Reactor Internals Maintenance Tooling Conveying and Positioning Platform and Control System

Abstract

This invention specifically relates to a reactor internals maintenance tooling transport and positioning platform and control system, belonging to the field of reactor internals maintenance. The maintenance tooling transport and positioning platform includes a base platform, an X-axis positioning platform, a Z-axis transport platform, a Y-axis positioning platform, columns, a measuring rod, a platform, and bushings. The maintenance tooling is fixed to the measuring rod. There are four columns, all vertically mounted on the X-axis positioning platform. The Y-axis positioning platform is mounted on the base platform via two slide rails. The X-axis positioning platform is mounted on the Y-axis positioning platform via two slide rails. The Z-axis transport platform is mounted on the two outer columns. The platform is mounted on the Z-axis transport platform via two rails. The bushings are mounted on the platform. The control system of the maintenance tooling transport and positioning platform is used to control the platform. This invention enables the maintenance tooling to accurately reach the working area during underwater reactor operations and avoids friction and collision with equipment during transport.

Description

Technical Field

[0001] This invention relates to the field of reactor internals maintenance technology, and in particular to a reactor internals maintenance tooling conveying and positioning platform and control system. Background Technology

[0002] After long-term operation, nuclear power plants may experience reduced reliability or component damage to some in-reactor equipment, necessitating inspection, surveying, repair, or modification. In general operating environments, equipment inspection, surveying, repair, or modification is relatively simple. However, due to the unique nature of nuclear power plants, some equipment cannot be operated at close range for extended periods, especially in-reactor equipment which often involves high doses and high radiation. This equipment cannot be brought above the water for extended periods, and personnel cannot remain submerged for prolonged inspection and maintenance. This necessitates maintenance personnel operating specialized equipment from shore to inspect and maintain underwater equipment. Such work involves transfer between above-water and underwater work areas, requiring precise positioning, collision avoidance, and other safety considerations, placing high demands on underwater equipment maintenance and safety. Currently, this technology is still in its early stages both domestically and internationally, and the process cannot fully meet the needs of actual operations. In complex operating conditions, alternative measures must be adopted. Summary of the Invention

[0003] The purpose of this invention is to provide a platform and control system for transporting and positioning maintenance tools for reactor internal components, so as to enable the maintenance tools to accurately reach the work area during underwater reactor operations and avoid friction and collision with equipment during the transfer process.

[0004] To achieve the above objectives, the present invention provides a reactor internal component maintenance tooling conveying and positioning platform, including a bottom platform, an X-axis positioning platform, a Z-axis conveying platform, a Y-axis positioning platform, a column, a measuring rod, a platform plate, and a bushing; the maintenance tooling is fixed on the measuring rod;

[0005] There are four columns, all vertically mounted on the X-axis positioning platform; the Y-axis positioning platform is mounted on the bottom platform via two slide rails to achieve Y-axis movement; the X-axis positioning platform is mounted on the Y-axis positioning platform via two slide rails to achieve X-axis movement; the Z-axis conveying platform is mounted on the two outer columns to achieve Z-axis movement; the platform is mounted on the Z-axis conveying platform via two rails to achieve minute Y-axis movement; and the bushing is mounted on the platform to fix the measuring rod.

[0006] Furthermore, the reactor internals maintenance tooling conveying and positioning platform also includes a first gripping guide platform, a first fixed frame, a first gripping cylinder, a first gripper, a first guide copper sleeve, and a first copper sleeve mounting plate;

[0007] The first gripping guide platform is installed on the first fixed frame, and the first fixed frame is installed on the two inner columns;

[0008] The first gripper and the first gripping cylinder are mounted on the upper plate of the first fixed frame; the output shaft of the first gripping cylinder is connected to the first gripper, and the extension and retraction of the output shaft of the first gripping cylinder drives the first gripper to open and close; the first gripper is used to grip and fix the measuring rod;

[0009] The first guide copper sleeve is installed on the lower plate of the first fixed frame via the first copper sleeve mounting plate, and is used to guide the measuring rod to ensure that the measuring rod is vertically downward.

[0010] Furthermore, the reactor internals maintenance tooling conveying and positioning platform also includes a second gripping guide platform, a second fixing frame, a second gripping cylinder, a second gripper, a second guide copper sleeve, and a second copper sleeve mounting plate;

[0011] The second gripping guide platform is installed on the second fixed frame, and the second fixed frame is installed on the two inner columns;

[0012] The second gripper and the second gripping cylinder are installed on the lower plate of the second fixed frame; the output shaft of the second gripping cylinder is connected to the second gripper, and the extension and retraction of the output shaft of the second gripping cylinder drives the second gripper to open and close; the second gripper is used to grip and fix the measuring rod.

