wall of the blind plate flange to be disassembled.

[0169] In actual implementation, the second main shaft 1222 is controlled to slide along the first main shaft 1221, thereby stably lowering the plurality of clamping fingers 131 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, and the plurality of clamping fingers 131 are automatically centered with the blind plate flange to be disassembled, thereby completing clamping of the blind plate flange to be disassembled.

[0170] Step 550, control the operation assembly 14 to move towards the blind plate flange to be disassembled until the operation assembly 14 is positioned in sleeve connection with at least part of the bolt positioning sleeve preassembled on the blind plate flange to be disassembled, and control the operation assembly 14 to loosen the bolt.

[0171] In actual implementation, the connecting rod 143 can be slowly pressed downward 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. Meanwhile, a sensor can be integrated in the sleeve 145 to monitor the butt joint state of the sleeve 145 and the bolt in real time, thereby reducing disassembly failure caused by deviation. After confirming that the bolt is sleeved in place, the third driving mechanism 144 drives the sleeve 145 to rotate, thereby gradually rotating the bolt out of the fixing hole of the fixed flange to a state that can be easily removed later.

[0172] Step 560, in the case that all bolts are loosened 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 lug of the blind plate flange.

[0173] In actual implementation, generally speaking, the number of sleeves 145 is much less than the number of bolts to be pre-tightened, in other words, single sleeve loosening can only release 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 loosening, the sleeve 145 needs to be lifted up to be separated from the bolts that have been loosened 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 loosening. This cycle is repeated until all the bolts are released from the fastening. Then the connecting rod is controlled to rise to a position where the sleeve is higher than the lower surface of the lifting hook 132. Under the premise that the operating assembly 14 does not interfere with the cooperation between the lifting hook 132 and the lifting lug, the lifting hook 132 is controlled to move to lock with the lifting lug on the blind flange.

[0174] 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 the bolts can be released from the fastening only by single sleeving and loosening operation.

[0175] Step 570, control the lifting assembly 13 to move away from the fixed flange of the pressure vessel. When the detached blind flange is completely separated from the positioning pin of the fixed flange, the second part 122 of the pose adjustment assembly 12 is controlled to swing again around the second axis, so that the flange sealing surface of the detached blind flange is in a horizontal state.

[0176] In actual implementation, by sliding the second main shaft 1222 along the first main shaft 1221, the detached blind flange clamped by the plurality of clamping fingers 131 is smoothly lifted away from the flange sealing surface of the fixed flange until the blind flange is completely separated from the positioning pin of the fixed flange. This operation can effectively reduce accidental collision and scratching between the blind flange and the fixed flange, reduce the risk of damage to the flange sealing surface, thereby prolonging the service life of the blind flange and the fixed flange. Then, the inclined first main shaft 1221 is restored to a vertical pose by the pose adjustment assembly 12, so that the flange sealing surface of the detached blind flange becomes horizontal. 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 remove the detached flange from the work area.

[0177] The method for disassembling the blind flange of the pressure vessel of the nuclear fusion device provided by the embodiments of the present application, through the control design of the standardized disassembly process of the inclined blind flange, from the flight positioning, angle adjustment to the bolt loosening, the whole process does not need manual intervention, greatly shortens the disassembly 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, uses the high-precision cooperative control of the pose adjustment assembly 12 and the lifting assembly 13, minimizes the perpendicularity error between the disassembly force and the flange sealing surface as much as possible, and the bolt disassembly position is accurate, thereby effectively relieving the problems of flange sealing surface deformation or bolt fracture caused by improper disassembly, and providing a good foundation for subsequent installation.

[0178] It should be noted that the installation method and disassembly method of the blind flange described in the present application are for the use scene of the inclined flange. For the installation of the horizontal flange, step 430 is not needed. For the disassembly of the horizontal flange, steps 530 and 570 are not needed.

[0179] 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 used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, 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 front and rear associated objects are in an "or" relationship.

[0180] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0181] In the description of the present application, "first feature" and "second feature" can include one or more features.

[0182] In the description of the present application, "a plurality of" means two or more.

[0183] In the description of the application, the first feature is "on", "above", or "over" the second feature can include the first and second features are in direct contact, but also can include the first and second features are not in direct contact but are in contact through another feature between them.

[0184] In the description of the application, the first feature is "on", "above", and "over" the second feature includes the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in height.

