Sealing surface defect repairing device

Abstract

The invention provides a sealing surface defect repairing device which is used for solving the problem that a sealing surface defect repairing device for a CSNS target body supporting seat is lacked at present. The device comprises a detection module which comprises an image detection camera and laser measurement equipment; the image detection camera is used for acquiring a contour image of a target sealing surface, and the laser measurement equipment is used for acquiring a depth point cloud and sealing surface parameters of the target sealing surface; the control module communicates with the image detection camera and the laser measurement equipment and is used for generating a control instruction according to the contour image, the depth point cloud and the sealing surface parameters; the operation module comprises a milling mechanism and a welding repair mechanism and communicates with the control module; the welding repair mechanism is used for conducting welding repair on the target sealing face according to the control instruction, and the milling mechanism is used for conducting milling removal on impurities before welding repair and / or excess weld metal after welding repair on the target sealing face according to the control instruction.

Description

Technical Field

[0001] This application relates to the technical fields of mechanical engineering and automated testing, and more specifically, to a device for repairing defects in sealing surfaces. Background Technology

[0002] A sealing surface is a contact surface used to achieve a sealing function in order to prevent media leakage. The main parameters of this sealing surface include roughness, flatness, and leakage rate. After repair, the material hardness of the sealing surface is improved compared to the original material.

[0003] Current sealing surface repair methods mostly rely on manual methods for defect repair. For example, before repair, the area to be repaired is cleaned and then polished. The repair effect is then verified by visual inspection using a reflective mirror or by touching the surface through cotton gloves. However, in high-radioactive environments such as nuclear facilities, high-vacuum systems, and / or high-pressure containers, manual defect repair is not feasible. For instance, in the hot chamber of the China Spallation Neutron Source (CSNS) target station, the sealing surface of the CSNS target support must withstand harsh environments such as high temperature, high pressure, and radiation to prevent the leakage of radioactive materials or process media. Therefore, there is currently a lack of defect repair devices for the sealing surfaces of CSNS target support. Summary of the Invention

[0004] The purpose of this application is to provide a sealing surface defect repair device to improve the current lack of sealing surface defect repair devices for CSNS target support seats.

[0005] This application provides a sealing surface defect repair device, including: a detection module, comprising an image detection camera and a laser measuring device; the image detection camera is used to acquire a contour image of the target sealing surface, and the laser measuring device is used to acquire a depth point cloud and sealing surface parameters of the target sealing surface; a control module, communicating with the image detection camera and the laser measuring device, is used to generate control commands based on the contour image, depth point cloud, and sealing surface parameters; and a working module, comprising a milling mechanism and a welding repair mechanism, communicating with the control module; the welding repair mechanism is used to weld and repair the target sealing surface according to the control commands, and the milling mechanism is used to mill and remove impurities on the target sealing surface before welding and / or excess height after welding according to the control commands. In the implementation of the above solution, the detection camera and laser measurement equipment in the sealing surface defect repair device work together to accurately identify the contour image, depth point cloud and sealing surface parameters of the target sealing surface. This enables the operation module to perform repair operations such as welding, milling to remove impurities before welding and / or excess height after welding based on the control commands generated by these precise data. This provides an automated detection-analysis-execution closed-loop system sealing surface defect repair device, which significantly improves the repair efficiency of sealing surface defects.

[0006] Optionally, in this embodiment, the welding repair mechanism includes: a welding repair motor, which communicates with a control module and is used to perform rotational motion according to control commands; a welding repair screw, which is connected to the output shaft of the welding repair motor and is used to convert the rotational motion of the welding repair motor into linear motion; a welding torch slide, which is movably connected to the welding repair screw and is used to adjust the relative displacement between the welding repair mechanism and the welding repair screw through the linear motion of the welding repair screw; a steering block, which is angularly connected to the welding torch slide and is used to adjust the direction angle of the welding repair mechanism according to control commands; and a welding torch, which is fixedly connected to the steering block and is used to weld the target sealing surface according to the direction angle of the welding repair mechanism.

[0007] Optionally, in this embodiment, the milling mechanism includes: an electric spindle, which communicates with the control module and is used to perform rotational motion according to control commands; a spindle clamp, which is connected to the electric spindle via a shaft and is used to transmit the rotational motion of the electric spindle; and a milling cutter, which is used to mill and remove the target sealing surface under the drive of the rotational motion of the electric spindle. In the implementation of the above solution, the rotational motion is converted into linear motion by the lead screw driven by the welding repair motor, and the direction of the welding gun is dynamically adjusted by combining the adjustable angle steering block. This allows the welding gun to adaptively adjust its spatial posture in real time according to the defect shape and position of the target sealing surface, breaking through the limitations of traditional welding repair equipment that requires manual preset of fixed angles or reliance on robotic arm trajectory planning. Through the linkage structure of lead screw-slide block-steering block, high-precision fitting and multi-dimensional flexible welding repair of the welding gun in complex curved surfaces or irregular defect areas are achieved, significantly improving the flexibility and repair quality of welding repair operations.

[0008] Optionally, in this embodiment, the sealing surface defect repair device further includes: a chip collection module; the chip collection module includes: a chip collection motor, which communicates with the control module and is used to rotate according to control commands; a chip collection screw, which is connected to the output shaft of the chip collection motor and is used to convert the rotational motion of the chip collection motor into linear motion; a movable sleeve, which is movably connected to the chip collection screw and is used to form a sealed cavity with the target sealing surface when it moves linearly to the target sealing surface under the drive of the chip collection screw; and a chip suction pipe, which is connected to the movable sleeve and is used to suck up the chips generated during the milling cutter operation from the sealed cavity when a sealed cavity is formed with the target sealing surface. In the implementation of the above solution, the moving sleeve is driven by the lead screw to dynamically fit with the target sealing surface to form a sealed cavity, and the milling debris is sucked up in real time by the suction pipe. This mechanical linkage structure realizes the dynamic construction of the sealed space, ensuring that during the high-precision milling operation, the debris is completely confined to the local sealed area and efficiently extracted. This not only avoids the interference of debris splashing on the repair quality of the sealing surface, but also significantly improves the cleanliness of the working environment.

[0009] Optionally, in this embodiment, the chip collection module further includes: a transparent sealing cover, fitted over the outside of the welding gun of the welding repair mechanism, used to form a covered cavity with the target sealing surface when the welding gun is welding the target sealing surface; and an aerosol collection tube, connected to the transparent sealing cover, used to adsorb the aerosol generated by the welding repair mechanism from the covered cavity when the covered cavity is formed with the target sealing surface. In the implementation of the above solution, by simultaneously achieving efficient collection of high-temperature aerosols (such as metal oxide particles and volatile harmful gases) generated during welding repair, the limitations of traditional welding repair equipment that only focuses on mechanical chip removal are overcome. The transparent sealing cover not only ensures real-time visual monitoring of the welding repair process by the operator, but also significantly improves the interception rate of submicron-level aerosol particles through the negative pressure adsorption effect of the aerosol collection tube.

[0010] Optionally, in this embodiment, the sealing surface defect repair device further includes: a spare tool magazine; the spare tool magazine includes: a tool magazine motor, which communicates with the control module and is used to rotate according to control commands; a tool magazine reducer, which is movably connected to the output shaft of the tool magazine motor and is used to control the speed of the rotation according to the control commands; a drive wheel, which is connected to the output shaft of the tool magazine reducer and is used to trigger the spare tool magazine to rotate at a preset angle under the drive of the rotation; an indexing groove wheel, which cooperates with the drive wheel and is used to convert the continuous rotation of the tool magazine motor into intermittent rotation of the spare tool magazine at a preset angle; and a tool holder, which is fixedly connected to the indexing groove wheel and is used to drive the tool holder to rotate intermittently at a preset angle under the drive of the intermittent rotation of the indexing groove wheel. The tool holder is provided with a tool sleeve, which is used to set the spare milling cutter that needs to be replaced by the milling mechanism, and / or the milling cutter that has been replaced. In the implementation of the above scheme, the spare tool magazine converts the continuous rotation of the tool magazine motor into precise intermittent rotation through the indexing groove wheel, and combined with the speed control of the tool magazine reducer, it realizes high-precision, low-inertia tool positioning and replacement. Through the "fixed angle-fixed position" characteristic of intermittent rotation, the repetitive positioning error when the tool holder rotates to the target tool holder each time is reduced, thereby realizing the function of tool replacement in a confined space.