[0013] The second guide copper sleeve is mounted on the upper plate of the second fixed frame via the second copper sleeve mounting plate, and is used to guide the measuring rod to ensure that the measuring rod is vertically downward.

[0014] Furthermore, the reactor internals maintenance tooling transport and positioning platform also includes a third guide copper sleeve; the third guide copper sleeve is installed on the bottom platform through a connecting plate and a matching outer sleeve;

[0015] The platform achieves micro-movement in the Y-axis direction, causing the bushings and measuring rods on it to be coaxial with the first guide copper bushing, the second guide copper bushing, and the third guide copper bushing below.

[0016] Furthermore, the reactor internals maintenance tooling transport and positioning platform also includes a base extension device, with the bottom platform connected to the base extension device.

[0017] To achieve the above objectives, in another aspect, the present invention provides a control system for a reactor internals repair tooling conveying and positioning platform, applied to the aforementioned reactor internals repair tooling conveying and positioning platform, comprising:

[0018] The main control cabinet is used to receive operation instructions sent by the operation box, generate corresponding control signals according to the operation instructions, and send them to the corresponding power system or hydraulic system.

[0019] The operation box is used to input operation commands and send them to the main control cabinet;

[0020] The power system is used to receive control signals from the main control cabinet and drive the X-axis positioning platform, Y-axis positioning platform and Z-axis conveying platform to perform corresponding movements according to the control signals.

[0021] The hydraulic system is used to receive control signals from the main control cabinet and drive the first and second gripping cylinders to perform gripper opening and closing actions according to the control signals.

[0022] Furthermore, the operation box includes a touch screen and control buttons; the main control cabinet includes a PLC;

[0023] The touchscreen, connected to the PLC via a signal cable, is used for human-machine interaction, allowing users to input operation commands via control buttons and send operation commands to the PLC.

[0024] A PLC is used to receive operation commands sent from a touchscreen and generate control signals.

[0025] Furthermore, the power system includes a servo driver, a servo motor, and an encoder; there are three of each of the driver, servo motor, and encoder, and they correspond one-to-one to realize the control of the movement direction, speed, and positioning of the X-axis positioning platform, Y-axis positioning platform, and Z-axis conveying platform.

[0026] The PLC is used to send control signals to the servo drive. The servo drive is installed in the main control cabinet and is connected to the servo motor through a power cable and to the PLC through a control cable. It is used to receive control signals sent by the PLC, output the corresponding working current, drive the servo motor to work, thereby controlling the output of the servo motor and realizing the control of the movement direction, speed and positioning of the X-axis positioning platform, Y-axis positioning platform and Z-axis conveying platform.

[0027] The encoder is coaxially mounted on the servo motor and connected to the servo driver via a signal cable. It is used to monitor the servo motor status in real time and send the servo motor status data to the servo driver. The servo driver is also used to receive the servo motor status data sent by the encoder and send it to the PLC. The PLC is also used to receive the servo motor status data sent by the servo driver and send it to the touch screen. The touch screen is also used to receive the servo motor status data sent by the PLC and display it.

[0028] Furthermore, the hydraulic system includes a hydraulic pump, a pressure holding device, a solenoid valve, and a distribution box, used to drive the first gripping cylinder and the second gripping cylinder to perform the gripper opening and closing action;

[0029] The hydraulic pump, pressure holding device, and solenoid valve are connected in sequence to form a hydraulic circuit; the solenoid valve is connected to the first gripping cylinder and the second gripping cylinder through two hydraulic hose assemblies; the hydraulic hose assemblies are connected to the solenoid valves through quick-connect plugs.

[0030] A pressure-holding device is used to ensure that the pressure in the first and second gripping cylinders remains stable at a set value.

[0031] The distribution box is connected to the solenoid valve and hydraulic pump via power cables, providing power to the solenoid valve and hydraulic pump.

[0032] The PLC is connected to the clamping force sensor installed on the gripper via a signal cable. It is used to detect the clamping force of the gripper. Before executing the operation command sent by the touch screen, it determines the current state of the gripper based on the clamping force and performs gripper opening or closing. It outputs control signals to the solenoid valve corresponding to the gripping cylinder connected to the gripper.

[0033] The PLC is connected to the solenoid valves and hydraulic pumps via control cables, and is also used to send control signals to the solenoid valves and hydraulic pumps; the solenoid valves and hydraulic pumps are also used to adjust the hydraulic oil volume accordingly based on the control signals sent by the PLC, so as to realize the action of the gripper.

[0034] Furthermore, the main control cabinet also includes a power system, relays, operation buttons, and indicator lights;

[0035] The power supply system is connected to the input terminal of the main circuit breaker via a power cable, and the output terminal of the main circuit breaker is connected to the power terminals of the PLC, servo driver, relay, operation button and indicator light via branch circuit breakers respectively.

