Nuclear power station steam generator dismounting and mounting equipment and dismounting and mounting control method

Abstract

The invention relates to nuclear power station steam generator dismounting and mounting equipment and a dismounting and mounting control method. The nuclear power station steam generator dismounting and mounting equipment comprises a moving platform, a blocking plate, a conveying assembly and a moving part. The blocking plates are used for sealing coolant inlets and outlets of the nuclear power plant steam generator; the conveying assembly is provided with a first end and a second end which are oppositely arranged, one end of the first end is connected to the moving platform in a matched mode, and the second end extends in the direction away from the moving platform. The conveying assembly is configured to convey the blocking plate back and forth between the first end and the second section; the moving part is movably connected to the second end in a matched mode, and the moving part is configured to be capable of grabbing and moving the blocking plate. According to the nuclear power station steam generator disassembling and assembling equipment, automatic disassembling and assembling of the blocking plate can be achieved in a high-radiation narrow-space operation water chamber through flexible moving of the moving platform and mutual cooperation of the conveying assembly and the moving piece, the risk that personnel are irradiated is reduced, and the operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power plant steam generator dismounting equipment, in particular to a nuclear power plant steam generator dismounting equipment and a dismounting control method. BACKGROUND

[0002] During the shutdown refueling overhaul period of a nuclear power plant, the nuclear power plant steam generator needs to be overhauled. In the specific overhaul process, a blocking plate needs to be installed at the coolant inlet and outlet of the nuclear power plant steam generator to perform plugging operation on the coolant inlet and outlet, so as to prevent water in the coolant loop pipeline from flowing into the working water chamber of the nuclear power plant steam generator.

[0003] At present, the overhaul operation of the nuclear power plant steam generator usually adopts manual operation. However, due to the high internal radiation dose, narrow space and complex operation process of the working water chamber of the nuclear power plant steam generator, problems such as exceeding the radiation dose of personnel and operation failure are prone to occur, thereby causing radioactive water leakage and affecting the overhaul period and the safety of the power plant. SUMMARY

[0004] Therefore, it is necessary to provide a nuclear power plant steam generator dismounting equipment and a dismounting control method to solve the above problems.

[0005] A nuclear power plant steam generator dismounting equipment for a nuclear power plant steam generator, comprising:

[0006] a moving platform;

[0007] a blocking plate for sealing the coolant inlet and outlet of the nuclear power plant steam generator;

[0008] a conveying assembly having oppositely arranged first and second ends, one end of the first end being connected to the moving platform, and the second end extending away from the moving platform; the conveying assembly is configured to convey the blocking plate back and forth between the first and second ends;

[0009] a moving member movably connected to the second end, and the moving member is configured to grab and move the blocking plate.

[0010] In one embodiment, the first end is connected to the moving platform and forms a rotation pivot point;

[0011] The nuclear power plant steam generator dismounting equipment further comprises a driving assembly connected to the moving platform and drivingly connected to the conveying assembly; the driving assembly is configured to drive the conveying assembly to rotate around the rotation pivot point.

[0012] In one of the embodiments, the conveying assembly comprises a first conveying member, a second conveying member and a clamp, the first conveying member has the first end and the second end arranged oppositely; the second conveying member is movably connected to the first conveying member; the clamp is movably connected to the second conveying member.

[0013] The driving assembly is configured to drive the first conveying member to rotate around the rotation pivot point, to drive the second conveying member to move between the first end and the second end relative to the first conveying member, to drive the clamp to clamp the blocking plate, and to drive the clamp to rotate relative to the second conveying member; when the second conveying member moves to the second end, the second conveying member at least partially extends into the work water chamber of the nuclear power plant steam generator through the manhole of the nuclear power plant steam generator.

[0014] In one of the embodiments, the conveying assembly further comprises a connecting member, the connecting member is connected to the second end, and the connecting member is used to connect with the manhole flange plate of the nuclear power plant steam generator.

[0015] In one of the embodiments, the conveying assembly further comprises a third conveying member, the third conveying member is movably connected to the first conveying member and is capable of moving between the first end and the second end relative to the first conveying member; the third conveying member is configured to convey the moving member into the work water chamber.

[0016] The moving member has a folded state and an unfolded state; when the moving member is in the folded state, the moving member is bent and fits the outer wall of the conveying assembly; when the moving member is in the unfolded state, the moving member is capable of grabbing and moving the blocking plate.

[0017] In one of the embodiments, the blocking plate comprises a main plate, a left side plate, a right side plate and a sealing member, the left side plate, the main plate and the right side plate are connected to the pipe seat in sequence and side by side, the pipe seat is connected to the coolant inlet and outlet.