[0011] Optionally, in this embodiment, the sealing surface defect repair device further includes: a tool anti-drop device; the tool anti-drop device includes: a storage box, which is set on the side of the spare tool magazine near the ground to prevent the milling cutters in the spare tool magazine from falling to the ground during replacement. In the implementation of the above solution, by setting a storage box at the bottom of the spare tool magazine, the risk of tools accidentally falling off due to vibration, impact or operational errors in traditional tool changing mechanisms is overcome. For the first time, the dynamic anti-fall function of tools is deeply integrated with the mechanical structure of the tool magazine. By utilizing the physical bearing characteristics of the storage box and combining the geometric constraints of the tool magazine's rotation trajectory, the tools are always kept in a confined space during the replacement process, avoiding tool slippage accidents caused by gravity or mechanical clearance. Simultaneously, the automatic recycling of old tools and the pre-loading and positioning of new tools are realized, and the entire tool replacement process is incorporated into automated closed-loop control, significantly improving the reliability of tool changing in high-vibration environments (such as milling operations).

[0012] Optionally, in this embodiment of the application, the sealing surface defect repair device further includes: a motion mechanism, which includes: a crossbeam, movably connected to the detection module and the operation module, for lateral movement according to control commands; a bed, movably connected to the crossbeam, for supporting the crossbeam, the detection module and the operation module; an upper slide, fixedly connected to the crossbeam, for realizing the lateral movement of the crossbeam; and a lower base, which is located on the side of the bed away from the ground, for cooperating with the upper slide to realize the lateral sliding between the crossbeam and the bed.

[0013] Optionally, in this embodiment, the sealing surface defect repair device further includes: a counterweight balancing device, comprising: a balancing motor mounted on the crossbeam for driving the crossbeam to move laterally according to control commands; a lifting rod for lifting under the drive of the balancing motor; and a counterweight block movably connected to the lifting rod for lifting under the movement of the lifting rod when the crossbeam is cantilevered, thereby achieving balance adjustment using the counterweight of the sealing surface defect repair device. In the implementation of the above scheme, through the coordinated design of the balancing motor, lifting rod, and counterweight block, combined with a modularly integrated detection and operation module, high-precision, low-inertia lateral movement, lifting movement, and lateral lifting composite motion control are achieved. Simultaneously, the modular, separate design allows the detection and operation module to be calibrated independently, significantly improving spatial consistency during multi-process collaborative operations.

[0014] Optionally, in this embodiment, the sealing surface defect repair device further includes: a motor quick-change device, which includes: a quick-change base fixedly connected to the bed; a female connector movably connected to the quick-change base; a flexible chuck for descending when gripped and lowered by a robotic arm, or ascending when gripped and lifted by a robotic arm; a male connector fixedly connected to the flexible chuck for disengaging from the female connector during the ascending movement of the flexible chuck, or docking with the female connector during the descending movement of the flexible chuck; a guide rod fixedly connected to the male connector for directional guidance during docking or disengagement of the male and female connectors; a guide groove fixedly connected to the female connector for cooperating with the guide rod to complete directional guidance and constraint during docking or disengagement of the male and female connectors; a vertical slider slidably connected to the male connector for allowing the male connector to slide vertically during docking or disengagement of the male and female connectors; and a horizontal slider slidably connected to the female connector for allowing the female connector to slide horizontally during docking or disengagement of the male and female connectors. In the implementation of the above scheme, the counterweight is dynamically adjusted by using a balance motor to drive a reducer, which in turn drives the template and the lifting rod. This overcomes the limitations of traditional static counterweights that rely on fixed mechanical structures. The linkage mechanism of the motor-reducer-lifting rod is coupled with the cantilever motion of the crossbeam in real time, allowing the counterweight to adaptively adjust its vertical position according to the load changes of the crossbeam's lateral movement (such as instantaneous torque fluctuations during milling or welding), thereby dynamically balancing the cantilever torque of the crossbeam (similar to the active control of a crane's luffing balancing system). Simultaneously, the vertical movement of the lifting rod eliminates lateral displacement errors through the guiding constraint of the moving template, making the counterweight adjustment process both highly sensitive and mechanically rigid. This improves the "swaying-instability-precision reduction" chain problem caused by sudden load changes in traditional cantilever structures.

[0015] Optionally, in this embodiment, the sealing surface defect repair device further includes: a lifting clamp; the lifting clamp includes: a lifting lug, disposed on the side of the bed; a lifting bracket, used for lowering or raising the lifting device during operation; and a lifting claw, disposed on the side of the lifting bracket near the lifting lug, used to grip the lifting lug when the sealing surface defect repair device needs to be lifted, or to release the lifting lug when the sealing surface defect repair device needs to be lifted. In the implementation of the above solution, through the linkage design of the lifting claw and the lifting lug, combined with the lifting and lowering movement of the lifting bracket, the automation and precise positioning of the lifting operation are achieved, breaking through the limitations of traditional lifting that relies on manual support or complex mechanical locking. Compared with traditional lifting clamps that rely on multi-point fixing or manual intervention, this solution improves the lifting accuracy and significantly reduces the difficulty of operation and safety hazards through the integration of mechanical structure and control logic.

[0016] Optionally, in this embodiment, the sealing surface defect repair device further includes: a lifting guide clamp, which includes: a guide support, disposed on the side of the bed closest to the ground; and a guide rod, fixedly connected to the guide support, used for directional guidance during operation of the lifting equipment. In the implementation of the above solution, through the physical constraint design of the guide support and guide rod, the lifting equipment always moves along a preset direction during lifting, avoiding left or right deviation or rotation. This overcomes the positioning inaccuracy problem caused by equipment shaking or operational deviation in traditional lifting operations. For the first time, mechanical guidance and lifting trajectory control are deeply integrated. Compared to traditional lifting clamps that rely on manual observation or auxiliary positioning tools, this solution reduces the straightness error of the lifting trajectory through the fixed support of the guide support and the dynamic guidance of the guide rod. This not only significantly improves the precise alignment capability of the lifting equipment with the sealing surface defect repair device, but also replaces the traditional pneumatic or hydraulic correction system with physical limits, reducing equipment complexity and energy consumption.

[0017] Optionally, in this embodiment, the sealing surface defect repair device further includes: an automatic leveling device, comprising: a leveling motor communicating with a control module for rotating according to control commands; a leveling reducer movably connected to the output shaft of the leveling motor for controlling the speed of the rotating motion according to control commands; and a pad, positioned on the side of the bed closest to the ground, which, driven by the rotating motion, changes its height to adjust the levelness of the sealing surface defect repair device. In the implementation of the above solution, the height of the pad is changed by the linkage between the leveling motor and the reducer. Utilizing the rotation-lifting linkage mechanism of the pad, the control module monitors and adjusts the height of the pad in real time. This overcomes the complex structure of traditional leveling that relies on hydraulic or mechanical levers, and for the first time integrates a compact leveling mechanism that converts rotational motion into vertical displacement with the sealing surface repair device, improving the chain problem of "workpiece tilting - decreased repair accuracy" caused by uneven ground in traditional repair equipment.

[0018] Optionally, in this embodiment, the detection module further includes: a movable lifting rod, movably linked to the image detection camera and the laser measuring device, for moving the image detection camera and the laser measuring device along the lifting direction; and a detection bracket, movably connected to the movable lifting rod, for moving the image detection camera and the laser measuring device along the extension direction of the detection bracket and adjusting the distance between the image detection camera and the laser measuring device; wherein, the image detection camera is also used to monitor the milling cutter operation process in the milling mechanism and the welding torch operation process in the welding repair mechanism. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 The diagram shown illustrates the connection relationship of the sealing surface defect repair device provided in the embodiment of this application; Figure 2 The diagram shown is a schematic of a remotely operated sealing surface defect repair device provided in the hot chamber of a CSNS target station according to an embodiment of this application. Figure 3 The diagram shown is a structural schematic of the detection module provided in an embodiment of this application; Figure 4 The diagram shown is a structural schematic of the sealing surface defect repair device provided in an embodiment of this application; Figure 5 The diagram shown is a structural schematic of the welding repair mechanism provided in an embodiment of this application. Figure 6 The diagram shown is a structural schematic of the chip collection module provided in an embodiment of this application. Figure 7 The diagram shown is a structural schematic of the spare tool magazine provided in an embodiment of this application; Figure 8 The diagram shown is a structural schematic of the tool anti-drop device provided in an embodiment of this application; Figure 9 The diagram shown is a structural schematic of the counterweight balancing device provided in an embodiment of this application; Figure 10 The diagram shown is a structural schematic of the motor quick-change device provided in an embodiment of this application; Figure 11 The diagram shown is a structural schematic of the lifting clamp provided in an embodiment of this application; Figure 12The diagram shown is a structural schematic of the hoisting guide clamp provided in an embodiment of this application; Figure 13 The diagram shown is a structural schematic of the automatic leveling device provided in an embodiment of this application.