[0036] The PLC's input terminals are connected to the operation buttons, hydraulic pump pressure sensor, platform terminal limit switch, and field protection devices via signal cables.

[0037] The PLC's output terminals are connected to the relay coil, the servo driver's control signal terminal, indicator lights, and solenoid valves via control cables.

[0038] The relay is connected to the PLC output terminal via a control cable to amplify the power and electrically isolate the control signals output by the PLC.

[0039] Beneficial technical effects of the present invention:

[0040] The present invention relates to a reactor internal component maintenance tooling transport and positioning platform and control system. The maintenance tooling is multi-functional, and by carrying different maintenance tools, it can complete underwater on-site surveys, video inspections, optical auxiliary inspections, coaxiality measurements, verticality measurements, long-distance measurements, inner diameter measurements, underwater processing, and other tasks, ensuring the measurement accuracy of the maintenance tooling during the inspection process and preventing collisions with equipment inside the reactor core. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of a structure of an embodiment of the reactor internals maintenance tooling conveying and positioning platform of the present invention;

[0042] Figure 2 A front view of an embodiment of the reactor internals maintenance tooling conveying and positioning platform of the present invention;

[0043] Figure 3 A schematic diagram of a structure of one embodiment of the first gripping guide table;

[0044] Figure 4 A schematic diagram of a structure of one embodiment of the second gripping guide table;

[0045] Figure 5 A schematic structural view of an embodiment of the reactor internals maintenance tooling conveying and positioning platform control system of the present invention;

[0046] Figure 6 This is a schematic diagram of the operation flow of an embodiment of the reactor internal component maintenance tooling conveying and positioning platform control system of the present invention.

[0047] In the diagram, 1: bottom platform; 2: X-axis positioning platform; 3: first gripping guide table; 4: second gripping guide table; 5: Z-axis conveying platform; 6: Y-axis positioning platform; 7: column; 8: foundation extension device; 9: third guide copper sleeve; 10: first guide copper sleeve; 11: first gripper; 12: second gripper; 13: second guide copper sleeve; 14: measuring rod; 15: platform; 16: bushing; 17: pin; 18: second fixing frame; 19: first fixing frame; 20: first gripping cylinder; 21: second gripping cylinder; 22: first copper sleeve mounting plate; 23: second copper sleeve mounting plate. Detailed Implementation

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0049] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0050] The terms “first”, “second”, etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0051] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0052] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.

[0053] See Figure 1-4 This embodiment provides a reactor internal component maintenance tooling conveying and positioning platform, which is 1.2 meters long, 1.8 meters wide and 2.2 meters high, including a bottom platform 1, an X-axis positioning platform 2, a Z-axis conveying platform 5, a Y-axis positioning platform 6, a column 7, a measuring rod 14, a platform 15 and a bushing 16; the maintenance tooling is fixed on the measuring rod 14;

[0054] The bottom platform 1 is the foundation of the entire platform; there are four columns 7, all vertically installed on the X-axis positioning platform 2; the Y-axis positioning platform 6 is installed on the bottom platform 1 via two slide rails and can move back and forth, i.e., move along the Y-axis; the X-axis positioning platform 2 is installed on the Y-axis positioning platform 6 via two slide rails and can move left and right, i.e., move along the X-axis; the Z-axis conveying platform 5 is installed on the two outer columns 7 and can move up and down, i.e., move along the Z-axis; the table 15 is installed on the Z-axis conveying platform 5 via two rails and can move slightly along the Y-axis; the bushing 16 is installed on the table 15 and is used to fix the measuring rod 14.

[0055] The reactor internal component maintenance tooling transport and positioning platform is located on the external foundation truss.

[0056] In this embodiment, the reactor internal component maintenance tooling conveying and positioning platform also includes a first gripping guide platform 3, a first fixing frame 19, a first gripping cylinder 20, a first gripper 11, a first guide copper sleeve 10, and a first copper sleeve mounting plate 22.

[0057] The first gripping guide platform 3 is installed on the first fixed frame 19, and the first fixed frame 19 is installed on the two inner columns 7;

[0058] The first gripper 11 and the first gripping cylinder 20 are mounted on the upper plate of the first fixed frame 19; the output shaft of the first gripping cylinder 20 is connected to the first gripper 11, and the extension and retraction of the output shaft of the first gripping cylinder 20 drives the first gripper 11 to open and close; the first gripper 11 is used to grip and fix the measuring rod 14 to prevent the measuring rod 14 from slipping.

[0059] The first guide copper sleeve 10 is installed on the lower plate of the first fixed frame 19 via the first copper sleeve mounting plate 22. It is used to guide the measuring rod 14 to ensure that the measuring rod 14 is vertically downward and does not deflect laterally when entering the core, thus preventing damage to the core tube.