[0185] Other configurations of … according to embodiments of the application, such as … and …, and operations are known to those of ordinary skill in the art, and are not described in detail here.

[0186] 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.

[0187] Although embodiments of the application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to the embodiments 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 mounting and dismounting apparatus for mounting and dismounting a blind flange of a pressure vessel of a nuclear fusion device, characterized in that, The automatic mounting and dismounting device comprises: a load power system configured to provide flight power and remotely controllable by a radio remote control device; a pose adjustment assembly comprising a first part and a second part, the first part being rotatably mounted on the load power system about a first axis, the second part being swingably mounted on the first part about a second axis perpendicular to the first axis; wherein the first part comprises a support seat, a mounting shaft and a first driving mechanism, the upper end of the support seat being connected to the load power system, the lower end of the support seat being connected to the second part through the mounting shaft, the central axis of the mounting shaft being the second axis, the first driving mechanism being mounted on the support seat and having an output end in power connection with the mounting shaft; the second part comprises a first main shaft and a second main shaft, the first main shaft being rotatably mounted on the first part about the second axis, the second main shaft being slidably mounted on the first main shaft along the first axis; a lifting assembly mounted on 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 mounted on the second part for rotating a bolt mounted in a fixing hole of the blind plate flange about a third axis, the first axis being parallel to the third axis.

2. The automatic mounting and demounting apparatus according to claim 1, characterized in that, The load power system is configured to maintain horizontal flight, the support seat is vertically mounted on the load power system, and the second axis is located in a horizontal plane.

3. The automatic mounting and demounting apparatus according to claim 1, characterized in that, Further comprising: a rotating assembly fixedly mounted on the load power system and having an output end in power connection with the first part for driving the pose adjustment assembly, the lifting assembly and the operating assembly to rotate about the first axis.

4. The automatic mounting and demounting apparatus according to any one of claims 1 to 3, characterized in that, The lifting assembly comprises: a plurality of fingers mounted on the second main shaft in a circumferential direction for clamping the side wall of the blind plate flange; a lifting hook mounted on the first main shaft for cooperating with a lifting lug on the blind plate flange.

5. The automatic mounting and demounting apparatus according to claim 4, characterized in that, The operating assembly comprises: a support ring slidably mounted on the second main shaft along the first axis; a second driving mechanism and an adapter ring, the second driving mechanism being configured to drive the adapter ring to rotate about the first axis and be mounted on the support ring; a connecting rod mounted on the adapter ring; a third driving mechanism and a sleeve, both mounted on the connecting rod, the sleeve being configured to be sleeved on the head of the bolt to be rotated, and the third driving mechanism being configured to drive the sleeve to rotate about the third axis.

6. The automatic mounting and dismounting device according to claim 5, wherein: the width of the plurality of fingers is 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.

7. The automatic mounting and dismounting device according to claim 4, wherein: the height of the fingers is configured to be variable; and / or the area of the fingers for contacting the blind plate flange is provided with an anti-skid pad made of elastic material. The method comprises: controlling the automatic mounting and dismounting device with the blind plate flange to be mounted to fly to a target mounting position, wherein the flange sealing surface of the blind plate flange to be mounted is in a horizontal state; 8. A method of installing a blind flange of a pressure vessel of a nuclear fusion device, applied to the automatic mounting and dismounting apparatus according to any one of claims 1 to 7, characterized in that, ​ ​ Controlling the first part of the pose adjustment assembly to rotate around the first axis, so that the blind flange to be installed faces the target installation direction; Controlling the second part of the pose adjustment assembly 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; Controlling the lifting assembly to move towards the fixed flange of the pressure vessel until the blind flange to be installed is butted with the fixed flange; Controlling the operation assembly to move towards the blind flange until the operation assembly is positioned with at least part of the bolt positioning sleeve pre-installed on the blind 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 flange is sealingly installed on the fixed flange.

9. A method of dismounting a blind flange of a pressure vessel of a nuclear fusion plant, applied to the automatic mounting and dismounting apparatus according to any one of claims 1-7, characterized in that, Comprising: Controlling the automatic mounting and dismounting device to fly to the 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 face the target dismounting direction; Controlling the second part of the pose 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 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 with at least part of the bolt positioning sleeve pre-installed on the blind flange to be dismounted, and controlling the operation assembly to loosen the bolts; In the case that all the bolts are unfastened after at least one sleeving 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 in the case that the dismounted blind flange is completely separated from the positioning pin of the fixed flange, 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.

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