[0021] Icons: 01-Bed; 02-Lower base; 03-Upper slide; 04-Slide ram; 05-Crossbeam; 06-Counterweight balancing device; 07-Lifting clamp; 08-Operating module; 09-Chip collection module; 10-Detection module; 11-Spare tool magazine; 12-Tool anti-drop device; 13-Lifting guide clamp; 14-Automatic leveling device; 15-Motor quick change device; 16-Control module; 100-Sealing surface defect repair device; 101-Robot arm; 102-Operating room cold chamber; 103-Viewing window; 104-Trailer rail; 105-Target station hot chamber; 106-Target support base; 107-Target trailer; 108-Concrete; 6001-Balance reducer; 6002-Balance motor; 6003-Counterweight base; 6004-Counterweight; 6005-Moving template; 6006-Guide post; 6007-Limit screw; 6008-Moving flange; 6009-Ball guide sleeve; 6010-Lifting rod; 6011-Foot; 6012-Fixed flange; 7001-Lifting bracket; 7002-Eye bolt; 7003-Locking nut; 7004-Threaded rod; 7005-Connecting plate; 7006-Spring; 7007-Lifting claw; 7008-Left push block; 7009-Right push block; 7010-Lifting base; 7011-Lifting lug; 810-Milling mechanism; 820-Welding repair mechanism; 8001-Electric spindle; 8002-Spindle clamp; 8003-Tool holder; 8004-End mill cutter; 8005-Welding repair motor; 8006-Welding repair screw; 8007-Motor base; 8008-Guide rail; 8009-Welding torch slide; 8010-Connecting block; 8011-Welding repair torch; 8012-Rotating block; 8013-Welding torch base; 9001-Guide rod; 9002-Moving sleeve; 9003-Chip collection screw; 9004-Fixed sleeve; 9005-Chip collection motor; 9006-Chip suction pipe; 9007-Card holder; 9008-Branch pipe; 9009-Main suction pipe; 9010-Switch valve; 9011-Aerosol collection pipe; 9012-Mounting bracket; 9013-Transparent sealing cover; 1001-Camera base; 1002-Connecting plate; 1003-Modible lifting rod; 1005-Rod fixing plate; 1006-Detection bracket; 1007-Bracket base; 1008-Laser measuring equipment; 1009-Image detection camera; 1101-Converter; 1102-Tool magazine reducer; 1103-Tool magazine motor; 1104-Drive wheel; 1105-Bearing housing; 1106-Indexing groove wheel; 1107-Tool holder; 1108-Tool shank; 1109-Tool post; 1201 - Storage box; 1202 - Left fixing bracket; 1203 - Eye bolt; 1204 - Right fixing bracket; 1205 - Supporting angle steel; 1301 - Guide support; 1302 - Left guide rod; 1303 - Right guide rod; 1401-Leveling reducer; 1402-Leveling motor; 1403-Locking nut; 1404-Spherical washer; 1405-Pan block; 1406-Sleeve; 1501-Flexible chuck; 1502-Quick-change motor; 1503-Quick-change base; 1504-Quick-change reducer; 1505-Vertical slider; 1506-Guide rod; 1507-Guide groove; 1508-Horizontal slider; 1509-Female connector support plate; 1510-Female connector; 1511-Male connector; 1512-Connecting rod; 1513-Male connector support plate. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in the embodiments of this application are for illustrative and descriptive purposes only and are not intended to limit the protection scope of the embodiments of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the embodiments of this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of the embodiments of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0023] Furthermore, the described embodiments are merely a part of the embodiments of this application, and not all of them. The components of the embodiments of this application described and illustrated herein can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed embodiments of this application, but merely to illustrate selected embodiments of this application.

[0024] It is understood that the terms "first" and "second" in the embodiments of this application are used to distinguish similar objects. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different. In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship. The term "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more groups (including two groups).

[0025] Current sealing surface repair solutions mostly rely on manual methods for defect repair. For example, before repair, the area to be repaired is cleaned manually, then polished. The repair effect is then verified by visual inspection with a reflective mirror or by touching the surface through cotton gloves. The sealing surface refers to the contact surface used to prevent media leakage and achieve a sealing function. The parameters of this sealing surface mainly include roughness, flatness, and leakage rate. After repair, the material hardness of the sealing surface is generally improved compared to the original material.

[0026] In high-radioactive environments such as nuclear facilities, high-vacuum systems, and / or high-pressure containers, defect repair cannot be performed manually. For example, in the hot chamber of the China Spallation Neutron Source (CSNS) target station, the sealing surface of the CSNS target support must withstand harsh environments such as high temperature, high pressure, and radiation to prevent the leakage of radioactive materials or process media. The target itself is the core component of the CSNS target station for neutron generation (e.g., a tungsten target sheet), and it is a component that can be replaced remotely (e.g., by using a robotic arm). The main function of the target support column is to support, position, and seal the target, and to deliver cooling water into the target through pipelines, distributing it to various flow channels to exchange heat with the target (e.g., the tungsten target sheet) through convection, thereby removing the heat generated by protons bombarding the target (e.g., the tungsten target sheet) to produce neutrons.

[0027] The repair device for the sealing surface defects of CSNS target support seats requires remote operation (i.e., teleoperation) under high radiation conditions. Furthermore, the target support seat is typically fixedly connected to the trailer system, making replacement extremely difficult. Considering the long service life, high radiation environment, cooling water erosion, and human error during target maintenance and replacement, the sealing surface of the target support seat may suffer corrosion, scratches, or impacts, thus reducing the overall sealing performance of the target. However, currently, there is a lack of a repair device for the sealing surface defects of CSNS target support seats.

[0028] For the above issues, please refer to Figure 1 The diagram shows the connection relationship of the sealing surface defect repair device provided in this application embodiment. This sealing surface defect repair device 100 can be used to detect and repair the target sealing surface of the CSNS target support 106, thereby providing preventative maintenance for defects on the sealing surface and minimizing the risk of process medium leakage leading to target station downtime. It provides a guarantee for preventative in-service periodic maintenance of the target support 106, reducing the frequency of component replacement and improving the utilization and maintenance efficiency of the CSNS target support 106. The aforementioned sealing surface defect repair device 100 may include: The detection module 10 includes an image detection camera 1009 and a laser measurement device 1008. The image detection camera 1009 is used to acquire the contour image of the target sealing surface, and the laser measurement device 1008 is used to acquire the depth point cloud and sealing surface parameters of the target sealing surface. Compared with methods that rely solely on camera photography or a combination of camera and visual assistance, the detection camera and laser measurement device 1008 in this sealing surface defect repair device 100 work together to accurately identify data such as the contour image, depth point cloud, and sealing surface parameters of the target sealing surface. This reduces the rate of missed defects on the target sealing surface while improving the detection effect. The contour image can be the contour image of the defect, and the depth point cloud can represent information such as the depth of cracks, welds, or defects. This depth point cloud can be processed by image processing software to obtain the three-dimensional morphological and location information of the defect.

[0029] The control module 16, also known as the control system hardware, can be in the shape of an electrically driven control cabinet (also known as an electrical control cabinet) or other hardware used for control. The control module 16 can communicate with the image inspection camera 1009 and the laser measurement device 1008. It can be connected via a wired connection from the cold chamber 102 of the operating room (as shown in the right-hand space of the control module 16 in the figure) to the operation module 08 on the sealing surface defect repair device 100 in the target station hot chamber 105 (as shown in the left-hand space of the target sealing surface in the figure). The control module 16 can generate control commands based on the contour image, depth point cloud, and sealing surface parameters, enabling the operation module 08 to perform defect repair operations according to the control commands, thereby realizing the function of remotely maintaining the target sealing surface of the CSNS target support 106.