[0060] In this embodiment, the reactor internal component maintenance tooling conveying and positioning platform also includes a second gripping guide table 4, a second fixing frame 18, a second gripping cylinder 21, a second gripper 12, a second guide copper sleeve 13, and a second copper sleeve mounting plate 23.

[0061] The second gripping guide table 4 is installed on the second fixed frame 18, and the second fixed frame 18 is installed on the two inner columns 7;

[0062] The second gripper 12 and the second gripping cylinder 21 are installed on the lower plate of the second fixed frame 18; the output shaft of the second gripping cylinder 21 is connected to the second gripper 12, and the extension and retraction of the output shaft of the second gripping cylinder 21 drives the second gripper 12 to open and close; the second gripper 12 is used to grip and fix the measuring rod 14 to prevent the measuring rod 14 from slipping.

[0063] The second guide copper sleeve 13 is mounted on the upper plate of the second fixed frame 18 via the second copper sleeve mounting plate 23. It is used to guide the measuring rod 14 to ensure that the measuring rod 14 is vertically downward and does not deflect laterally when entering the core, thus preventing damage to the core tube.

[0064] The first gripping guide table 3 and the second gripping guide table 4 have the same structure and are arranged symmetrically up and down. Both can be manually adjusted up and down in the Z-axis direction and then fixed by the pin 17.

[0065] In this embodiment, the reactor internal component maintenance tooling conveying and positioning platform also includes a third guide copper sleeve 9; the third guide copper sleeve 9 is installed on the bottom platform 1 through a connecting plate and a matching outer sleeve.

[0066] In this embodiment, the platform 15 can make micro-movements in the Y-axis direction, causing the bushing 16 and measuring rod 14 on it to be coaxial with the first guide copper bushing 10, the second guide copper bushing 13 and the third guide copper bushing 9 below.

[0067] In this embodiment, the reactor internal component maintenance tooling transport and positioning platform also includes a base extension device 8, and the bottom platform 1 is connected to the base extension device 8.

[0068] In this embodiment, the measuring rod 14 is equipped with different maintenance tools to complete underwater operations such as video inspection, optical auxiliary inspection, verticality measurement, long-distance measurement, inner diameter measurement, and underwater processing.

[0069] As a transmission and positioning platform for the maintenance tooling of reactor internals, the platform is designed with radiation-resistant components and local radiation-resistant shielding modules. The equipment has a radiation tolerance limit of 50 mSv / h. The maintenance tooling has the ability to work in boron-containing water at 20m and 45℃ through air pressure and a sealed structure.

[0070] See Figure 5 This embodiment also provides a control system for a reactor internals maintenance tooling conveying and positioning platform, including:

[0071] The main control cabinet is used to receive operation instructions sent by the operation box, generate corresponding control signals according to the operation instructions, and send them to the corresponding power system or hydraulic system.

[0072] The operation box is used to input operation commands and send them to the main control cabinet;

[0073] The power system is used to receive control signals from the main control cabinet and drive the X-axis positioning platform 2, Y-axis positioning platform 6 and Z-axis conveying platform 5 to perform corresponding movements according to the control signals.

[0074] The hydraulic system is used to receive control signals from the main control cabinet and drive the first gripping cylinder 20 and the second gripping cylinder 21 to perform gripper opening and closing actions according to the control signals.

[0075] In this embodiment, the operation box includes a touch screen and control buttons; the main control cabinet includes a PLC;

[0076] The touchscreen, connected to the PLC via a signal cable, is used for human-machine interaction, allowing users to input operation commands via control buttons and send operation commands to the PLC.

[0077] A PLC is used to receive operation commands sent from a touchscreen and generate control signals.

[0078] In this embodiment, the power system includes a servo driver, a servo motor, and an encoder; there are three of each of the driver, servo motor, and encoder, and they correspond one-to-one, so as to achieve precise control over the movement direction, speed, and positioning of the X-axis positioning platform 2, the Y-axis positioning platform 6, and the Z-axis conveying platform 5.

[0079] The PLC is used to send control signals to the servo drive. The servo drive is installed in the main control cabinet and is connected to the servo motor through a power cable and to the PLC through a control cable. It is used to receive control signals sent by the PLC, output the corresponding working current, drive the servo motor to work, thereby controlling the output of the servo motor and realizing precise control of the movement direction, speed and positioning of the X-axis positioning platform 2, Y-axis positioning platform 6 and Z-axis conveying platform 5.

[0080] The encoder is coaxially mounted on the servo motor and connected to the servo driver via a signal cable. It is used to monitor the servo motor status in real time and send the servo motor status data to the servo driver. The servo driver is also used to receive the servo motor status data sent by the encoder and send it to the PLC. The PLC is also used to receive the servo motor status data sent by the servo driver and send it to the touch screen. The touch screen is also used to receive the servo motor status data sent by the PLC and display it.

[0081] In this embodiment, the PLC establishes a three-dimensional coordinate system and uses a servo motor encoder for precise positioning; the touch screen can set three-dimensional movement coordinates, and the PLC controls the reactor internal component maintenance tooling conveying and positioning platform to move to the set three-dimensional movement coordinates according to the set three-dimensional movement coordinates; limit switches are provided at the ends of the X-axis, Y-axis and Z-axis of the reactor internal component maintenance tooling conveying and positioning platform for terminal positioning and protection.

[0082] In this embodiment, the encoder is a multi-turn absolute encoder.

[0083] In this embodiment, the hydraulic system includes a hydraulic pump, a pressure holding device, a solenoid valve, and a distribution box, which are used to drive the first gripping cylinder 20 and the second gripping cylinder 21 to perform gripper opening and closing actions.

[0084] The hydraulic pump, pressure holding device, and solenoid valve are connected in sequence to form a hydraulic circuit. The solenoid valve is connected to the first gripping cylinder 20 and the second gripping cylinder 21 through two hydraulic hose assemblies. The hydraulic hose assemblies are connected to the solenoid valves through quick-connect plugs. If the pressure gauge on the hydraulic circuit still shows pressure when the quick-connect plug is inserted or removed, the pressure needs to be released by reversing the operation to clamp the gripping cylinder. If there is still pressure in the hydraulic circuit, the quick-connect plug cannot be inserted or removed.

[0085] The pressure holding device is used to ensure that the pressure in the first gripping cylinder 20 and the second gripping cylinder 21 is stable at the set value, to prevent pressure fluctuations from causing the gripper to loosen, and to achieve reliable gripping of the gripper.

[0086] The distribution box is connected to the solenoid valve and hydraulic pump via power cables, providing power to the solenoid valve and hydraulic pump.

[0087] The PLC is connected to the clamping force sensor installed on the gripper via a signal cable. It is used to detect the clamping force of the gripper. Before executing the operation command sent by the touch screen, it determines the current state of the gripper based on the clamping force and performs gripper opening or closing. It also outputs control signals to the solenoid valve corresponding to the gripping cylinder connected to the gripper.

[0088] The PLC is connected to the solenoid valves and hydraulic pumps via control cables, and is also used to send control signals to the solenoid valves and hydraulic pumps; the solenoid valves and hydraulic pumps are also used to adjust the hydraulic oil volume accordingly based on the control signals sent by the PLC, so as to realize the action of the gripper.

[0089] In this embodiment, the hydraulic system operates at 380V AC and has a power of 1.5KW.

[0090] In this embodiment, the operation instructions include controlling the operation of the servo motor, changing the servo motor operation mode to adjust the servo motor output, thereby realizing the movement of the corresponding conveying and positioning platform; and adjusting the hydraulic pressure to realize the clamping, releasing and emergency stopping of the upper and lower grippers.

[0091] In this embodiment, the main control cabinet also includes a power system, relays, operation buttons, and indicator lights;

[0092] The power supply system is connected to the input terminal of the main circuit breaker via a power cable, and the output terminal of the main circuit breaker is connected to the power terminals of the PLC, servo driver, relay, operation button and indicator light via branch circuit breakers respectively.

[0093] The PLC's input terminals are connected to operation buttons, hydraulic pump pressure sensors, platform terminal limit switches, and field voltage and current protection devices via signal cables.

[0094] The PLC's output terminals are connected to the relay coil, the servo driver's control signal terminal, indicator lights, and solenoid valves via control cables.

[0095] The relay is connected to the PLC output terminal via a control cable to amplify the power and electrically isolate the control signals output by the PLC.

[0096] The main control cabinet provides the core power source, servo control mode, and hydraulic station control mode for the entire equipment, and receives signals from various servo motors, sensors, and various protection alarm signals.

[0097] In this embodiment, the main control cabinet operates at 220V AC and has a power consumption of 2.6KW.

[0098] In this embodiment, the control system is equipped with a servo motor self-test function and a gripper function self-test function;

[0099] After the control system is started, the servo motor self-test function is activated to check whether the servo motor status is normal, and the self-test result is displayed on the touch screen; the gripper function self-test function is activated to check whether the gripper function is normal, and the self-test result is displayed on the touch screen.

[0100] The touchscreen has a debugging interface and an operation interface. When the gripper function is not working properly, the debugging function can be used to debug the gripper function; after the gripper function is debugged to be normal, the operation interface is entered.

[0101] The operation interface has a "high speed" module, which is used to set the transmission speed of the conveying and positioning platform along a certain axis.