[0030] Optionally, the control module 16 can also be communicatively connected to the detection module 10. The control module 16 can be wired from the cold chamber 102 of the operating room (the right space where the control module 16 is located in the figure) to the detection module 10 on the sealing surface defect repair device 100 in the hot chamber 105 of the target station (the left space where the target sealing surface is located in the figure) to control the acquisition time, acquisition duration, and / or acquisition direction of the image detection camera 1009 and the laser measurement device 1008, etc. The sealing surface parameters mentioned above may include: flatness, roughness, and / or leakage rate, etc. The flatness can be obtained by the control module 16 sending control commands to the detection module 10, so that the laser measurement device 1008 in the detection module 10 can measure multiple positions of the target sealing surface by laser dotting to obtain the flatness.

[0031] The operation module 08 includes a milling mechanism 810 and a welding repair mechanism 820, and communicates with the control module 16. The welding repair mechanism 820 is used to weld and repair the target sealing surface according to the control command, and the milling mechanism 810 is used to mill and remove impurities and / or excess height of the target sealing surface before welding and after welding according to the control command.

[0032] Optionally, the milling mechanism 810 described above can be mounted on the first robot arm (not shown) of the sealing surface defect repair device, which allows the milling mechanism 810 to rotate freely and flexibly. Similarly, the welding repair mechanism 820 described above can be mounted on the second robot arm (not shown) of the sealing surface defect repair device, which allows the welding repair mechanism 820 to rotate freely and flexibly.

[0033] In the implementation of the above solution, the detection camera and laser measurement equipment in the sealing surface defect repair device work together to accurately identify the contour image, depth point cloud and sealing surface parameters of the target sealing surface. This enables the operation module to perform repair operations such as welding, milling to remove impurities before welding and / or excess height after welding based on the control commands generated by these precise data. This provides an automated detection-analysis-execution closed-loop system sealing surface defect repair device, which significantly improves the repair efficiency of sealing surface defects.

[0034] Please see Figure 2 The diagram shown is a schematic of a remotely operated sealing surface defect repair device provided in the hot chamber of a CSNS target station according to an embodiment of this application. The detection module 10 and operation module 08 of the sealing surface defect repair device 100 are located inside the hot chamber 105 of the CSNS target station. A trailer rail 104 may be provided inside the hot chamber 105, and a target trailer 107 is provided on the trailer rail 104. A target support seat 106 is provided on one side of the target trailer 107. The control module 16 of the sealing surface defect repair device 100 is located in the cold chamber 102 of the operation room. A master robot 101 and a slave robot 101 are provided above the cold chamber 102 of the operation room. Since the hot chamber 105 of the CSNS target station is a high-radiation environment, concrete needs to be installed between the hot chamber 105 and the cold chamber 102 of the operating room. A viewing window 103 can be installed above or below the manipulator 101 in the concrete so that the real-time situation inside the hot chamber 105 can be seen from the cold chamber 102 of the operating room when the manipulator 101 is operated, so as to better complete the repair work of the sealing surface defects of the target support 106.

[0035] Please see Figure 3 The diagram shows a schematic of the structure of the detection module provided in this application embodiment; the detection module 10 may include an image detection camera 1009 and a laser measurement device 1008; the image detection camera 1009 is used to acquire the contour image of the target sealing surface, and the laser measurement device 1008 is used to acquire the depth point cloud and sealing surface parameters of the target sealing surface.

[0036] As an optional embodiment of the above-described device, the detection module 10 may further include: A movable lifting rod 1003 is movably linked to an image inspection camera 1009 and a laser measuring device 1008, allowing the image inspection camera 1009 and the laser measuring device 1008 to move along a lifting direction. A connecting plate 1002 can be installed below the movable lifting rod 1003, a camera base 1001 can be installed above the connecting plate 1002, and the image inspection camera 1009 can be installed above the camera base 1001. The laser measuring device 1008, which can be a laser rangefinder, can also be installed below the movable lifting rod 1003.

[0037] The inspection bracket 1006 is movably connected to the movable lifting rod 1003, and is used to move the image inspection camera 1009 and the laser measuring device 1008 along the extension direction of the inspection bracket 1006, and to adjust the distance between the image inspection camera 1009 and the laser measuring device 1008.

[0038] In addition to acquiring contour images of the sealing surface, the aforementioned image inspection camera can also be used to monitor the milling cutter operation process in the milling mechanism and the welding torch operation process in the welding repair mechanism. For example, a first image inspection camera is installed on one side of the machine bed, and the milling cutter operation process in the milling mechanism is monitored using the first image inspection camera. Correspondingly, a second image inspection camera is installed on the other side of the machine bed, and the welding torch operation process in the welding repair mechanism is monitored using the second image inspection camera.

[0039] It is understood that a detection bracket 1006 can be provided on one side of the bracket base 1007 (e.g., the left side of the bracket base 1007), and a rod fixing plate 1005 is provided at one end of the detection bracket 1006 (e.g., the rear end of the detection bracket 1006). The aforementioned movable lifting rod 1003 can be installed in the hole of the rod fixing plate 1005. The bracket base 1007, the detection bracket 1006, and the rod fixing plate 1005 work together to adjust the distance between the image detection camera 1009 and the laser measuring device 1008. The movable lifting rod 1003 also allows the image detection camera 1009 and / or the laser measuring device 1008 to move along the vertical direction, so as to freely and flexibly adjust the acquisition position of the image detection camera 1009 and / or the laser measuring device 1008 to meet the data acquisition requirements of the detection module 10.

[0040] In the above implementation process, the contour image and three-dimensional depth point cloud of the target sealing surface are acquired simultaneously through the synergistic effect of the image detection camera and the laser measurement equipment. Combined with the sealing surface parameters (such as defect depth, roughness, etc.), the defect is located at the millimeter level or even the sub-millimeter level, thereby improving the detection accuracy of the sealing surface defect repair device.

[0041] Please see Figure 4 The diagram shows a structural schematic of the sealing surface defect repair device provided in this application embodiment. As an optional implementation of the device, the sealing surface defect repair device 100 may further include a motion mechanism. This motion mechanism is used to allow the detection module 10 and the operation module 08 to move according to target sealing surfaces of different sizes and positions before performing detection and defect repair operations, thereby increasing the adaptability of the sealing surface defect repair device 100 to different sealing surfaces. The aforementioned motion mechanism may include: The crossbeam 05 is movably connected to the detection module 10 and the operation module 08. For example, the detection module 10 can be installed on both sides of the crossbeam 05, and the operation module 08 can be installed at one end of the crossbeam 05. The crossbeam 05 can be used to move laterally according to control commands.

[0042] The bed 01 is movably connected to the crossbeam 05 and is used to support the crossbeam 05, the detection module 10, and the operation module 08.

[0043] The upper slide 03 is fixedly connected to the crossbeam 05. The upper slide 03 can be positioned above the lower base 02 or below the crossbeam 05. When the upper slide 03 and the lower base 02 cooperate with each other, they can be used to realize the lateral movement between the crossbeam 05 and the bed 01.

[0044] The lower base 02 is located on the side of the bed 01 away from the ground, for example, the lower base 02 is located above the bed 01. The lower base 02 is used to cooperate with the upper slide 03 to realize the lateral sliding between the crossbeam 05 and the bed 01.

[0045] A motion motor (not shown in the figure) is used to perform rotational motion according to control commands.

[0046] A slide ram 04 can be installed at one end of the crossbeam 05. It is understood that one side of the slide ram 04 is connected to the crossbeam 05, and the other side is fixedly connected to the detection module 10 and / or the working module 08. This slide ram 04 is used to drive the detection module 10 and / or the working module 08 to move up and down under the rotational motion of the motion motor, thereby adjusting the height of the detection module 10 and / or the working module 08. After adjusting the height of the detection module 10 and / or the working module 08, detection and defect repair operations are performed, thereby increasing the adaptability of the sealing surface defect repair device 100 to different sealing surfaces.