[0102] The user interface has an "axis running mode" module, which is used to set the platform's movement direction;

[0103] The user interface has a "Speed ​​Mode" module and a "Positioning Mode" module, which are used to set the movement mode of the delivery positioning platform.

[0104] In "Speed ​​Mode", the conveyor positioning platform moves along the set direction at a set speed; before moving, it checks whether the device can move along the set direction; if it can move, it moves after the set speed; if it has reached the movable limit in the set direction, it is prohibited from moving. At the same time, if the movable limit in the set direction is reached during the movement, the conveyor positioning platform will automatically stop moving.

[0105] In "Positioning Mode", the coordinates that the conveying positioning platform needs to reach on the X-axis, Y-axis and Z-axis are set. After starting, the conveying positioning platform will automatically move to the set coordinates and stop when it reaches the set coordinates, so as to achieve precise positioning within the set movement range. During the movement, it will detect whether the set movement range exceeds the movable range. If it exceeds the range, the movement of the conveying positioning platform will be prohibited.

[0106] The user interface features a "gripper" module, which includes "grab," "release," "disable," and "allow" control buttons.

[0107] Clicking the "Gripper" module provides "Grip" and "Release" control buttons for selection. Selecting either the "Grip" or "Release" control button prompts a pop-up window to indicate whether gripper action is required, and provides "Disable" and "Allow" control buttons for selection. Clicking the "Disable" control button will prevent the gripping cylinder from moving, and the gripper will remain in its original state. Clicking the "Allow" control button will execute the gripping cylinder action, and the gripper will either open or tighten.

[0108] See Figure 6 The following section uses the survey of the observation port of a heavy water reactor as an example to introduce the operation of the reactor internal components transport and positioning platform control system:

[0109] Step 1: Start the control system. After the control system starts, the servo motor self-test function will be activated to check whether the servo motor status is normal. The self-test results will be displayed on the touch screen. If there is a fault, it needs to be checked and dealt with. After the repair is completed, the self-test will be performed again. If the self-test is qualified, proceed to the next step.

[0110] Step 2, gripper test: Start the gripper function self-test. If the gripper function is not normal, you need to debug the gripper through the debugging interface of the touch screen. After the debugging is normal, enter the operation interface of the touch screen.

[0111] Step 3, Equipment Operation: Operators can set the transmission speed of the conveyor positioning platform along a certain axis by clicking the "High / Low Speed ​​Selection" module on the operation interface; set the movement direction of the conveyor positioning platform by clicking the "Axis Running Mode" module; and set the movement mode of the conveyor positioning platform by clicking the "Speed ​​Mode" or "Positioning Mode" module.

[0112] Step 4, Measurement Work: By clicking the "Gripper" module on the operation interface, select whether the gripper action is required according to the pop-up prompts. Clicking the "Disable" control button will prevent the gripper from moving and keep it in its original state; clicking the "Allow" control button will execute the gripping cylinder action, and the gripper will open or tighten.

[0113] During the measurement process, a hoisting device is connected to the measuring rod. The gripper is opened, and the measuring rod is slowly lowered until it reaches a position where it is convenient to tighten the thread. Then, the gripper is closed to hold the measuring rod tightly and prevent it from falling. The extension measuring rod is hoisted and threadedly connected to the standard measuring rod. The gripper is then opened, and the hoisting measuring rod and the extension measuring rod are slowly lowered. This process is repeated until the head of the measuring rod reaches the designated position, at which point the measurement and surveying work can be carried out.

[0114] The reactor internals maintenance tooling transport and positioning platform and control system of the present invention are used for transporting and positioning reactor internals maintenance tooling, including the following steps:

[0115] After the conveying and positioning platform is installed in the working position, the positions of the first gripping guide table 3 and the second gripping guide table 4 are adjusted and then fixed by the pin 17.

[0116] A standard measuring rod 14 is gripped securely by the first gripper 11 on the first gripping guide table 3 and the second gripper 12 on the second gripping guide table 4; the positions of the first guide copper sleeve 10 on the first gripping guide table 3 and the second guide copper sleeve 13 on the second gripping guide table 4 are determined by the measuring rod 14, and the first copper sleeve mounting plate 22 and the second copper sleeve mounting plate 23 are fixed with screws; at this time, the axis of the first guide copper sleeve 10 on the first gripping guide table 3 and the second guide copper sleeve 13 on the second gripping guide table 4 is determined.

[0117] By controlling the X and Y axes of the maintenance tool to move via the touch screen of the control system, and with the precise positioning of the position mode, the axis of the standard measuring rod 14 is made to coincide with the axis of the base extension device 8, and the power system is locked in place.

[0118] Connect the hoisting equipment to the standard measuring rod 14, open the first gripper 11 and the second gripper 12, and slowly lower the standard measuring rod 14. After reaching a position that is convenient for screwing in the thread, close the first gripper 11 and the second gripper 12 to grip the standard measuring rod 14 and prevent it from falling off.