[0047] As another embodiment of the above-mentioned motion mechanism, the motion mechanism can be a mechanism that allows the entire sealing surface defect repair device to move in the horizontal direction. For example, a caster wheel can be installed below the sealing surface defect repair device, and then the caster wheel can be driven to rotate by a motor according to the direction in the control command, thereby completing the function of moving in the direction in the control command.

[0048] Please see Figure 5 The diagram shows a structural schematic of the welding repair mechanism provided in this application embodiment; as an optional embodiment of the sealing surface defect repair device 100, the welding repair mechanism 820 may include: The welding repair motor 8005 communicates with the control module 16 to perform rotational motion according to control commands.

[0049] The welding screw 8006 is connected to the output shaft of the welding motor 8005 and is used to convert the rotational motion of the welding motor 8005 into linear motion.

[0050] The welding torch slide 8009 is movably connected to the welding repair screw 8006 and is used to adjust the relative displacement between the welding repair mechanism 820 and the welding repair screw 8006 through the linear movement of the welding repair screw 8006.

[0051] The steering block 8012 is angularly connected to the welding torch slide 8009 and is used to adjust the direction angle of the welding repair mechanism 820 according to control commands.

[0052] The welding gun 8011, fixedly connected to the steering block 8012, is used to weld the target sealing surface according to the direction angle of the welding mechanism 820. When using the welding gun 8011 to weld the target sealing surface, the welding gun 8011, which supports precision cold welding technology, can be used to weld defects on the target sealing surface. The excess height after welding can also be removed using a milling cutter 8004 that includes ultrasonic milling. It can be seen that the milling mechanism is not only used to remove impurities before welding, but also to automatically trim the excess height (weld protrusion) after welding, ensuring that the repaired sealing surface meets the design standards (such as flatness and surface roughness).

[0053] As an optional embodiment of the above-described device, the milling mechanism 810 may include: A milling motor (not shown) communicates with the control module 16. This milling motor can be independently installed inside the electric spindle. The milling motor can be used to perform rotary motion according to control commands. A milling screw can be installed below the milling motor, and guide rails 8008 can be installed on both sides of the milling screw. The guide rails 8008 can be installed below the welding torch slide 8009. It is understood that the milling motor can be mounted on a motor base 8007, which can be located at one end of the welding torch slide 8009.

[0054] The electric spindle 8001 communicates with the control module 16 and is used to rotate under the drive of the milling motor. It is understood that a tool holder 1108 can be provided below the electric spindle 8001. The tool holder 1108 is connected to the electric spindle 8001, so that the electric spindle 8001 drives the tool holder 1108 to rotate. During operation, a milling cutter 8004 is mounted on the tool holder 1108, thus allowing the electric spindle 8001 to indirectly drive the milling cutter 8004 through the tool holder 1108 to achieve the milling removal effect.

[0055] A spindle clamp 8002 is connected to the electric spindle 8001 via a shaft. The spindle clamp 8002 can be located at one end of the welding torch slide 8009. A connecting block 8010 can be provided at one end of the welding torch slide 8009, and a steering block 8012 can be provided on the connecting block 8010. The steering block 8012 is used to allow the welding torch in the welding repair mechanism 820 to rotate freely and flexibly. It can be understood that the aforementioned spindle clamp 8002 is used to transmit the rotational motion of the electric spindle 8001.

[0056] The milling cutter 8004 is used to mill and remove defects from the target sealing surface under the rotational motion of the electric spindle 8001. When milling and removing defects from the target sealing surface, the milling cutter 8004, which incorporates ultrasonic milling, can be used to remove defects and residual impurities from the target sealing surface. This allows for defect regularization and geometric shaping of defects, effectively achieving the effect of replacing grinding with milling.

[0057] Please see Figure 6 The diagram shows a structural schematic of the chip collection module provided in this application embodiment. As an optional embodiment of the above-described device, the sealing surface defect repair device 100 further includes: a chip collection module 09, which can be disposed between the working module 08 and the ground; in other words, the chip collection module 09 can be disposed below the working module 08, thereby collecting radioactive debris and aerosols generated by the working module 08 during the repair operation of the target sealing surface. The aforementioned chip collection module 09 may include: The chip collection motor 9005 communicates with the control module 16 and can be installed on one side of the slide 04 (e.g., on the left side of the slide 04). The aforementioned chip collection motor 9005 can be used to perform rotational motion according to control commands.

[0058] The chip collection screw 9003 is connected to the output shaft of the chip collection motor 9005 and can be positioned below the chip collection motor 9005. The aforementioned chip collection screw 9003 can be used to convert the rotational motion of the chip collection motor 9005 into linear motion under the drive of the chip collection motor 9005.

[0059] A fixed sleeve 9004 is located below the spindle clamp 8002, and a guide rod 1506 can be installed below the fixed sleeve 9004.

[0060] The movable sleeve 9002 is movably connected to the chip collecting screw 9003 and can be positioned below the fixed sleeve 9004. The movable sleeve 9002 is used to form a sealed cavity with the target sealing surface when it moves linearly to the target sealing surface under the drive of the chip collecting screw 9003.

[0061] The debris suction pipe 9006, connected to the movable sleeve 9002, can be installed on the outer wall of both the fixed sleeve 9004 and the movable sleeve 9002 to prevent interference between the debris suction pipe 9006 and the end mill 8004 during operation. The aforementioned debris suction pipe 9006 can be used to extract debris generated during the operation of the end mill 8004 from a sealed cavity formed with the target sealing surface.

[0062] Understandably, because automatic replacement of the milling cutter 8004 is required in case of tool breakage or chipping during milling operations, the aforementioned movable sleeve 9002 can move upwards to make room for the tool holder 1108, thus completing the automatic replacement of the milling cutter 8004. After completing the automatic replacement of the milling cutter 8004, the movable sleeve 9002 can be moved downwards so that it can move linearly to the target sealing surface under the drive of the chip collection screw 9003, forming a sealed cavity with the target sealing surface, and the chip suction pipe 9006 can suck up the chips generated by the milling cutter 8004 during operation from the sealed cavity.

[0063] As an optional embodiment of the above-described device, the chip collection module 09 may further include: The transparent sealing cover 9013 is fitted on the outside of the welding gun 8011 of the welding repair mechanism 820, and is used to form a covered cavity with the target sealing surface when the welding gun 8011 is welding the target sealing surface.

[0064] An aerosol collection pipe 9011 is connected to a transparent sealing cover 9013. This aerosol collection pipe 9011 can be located on one side of the switching valve 9010 (e.g., on the right side of the switching valve 9010) or above the transparent sealing cover 9013. The aforementioned aerosol collection pipe 9011 can be used to absorb aerosol generated by the welding repair mechanism 820 from a covered cavity formed with the target sealing surface.

[0065] A branch pipe 9008 is provided at one end of the slide ram 04 (for example, at the right end of the slide ram 04). Switch valves 9010 can be provided on both sides of the branch pipe 9008. A debris suction pipe 9006 can be provided on one side of the switch valve 9010. A retainer 9007 can be provided on the debris suction pipe 9006 for fixing the debris suction pipe 9006.

[0066] The main suction pipe 9009 is located above the branch pipes 9008. The main suction pipe 9009 is used to collect the media in each branch pipe 9008. For example, the debris in the debris suction pipe 9006 and the aerosol in the aerosol collection pipe 9011 can be collected together in the trash can through the branch pipes 9008.

[0067] Optionally, the transparent sealing cover 9013 may also be equipped with a pipeline for exhausting air into the target station hot chamber 105 trigger system, thereby effectively controlling the diffusion range of radioactive contaminants such as aerosols. The debris collection module 09 can also maintain negative pressure throughout its operation.

[0068] Please see Figure 7 The diagram shows a schematic of the spare tool magazine provided in this application embodiment. As an optional embodiment of the above-described device, the sealing surface defect repair device 100 further includes: a spare tool magazine 11, which can be positioned on the side of the bed 01 close to the work module 08, so that the milling mechanism 810 in the work module 08 can quickly complete the replacement operation of the milling cutter 8004. The aforementioned spare tool magazine 11 may include: The tool magazine motor 1103 communicates with the control module 16 and is used to perform rotational motion according to control commands.

[0069] The tool magazine reducer 1102 is movably connected to the output shaft of the tool magazine motor 1103 and can be installed on one side of the bed 01 (e.g., on the left side of the bed 01). The aforementioned tool magazine reducer 1102 is used to control the speed of the rotary motion according to control commands.

[0070] The converter 1101 is located on one side of the reducer, such as on the right side of the reducer, and is used to convert the rotational motion of the tool magazine motor 1103.

[0071] The drive wheel 1104, connected to the output shaft of the tool magazine reducer 1102, can be positioned at the end of the converter 1101. The drive wheel 1104 is used to trigger the spare tool magazine 11 to rotate by a preset angle under the influence of rotational motion.

[0072] The indexing grooved wheel 1106, in cooperation with the drive wheel 1104, can be positioned on one side of the drive wheel 1104, such as on the right side. The indexing grooved wheel 1106 can be mounted on a bearing housing 1105, which can be fixedly installed inside the machine tool. The aforementioned indexing grooved wheel and drive wheel 1104, in cooperation, can convert the continuous rotational motion of the tool magazine motor 1103 into intermittent rotation of the spare tool magazine 11 at a preset angle.

[0073] The tool holder 1109 is fixedly connected to the indexing wheel 1106 and can be located at one end of the indexing wheel 1106, for example, at the front end of the indexing wheel 1106. The tool holder 1109 can be used to drive the tool holder 1109 to rotate intermittently at a preset angle under the intermittent rotation of the indexing wheel 1106. A tool sleeve 1107 is provided on the tool holder 1109. The tool sleeve 1107 is used to hold the spare milling cutter 8004 that needs to be replaced in the milling mechanism 810, and / or the milling cutter 8004 that has already been replaced. The tool holder 1109 can be square, or other shapes (such as circular or triangular). The tool sleeve 1107 can be installed or unloaded from the shank 1108 of the milling cutter 8004. If the tool holder 1109 is square, and each side can store different types of milling cutters 8004, each milling cutter 8004 can be set with a tool number to facilitate quick replacement of the milling cutter 8004, thereby meeting the needs of working in confined spaces.

[0074] It is understood that the aforementioned spare tool magazine 11 is driven by the tool magazine motor 1103. The motor can be vertically installed in the spare tool magazine 11 to facilitate rapid motor replacement via the robotic arm 101. In the implementation of the above solution, the drive wheel 1104 and the indexing wheel 1106 can be driven by the converter 1101 to achieve intermittent rotation of the tool holder 1109 at a preset angle.

[0075] Please see Figure 8The diagram shows a schematic of the tool anti-drop device provided in this application embodiment. As an optional embodiment of the above device, the sealing surface defect repair device 100 further includes: a tool anti-drop device 12. This tool anti-drop device 12 can be installed between the spare tool magazine 11 and the ground; that is, the tool anti-drop device 12 can be installed below the spare tool magazine 11, so that during use, such as when replacing the milling cutter 8004 through the spare tool magazine 11, the tool anti-drop device 12 can prevent the milling cutter 8004 from falling to the ground. The aforementioned tool anti-drop device 12 may include: The storage box 1201 is located on the side of the spare tool magazine 11 closest to the ground. Lifting eye bolts 1203 can be installed on both sides of the upper part of the storage box 1201, and supporting angle steel 1205 can be installed on both sides of the lower part of the storage box 1201. The lifting eye bolts 1203 can be operated by lifting equipment (such as an overhead crane or a robotic arm 101) to remotely control the lifting of the storage box 1201, thereby completing the installation or disassembly of the storage box 1201. The storage box 1201 serves to prevent the end mills 8004 in the spare tool magazine 11 from falling to the ground during replacement, thus protecting the ground and objects on the ground.

[0076] A fixing frame is installed on one side of the bed frame 01. For example, a left fixing frame 1202 can be installed on the left side of the front end of the bed frame 01, and a right fixing frame 1204 can be installed on the right side of the front end of the bed frame 01.

[0077] Please see Figure 9 The diagram shows a structural schematic of the counterweight balancing device provided in an embodiment of this application. As an optional implementation of the above device, the sealing surface defect repair device 100 further includes: a counterweight balancing device 06, which can be disposed above the crossbeam 05. The aforementioned counterweight balancing device 06 includes: The balancing motor 6002 can be installed on the crossbeam 05 and is used to rotate according to control commands.

[0078] The balancing reducer 6001, movably connected to the output shaft of the balancing motor 6002, can be mounted above the upper slide table 03, while the balancing motor 6002 can be mounted below the upper slide table 03. The balancing reducer 6001 can be used to control the speed of rotational motion according to control commands.

[0079] The movable template 6005 is fixedly connected to the crossbeam and can be positioned above the crossbeam 05. Ball bearing guide sleeves 6009 can be provided on both sides of the hole in the movable template. Driven by the balance reducer 6001, the movable template 6005 drives the crossbeam 05 to move laterally via a lead screw (not shown in the figure).

[0080] A lifting rod 6010 is provided, one end of which is disposed in the center hole of the footrest 6011 on both sides of the crossbeam 05, and the other end of which can be movably connected to the counterweight 6004. The footrest 6011 can be fixed to the crossbeam 05, and its function is to limit and allow the counterweight 6004 to float. This can be used to reduce the probability of deflection deformation of the crossbeam 05 when it is cantilevered, by moving the counterweight 6004 downwards. The lifting rod 6010 can move up and down under the drive of a balancing motor, thereby enabling the counterweight 6004 to achieve counterweight balance when the crossbeam 05 is cantilevered through up-and-down movement (such as floating up and down).

[0081] The counterweight 6004, movably connected to the lifting rod 6010, is used to rise and fall under the influence of the lifting rod 6010 when the crossbeam 05 is cantilevered, for balance adjustment of the sealing surface defect repair device 100. The counterweight 6004 can be placed on a counterweight base, which can be floatingly installed above the lifting rod 6010. The area above the counterweight base can be used to place the counterweight 6004. It is understood that the up-and-down movement of these counterweights 6004 above the counterweight base is based on the deflection that occurs when the crossbeam 05 is cantilevered.

[0082] Fixed flanges 6012 are located on both sides of the counterweight 6004. Guide pillars 6006 can be installed in the holes of fixed flanges 6012. Guide pillars 6006 and the aforementioned ball bearing guide sleeves 6009 can be installed coaxially. Limiting screws 6007 can be installed on both sides of one side of the guide pillar 6006. The function of the aforementioned limiting screws 6007 is to limit the range of movement of the guide pillar 6006 with the crossbeam 05, and at the same time, it also has a limiting function with the moving template 6005.

[0083] The movable flange 6008 is located on one side of the movable template hole and is fixedly connected to the top of the crossbeam 05 to support the guide post 6006.

[0084] Please see Figure 10 The diagram shows a structural schematic of the motor quick-change device provided in this application embodiment. As an optional implementation of the above device, the sealing surface defect repair device 100 further includes: a motor quick-change device 15, which can replace the motor shown in this application embodiment. For example, if a motor was originally installed on the left side of the lower base 02, the left side of the lower base 02 can be used as the motor quick-change device 15, thereby replacing the original motor and allowing the robot arm 101 to quickly complete the motor quick-change operation in the target station hot chamber 105. The aforementioned motor quick-change device 15 includes: The quick-change base 1503 is fixedly connected to the bed 01 and is located above the quick-change reducer 1504.

[0085] The quick-change reducer 1504 is located on the side of the lower base 02 away from the ground, for example, the quick-change reducer 1504 is located above the lower base 02.

[0086] The female connector 1510 is movably connected to the quick-change base 1503. The female connector 1510 may be located on the side of the motor quick-change device 15 that is closer to the ground.

[0087] A flexible chuck 1501 is positioned on the side of the quick-change base 1503 away from the ground, for example, above the quick-change base 1503. A quick-change motor 1502 can be located below the flexible chuck 1501, serving as a backup motor to replace a faulty one. The flexible chuck 1501 can be used for descent when gripped and lowered by the robotic arm 101, or for upward movement when gripped and lifted by the robotic arm 101.