[0119] After hoisting the extended measuring rod and threading it to the standard measuring rod 14, open the first gripper 11 and the second gripper 12. Hoist the standard measuring rod 14 and the extended measuring rod slowly down, repeating the operation until the detection head reaches the designated position, and then carry out measurement and surveying work. In the process of increasing the number of extended measuring rods, the first gripper 11 and the second gripper 12 repeatedly grip and release. The first gripper 11 and the second gripper 12 at the front end of the gripping cylinder can grip and fix the standard measuring rod 14 to prevent slippage. The first guide copper sleeve 10, the second guide copper sleeve 13 and the third guide copper sleeve 9 are used for guidance to ensure that the measuring rod 14 is vertically downward and does not deviate laterally when entering the core, thus preventing damage to the core tube.

[0120] The reactor internal component maintenance tooling transport and positioning platform and control system of this embodiment are multi-functional. By carrying different maintenance tools, it can complete underwater on-site survey, video inspection, optical auxiliary inspection, coaxiality measurement, verticality measurement, long distance measurement, inner diameter measurement, underwater processing and other tasks, ensuring the measurement accuracy of the maintenance tooling during the inspection process and preventing collisions with equipment inside the reactor core.

[0121] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A platform for conveying and positioning maintenance tools for reactor internals, characterized in that, It includes a bottom platform (1), an X-axis positioning platform (2), a Z-axis conveying platform (5), a Y-axis positioning platform (6), a column (7), a measuring rod (14), a table (15), and a bushing (16); the maintenance fixture is fixed on the measuring rod (14); There are four columns (7), all of which are vertically installed on the X-axis positioning platform (2); the Y-axis positioning platform (6) is installed on the bottom platform (1) via two slide rails to achieve Y-axis movement; the X-axis positioning platform (2) is installed on the Y-axis positioning platform (6) via two slide rails to achieve X-axis movement; the Z-axis conveying platform (5) is installed on the two outer columns (7) to achieve Z-axis movement; the platform (15) is installed on the Z-axis conveying platform (5) via two rails to achieve micro-Y-axis movement; the bushing (16) is installed on the platform (15) to fix the measuring rod (14).

2. The reactor internals maintenance tooling conveying and positioning platform according to claim 1, characterized in that, It also includes a first gripping guide table (3), a first fixing frame (19), a first gripping cylinder (20), a first gripper (11), a first guide copper sleeve (10), and a first copper sleeve mounting plate (22). The first gripping guide platform (3) is installed on the first fixed frame (19), and the first fixed frame (19) is installed on the two inner columns (7); The first gripper (11) and the first gripping cylinder (20) are mounted on the upper plate of the first fixed frame (19); the output shaft of the first gripping cylinder (20) is connected to the first gripper (11), and the extension and retraction of the output shaft of the first gripping cylinder (20) drives the first gripper (11) to open and close; the first gripper (11) is used to grip and fix the measuring rod (14). The first guide copper sleeve (10) is installed on the lower plate of the first fixed frame (19) through the first copper sleeve mounting plate (22) to guide the measuring rod (14) and ensure that the measuring rod (14) is vertically downward.

3. The reactor internals maintenance tooling conveying and positioning platform according to claim 2, characterized in that, It also includes a second gripping guide table (4), a second fixed frame (18), a second gripping cylinder (21), a second gripper (12), a second guide copper sleeve (13), and a second copper sleeve mounting plate (23). The second gripping guide platform (4) is installed on the second fixed frame (18), and the second fixed frame (18) is installed on the two inner columns (7); The second gripper (12) and the second gripping cylinder (21) are installed on the lower plate of the second fixed frame (18); the output shaft of the second gripping cylinder (21) is connected to the second gripper (12), and the extension and retraction of the output shaft of the second gripping cylinder (21) drives the second gripper (12) to open and close; the second gripper (12) is used to grip and fix the measuring rod (14). The second guide copper sleeve (13) is installed on the upper plate of the second fixed frame (18) through the second copper sleeve mounting plate (23) to guide the measuring rod (14) and ensure that the measuring rod (14) is vertically downward.

4. The reactor internals maintenance tooling conveying and positioning platform according to claim 3, characterized in that, It also includes a third guide copper sleeve (9); the third guide copper sleeve (9) is installed on the bottom platform (1) through a connecting plate and a matching outer sleeve; The platform (15) achieves micro-movement in the Y-axis direction, which drives the bushing (16) and measuring rod (14) on it to be coaxial with the first guide copper bushing (10), the second guide copper bushing (13) and the third guide copper bushing (9) below.

5. The reactor internals maintenance tooling conveying and positioning platform according to claim 3, characterized in that, It also includes a base extension device (8), and the bottom platform (1) is connected to the base extension device (8).