[0088] The male connector 1511 is fixedly connected to the flexible chuck 1501, and the female connector 1510 can be located on the side of the motor quick-change device 15 that is far from the ground. The male connector 1511 can be used to disengage from the female connector 1510 during the upward movement of the flexible chuck 1501, or to engage with the female connector 1510 during the downward movement of the flexible chuck 1501.

[0089] The guide rod 1506 is fixedly connected to the male connector 1511 and is used to guide the direction during the docking or disengagement of the male connector 1511 and the female connector 1510.

[0090] The guide groove 1507, fixedly connected to the female connector 1510, can be located below the guide rod 1506, and the female connector 1510 can be located on both sides of the guide groove 1507. The guide groove 1507 can be used to cooperate with the guide rod 1506 to complete directional guidance and constraint during the docking or disengagement of the male connector 1511 and the female connector 1510.

[0091] A vertical slider 1505, slidably connected to a male connector 1511, can be positioned on one side of a support plate for the male connector 1511. This support plate serves to mount and support the male connector 1511. A connecting rod 1512 can also be positioned on one side of the vertical slider 1505, for example, on the left side of the vertical slider 1505. It is understood that the male connector 1511 can be positioned on both sides of the connecting rod 1512, and the guide rod 1506 can be positioned below the connecting rod 1512. The vertical slider 1505 allows the male connector 1511 to slide vertically during the docking or disengagement process between the male connector 1511 and the female connector 1510.

[0092] A horizontal slider 1508, slidably connected to the female connector 1510, can be positioned below the guide groove 1507. A support plate for the female connector 1510 can also be positioned below the horizontal slider 1508, serving to set and support the female connector 1510. The aforementioned horizontal slider 1508 allows the female connector 1510 to slide horizontally during the docking or disengagement of the male connector 1511 and the female connector 1510.

[0093] It is understood that during the operation of the motor quick-change device 15, the aforementioned quick-change motor 1502 can be installed inside the flexible chuck 1501. The control module 16 sends a control command to the quick-change motor 1502 so that the quick-change motor 1502 drives the guide rod 1506 to the guide groove 1507 for coarse positioning, thereby realizing the rapid docking of the male connector 1511 and the female connector 1510. This allows the sealing surface defect repair device 100 to serve for a long time under this working condition, improving the radiation resistance and reliability of the sealing surface defect repair device 100.

[0094] Please see Figure 11 The diagram shows a structural schematic of the lifting clamp provided in an embodiment of this application. As an optional implementation of the above-mentioned device, the sealing surface defect repair device 100 further includes: a lifting clamp 07, which can be disposed above the counterweight balancing device 06; the lifting clamp 07 includes: The hanging lug 7011 is installed on the side of the bed frame 01, for example, it can be installed on both sides of the bed frame 01.

[0095] The lifting base 7010 is located below the lifting lug 7011. A left push block 7008 can be provided on the left side above the lifting base 7010, and a right push block 7009 can be provided on the right side above the lifting base 7010. A connecting plate 1002 can be provided above the lifting base 7010.

[0096] The lifting bracket 7001 is used for lowering or raising the equipment being lifted. The lifting bracket 7001 can be positioned below the screw 7004, and a locking nut can be positioned above the screw 7004. Optionally, an eye bolt 1203 can be positioned above the lifting bracket 7001. The eye bolt 1203 can be operated by lifting equipment (such as an overhead crane or robotic arm 101) to facilitate remote control operation of the sealing surface defect repair device.

[0097] A lifting claw 7007 is disposed on the side of the lifting bracket 7001 near the lifting lug 7011. The lifting claw 7007 can be positioned below the connecting plate 1002, and a screw 7004 can be disposed above the connecting plate 1002. A spring 7006 can also be disposed between the lifting claw 7007 and the connecting plate 1002. The lifting claw 7007 can be used to grip the lifting lug 7011 when the sealing surface defect repair device 100 needs to be lifted, or to release the lifting lug 7011 when the sealing surface defect repair device 100 needs to be lifted.

[0098] Understandably, before hoisting the sealing surface defect repair device 100, the components of the sealing surface defect repair device 100 need to be assembled in the cold chamber 102 of the operating room. After the components of the sealing surface defect repair device 100 are assembled in the cold chamber 102 of the operating room, the sealing surface defect repair device 100 can be hoisted from the cold chamber 102 of the operating room to the hot chamber 105 of the target station by remotely operating hoisting equipment (such as an overhead crane or a robotic arm 101).

[0099] Please see Figure 12 The diagram shows a structural schematic of the hoisting guide clamp provided in this embodiment of the application. As an optional implementation of the above-mentioned device, the sealing surface defect repair device 100 further includes: a hoisting guide clamp 13. This hoisting guide clamp 13 can be positioned between the tool anti-fall device 12 and the ground; that is, the hoisting guide clamp 13 can be positioned below the tool anti-fall device 12, so that the robot arm 101 or overhead crane can guide and hoist the sealing surface defect repair device 100 during hoisting. The aforementioned hoisting guide clamp 13 may include: The guide support 1301 is located on the side of the bed 01 closest to the ground, for example, below the front end of the bed 01. Optionally, a guide rod 1506 may also be provided above the guide support 1301, for example, a left guide rod 1302 may be provided on the left side above the guide support 1301, and a right guide rod 1303 may be provided on the right side above the guide support 1301.

[0100] The guide rod 1506 is fixedly connected to the guide support 1301 and is used to guide the direction of the hoisted equipment during operation.

[0101] Understandably, the guide support 1301 and guide rod 1506 are important components of the lifting guide clamp 13 structure. This is because, before operating the sealing surface defect repair device 100, it is usually necessary to hoist the device to a predetermined position within the target station's hot chamber 105. This cannot typically be done in one go. Therefore, the guide clamp 13 is used for coarse positioning via remote operation to prevent significant movement during installation. Then, the sealing surface defect repair device 100 is precisely positioned to the predetermined location. Thus, the lifting guide clamp 13 helps improve operational accuracy.

[0102] Please see Figure 13 The diagram shows a schematic of the automatic leveling device provided in an embodiment of this application. As an optional embodiment of the above device, the sealing surface defect repair device 100 further includes: an automatic leveling device 14, which can be disposed on the side of the bed 01 closest to the ground. The aforementioned automatic leveling device 14 may include: The leveling motor 1402 communicates with the control module 16 and is used to perform rotational motion according to control commands. After receiving the contour image, depth point cloud, and sealing surface parameters, the control module 16 can obtain flatness, roughness, and leakage rate from the sealing surface parameters. Using the flatness as a reference surface, the control module 16 drives the leveling reducer 1401 and the pad block 1405 through the leveling motor 1402. With the coordinates of the bed 01 and the center of the sealing surface disk of the target support 106 as a reference to unify the coordinates, the levelness of the sealing surface defect repair device 100 is adjusted.

[0103] A leveling reducer 1401 is movably connected to the output shaft of a leveling motor 1402, and the leveling reducer 1401 can be positioned below the leveling motor 1402. The leveling reducer 1401 can be used to control the speed of rotational motion according to control commands.

[0104] The pad 1405 is installed on the side of the bed 01 closest to the ground. Its material can be iron (also known as a shim) or other metal materials. The pad 1405 can change its height under the drive of rotational movement to adjust the level of the sealing surface defect repair device 100.

[0105] When the sealing surface defect repair device 100 is placed in the target station hot chamber 105, if the error between the levelness measured by the device and the levelness of the workpiece surface is greater than the threshold, the control module 16 can send a control command to the leveling motor 1402 to indirectly drive the wedge in the pad 1405, thereby changing the height of the pad 1405 to adjust the levelness of the sealing surface defect repair device 100.

[0106] Optionally, a locking nut can be provided below the aforementioned pad 1405. This locking nut can be used to fix the pad 1405 and the lifting lug 7011 together, thereby fixing the automatic leveling device 14 to the bed 01 of the sealing surface defect repair device 100. A sleeve 1406 can also be provided on one side of the leveling reducer 1401 and the pad 1405 to protect the connection. A spherical washer 1404 can be provided above the aforementioned pad 1405. This spherical washer 1404 can compensate for assembly errors and improve accuracy during the process of the pad 1405 changing its height.

[0107] Understandably, since the target station's hot chamber 105 is a highly radioactive environment, radiation protection measures are required using concrete. Therefore, it is not possible to use expansion bolts to fix the sealing surface defect repair device 100. Instead, the sealing surface defect repair device 100 is fixed by its own weight. The shims 1405 within the sealing surface defect repair device 100 can be used to level the entire device during installation, thereby improving the installation accuracy.

[0108] The above description is only an optional implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application.

Claims

1. A device for repairing defects in a sealing surface, characterized in that, include: The detection module includes an image detection camera and a laser measurement device; the image detection camera is used to acquire the contour image of the target sealing surface, and the laser measurement device is used to acquire the depth point cloud and sealing surface parameters of the target sealing surface. The control module communicates with the image detection camera and the laser measurement device, and is used to generate control commands based on the contour image, the depth point cloud and the sealing surface parameters; The operation module includes a milling mechanism and a welding repair mechanism, which communicate with the control module. The welding repair mechanism is used to weld and repair the target sealing surface according to the control command, and the milling mechanism is used to mill and remove impurities and / or excess height of the target sealing surface before welding and after welding according to the control command.

2. The apparatus according to claim 1, characterized in that, The welding repair mechanism includes: The welding repair motor communicates with the control module and is used to perform rotational movement according to the control commands; The welding screw is connected to the output shaft of the welding motor and is used to convert the rotational motion of the welding motor into linear motion. The welding torch slide is movably connected to the welding repair screw, and is used to adjust the relative displacement between the welding repair mechanism and the welding repair screw through the linear movement of the welding repair screw; A steering block, which is angularly connected to the welding torch slide, is used to adjust the direction angle of the welding repair mechanism according to the control command. The welding gun is fixedly connected to the steering block and is used to weld the target sealing surface according to the direction angle of the welding mechanism.

3. The apparatus according to claim 1, characterized in that, The milling mechanism includes: An electric spindle communicates with the control module and is used to perform rotary motion according to the control commands; A spindle clamp, connected to the electric spindle via a shaft, is used to transmit the rotational motion of the electric spindle; A milling cutter is used to remove the target sealing surface by milling under the drive of the rotational motion of the electric spindle.

4. The apparatus according to claim 3, characterized in that, The sealing surface defect repair device further includes: a chip collection module; the chip collection module includes: The chip collection motor communicates with the control module and is used to perform rotational motion according to the control commands; The chip collection screw is connected to the output shaft of the chip collection motor and is used to convert the rotational motion of the chip collection motor into linear motion. The movable sleeve is movably connected to the chip collection screw and is used to form a sealed cavity with the target sealing surface when it moves linearly to the target sealing surface under the drive of the chip collection screw. The debris suction pipe is connected to the movable sleeve and is used to extract debris generated during the operation of the milling cutter from the sealed cavity when the cavity is formed with the target sealing surface.

5. The apparatus according to claim 4, characterized in that, The chip collection module also includes: A transparent sealing cover is fitted over the outside of the welding gun of the welding repair mechanism to form a covered cavity with the target sealing surface when the welding gun is welding the target sealing surface. An aerosol collection tube, connected to the transparent sealing cover, is used to adsorb the aerosol generated by the welding repair mechanism from the enveloping cavity when forming an enveloping cavity with the target sealing surface.

6. The apparatus according to claim 4, characterized in that, The sealing surface defect repair device further includes: a spare tool magazine; the spare tool magazine includes: The tool magazine motor communicates with the control module and is used to perform rotational motion according to the control commands; The tool magazine reducer is movably connected to the output shaft of the tool magazine motor and is used to control the speed of the rotary motion according to the control command. The drive wheel is connected to the output shaft of the tool magazine reducer and is used to trigger the spare tool magazine to rotate by a preset angle under the drive of the rotational motion; The indexing groove wheel cooperates with the drive wheel to convert the continuous rotational motion of the tool magazine motor into intermittent rotation of the spare tool magazine at a preset angle; The tool holder is fixedly connected to the indexing wheel and is used to drive the tool holder to rotate intermittently at a preset angle under the intermittent rotation of the indexing wheel. The tool holder is provided with a tool sleeve, which is used to hold the spare milling cutter that needs to be replaced by the milling mechanism, and / or the milling cutter that has been replaced.

7. The apparatus according to claim 6, characterized in that, The sealing surface defect repair device further includes: a tool anti-drop device; the tool anti-drop device includes: A storage box is located on the side of the spare tool magazine closest to the ground to prevent the milling cutters in the spare tool magazine from falling to the ground when being replaced.

8. The apparatus according to claim 1, characterized in that, The sealing surface defect repair device further includes: a motion mechanism, the motion mechanism comprising: The crossbeam is movably connected to the detection module and the operation module, and is used to move laterally according to the control command. The bed is movably connected to the crossbeam and is used to support the crossbeam, the detection module, and the operation module. The upper slide is fixedly connected to the crossbeam and is used to realize the lateral movement of the crossbeam; The lower base is located on the side of the bed away from the ground and is used to cooperate with the upper slide to realize the lateral sliding between the crossbeam and the bed.

9. The apparatus according to claim 8, characterized in that, The sealing surface defect repair device further includes: a counterweight balancing device, the counterweight balancing device comprising: A balancing motor is installed on the crossbeam to drive the crossbeam to move laterally according to the control command. The lifting rod is used to move up and down under the drive of the balancing motor; The counterweight is movably connected to the lifting rod and is used to be raised and lowered by the lifting motion of the lifting rod when the crossbeam is cantilevered, so as to achieve balance adjustment by the counterweight of the sealing surface defect repair device.

10. The apparatus according to claim 8, characterized in that, The sealing surface defect repair device further includes: a motor quick-change device, the motor quick-change device comprising: The quick-change base is fixedly connected to the bed frame; The female connector is movably connected to the quick-change base; Flexible grippers are used for descent when gripped and lowered by a robotic arm, or for upward movement when gripped and lifted by a robotic arm. The male connector is fixedly connected to the flexible clamp and is used to disengage from the female connector during the upward movement of the flexible clamp, or to dock with the female connector during the downward movement of the flexible clamp. A guide rod, fixedly connected to the male connector, is used to guide the direction of the male connector during the docking or disengagement of the female connector; The guide groove is fixedly connected to the female connector and is used to cooperate with the guide rod to complete directional guidance and constraint during the process of the male connector and the female connector being connected or disconnected; A vertical slider is slidably connected to the male connector, allowing the male connector to slide in the vertical direction during the process of docking or disengaging with the female connector; A horizontal slider is slidably connected to the female connector, allowing the female connector to slide in the horizontal direction during the docking or disengagement of the male connector and the female connector.

11. The apparatus according to claim 8, characterized in that, The sealing surface defect repair device further includes: a lifting clamp; the lifting clamp includes: Lifting lugs are provided on the side of the bed frame; Lifting supports are used to lower or raise the equipment being lifted during operation. The lifting claw is located on the side of the lifting bracket near the lifting lug, and is used to grip the lifting lug when the sealing surface defect repair device needs to be lifted, or to release the lifting lug when the sealing surface defect repair device needs to be lifted.

12. The apparatus according to claim 11, characterized in that, The sealing surface defect repair device further includes: a lifting guide clamp, the lifting guide clamp comprising: A guide support is located on the side of the bed closest to the ground; The guide rod is fixedly connected to the guide support and is used to guide the direction when operated by the hoisting equipment.

13. The apparatus according to claim 8, characterized in that, The sealing surface defect repair device further includes: an automatic leveling device, the automatic leveling device comprising: The leveling motor communicates with the control module and is used to perform rotational motion according to the control commands; A leveling reducer is movably connected to the output shaft of the leveling motor and is used to control the speed of the rotational motion according to the control command. A pad is placed on the side of the bed closest to the ground. Driven by the rotational motion, the height of the pad changes to adjust the level of the sealing surface defect repair device.

14. The apparatus according to any one of claims 1-13, characterized in that, The detection module also includes: A movable lifting rod is movably linked to the image detection camera and the laser measurement device, and is used to move the image detection camera and the laser measurement device along the lifting direction; The detection bracket is movably connected to the movable lifting rod, and is used to move the image detection camera and the laser measuring device along the extension direction of the detection bracket, and to adjust the distance between the image detection camera and the laser measuring device; The image detection camera is also used to monitor the milling cutter operation process in the milling mechanism and the welding torch operation process in the welding repair mechanism.

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