6. A control system for a reactor internals maintenance tooling conveying and positioning platform, characterized in that, The reactor internals maintenance tooling conveying and positioning platform according to any one of claims 1-5 includes: The main control cabinet is used to receive operation instructions sent by the operation box, generate corresponding control signals according to the operation instructions, and send them to the corresponding power system or hydraulic system. The operation box is used to input operation commands and send them to the main control cabinet; The power system is used to receive control signals from the main control cabinet and drive the X-axis positioning platform (2), Y-axis positioning platform (6) and Z-axis conveying platform (5) to perform corresponding movements according to the control signals. The hydraulic system is used to receive control signals from the main control cabinet and drive the first gripping cylinder (20) and the second gripping cylinder (21) to perform gripper opening and closing actions according to the control signals.

7. The reactor internals maintenance tooling conveying and positioning platform control system according to claim 6, characterized in that, The operator box includes a touch screen and control buttons; the main control cabinet includes a PLC. The touchscreen, connected to the PLC via a signal cable, is used for human-machine interaction, allowing users to input operation commands via control buttons and send operation commands to the PLC. A PLC is used to receive operation commands sent from a touchscreen and generate control signals.

8. The reactor internals maintenance tooling conveying and positioning platform control system according to claim 7, characterized in that, The power system includes a servo driver, a servo motor and an encoder; there are three of each of the driver, servo motor and encoder, and they correspond one-to-one to realize the control of the movement direction, speed and positioning of the X-axis positioning platform (2), the Y-axis positioning platform (6) and the Z-axis conveying platform (5); The PLC is used to send control signals to the servo drive. The servo drive is installed in the main control cabinet and is connected to the servo motor through the power cable and to the PLC through the control cable. It is used to receive the control signals sent by the PLC, output the corresponding working current, drive the servo motor to work, thereby controlling the output of the servo motor and realizing the control of the movement direction, speed and positioning of the X-axis positioning platform (2), Y-axis positioning platform (6) and Z-axis conveying platform (5). The encoder is coaxially mounted on the servo motor and connected to the servo driver via a signal cable. It is used to monitor the servo motor status in real time and send the servo motor status data to the servo driver. The servo driver is also used to receive the servo motor status data sent by the encoder and send it to the PLC. The PLC is also used to receive the servo motor status data sent by the servo driver and send it to the touch screen. The touch screen is also used to receive the servo motor status data sent by the PLC and display it.

9. The reactor internals maintenance tooling conveying and positioning platform control system according to claim 7, characterized in that, The hydraulic system includes a hydraulic pump, a pressure holding device, a solenoid valve and a distribution box, used to drive the first gripping cylinder (20) and the second gripping cylinder (21) to perform gripper opening and closing actions; The hydraulic pump, pressure holding device and solenoid valve are connected in sequence to form a hydraulic circuit; the solenoid valve is connected to the first gripping cylinder (20) and the second gripping cylinder (21) through two hydraulic hose assemblies respectively; the hydraulic hose assembly is connected to the solenoid valve through a quick-connect plug. A pressure-holding device is used to ensure that the pressure in the first gripping cylinder (20) and the second gripping cylinder (21) is stable at a set value; The distribution box is connected to the solenoid valve and hydraulic pump via power cables, providing power to the solenoid valve and hydraulic pump. The PLC is connected to the clamping force sensor installed on the gripper via a signal cable. It is used to detect the clamping force of the gripper. Before executing the operation command sent by the touch screen, it determines the current state of the gripper based on the clamping force and performs gripper opening or closing. It outputs control signals to the solenoid valve corresponding to the gripping cylinder connected to the gripper. The PLC is connected to the solenoid valves and hydraulic pumps via control cables, and is also used to send control signals to the solenoid valves and hydraulic pumps; the solenoid valves and hydraulic pumps are also used to adjust the hydraulic oil volume accordingly based on the control signals sent by the PLC, so as to realize the action of the gripper.

10. The reactor internals maintenance tooling conveying and positioning platform control system according to claim 7, characterized in that, The main control cabinet also includes a power system, relays, operation buttons, and indicator lights; The power supply system is connected to the input terminal of the main circuit breaker via a power cable, and the output terminal of the main circuit breaker is connected to the power terminals of the PLC, servo driver, relay, operation button and indicator light via branch circuit breakers respectively. The PLC's input terminals are connected to the operation buttons, hydraulic pump pressure sensor, platform terminal limit switch, and field protection devices via signal cables. The PLC's output terminals are connected to the relay coil, the servo driver's control signal terminal, indicator lights, and solenoid valves via control cables. The relay is connected to the PLC output terminal via a control cable to amplify the power and electrically isolate the control signals output by the PLC.

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