[0018] The sealing member is connected to the main plate, and the sealing member is configured to have an unfolded sealing state and a folded storage state; when the sealing member is in the unfolded sealing state, the sealing member seals the coolant inlet and outlet; when the sealing member is in the folded storage state, the sealing member is folded into the outer contour of the main plate.

[0019] In one of the embodiments, the blocking plate further comprises a fixing member and an assembling member, the assembling member is respectively connected to the main plate, the left side plate and the right side plate, and the assembling member is used to fixedly connect the fixing member with the main plate and the pipe seat, the left side plate and the pipe seat, and the right side plate and the pipe seat.

[0020] In one of the embodiments, a sensor is further included, the sensor is connected to the blocking plate and in communication with the moving member; the sensor is configured to detect the relative position between the blocking plate and the pipe seat of the nuclear power plant steam generator in the process of the moving member grabbing and moving the blocking plate in real time, and control the moving member to move the blocking plate according to the detection result.

[0021] A disassembly and assembly control method is used for the nuclear power plant steam generator disassembly and assembly device in the foregoing embodiments, and the disassembly and assembly control method comprises:

[0022] The moving platform is controlled to move, and the conveying assembly is controlled to rotate around the rotating support point relative to the moving platform synchronously until the connecting member is aligned and connected to the manhole flange plate of the nuclear power plant steam generator;

[0023] The moving member is conveyed into the working water chamber of the nuclear power plant steam generator by a third conveying member;

[0024] The blocking plate is grabbed by a clamp, and the clamp is controlled to rotate relative to the second conveying member to adjust the blocking plate to a preset hole-entering posture;

[0025] The second conveying member is controlled to convey the blocking plate into the working water chamber;

[0026] The moving member is controlled to grab and move the blocking plate to be aligned with the pipe seat that communicates with the coolant inlet and outlet;

[0027] The blocking plate and the pipe seat are assembled, and the coolant inlet and outlet are sealed.

[0028] In one of the embodiments, before the step of conveying the moving member into the working water chamber of the nuclear power plant steam generator by the third conveying member, the disassembly and assembly control method further comprises:

[0029] The moving member is adjusted to a folded and retracted state and is assembled on the third conveying member.

[0030] In one of the embodiments, after the step of conveying the moving member into the working water chamber of the nuclear power plant steam generator by the third conveying member, the disassembly and assembly control method further comprises:

[0031] The moving member is adjusted to an extended and moving state.

[0032] In one embodiment, the step of controlling the second conveying member to convey the blocking plate into the working water chamber, controlling the moving member to grab and move the blocking plate to align with the pipe seat communicating with the coolant inlet and outlet, and assembling the blocking plate with the pipe seat, and sealing the coolant inlet and outlet, specifically comprises:

[0033] controlling the second conveying member to convey the main plate and the sealing member connected to the main plate and in a folded storage state into the working water chamber;

[0034] controlling the moving member to grab and move the main plate and the sealing member connected to the main plate and in a folded storage state to align with the first preset position communicating with the pipe seat;

[0035] assembling the main plate with the pipe seat;

[0036] controlling the second conveying member to convey the left side plate into the working water chamber;

[0037] controlling the moving member to grab and move the left side plate to align with the second preset position communicating with the pipe seat;

[0038] assembling the left side plate with the pipe seat;

[0039] controlling the second conveying member to convey the right side plate into the working water chamber;

[0040] controlling the moving member to grab and move the right side plate to align with the third preset position communicating with the pipe seat;

[0041] assembling the right side plate with the pipe seat;

[0042] adjusting the sealing member to an extended sealing state to seal the coolant inlet and outlet.

[0043] The nuclear power plant steam generator disassembling device and the disassembling control method, the nuclear power plant steam generator disassembling device comprises a moving platform, a blocking plate, a conveying assembly, and a moving member. The blocking plate is used for sealing the coolant inlet and outlet of the nuclear power plant steam generator. The conveying assembly has a first end and a second end arranged oppositely, one end of the first end is connected to the moving platform, and the second end extends away from the moving platform. The conveying assembly is configured to convey the blocking plate back and forth between the first end and the second end. The moving member is movably connected to the second end, and the moving member is configured to grab and move the blocking plate.

[0044] It can be understood that in the actual operation process of plugging the coolant inlet and outlet of the nuclear power plant steam generator by using the nuclear power plant steam generator dismounting device, the mobile platform can realize flexible movement of the whole nuclear power plant steam generator dismounting device, so that the nuclear power plant steam generator dismounting device can be adjusted at different positions around the nuclear power plant steam generator according to actual operation requirements, thereby facilitating accurate arrival of the conveying assembly and the moving piece to the operation area of the coolant inlet and outlet plugging operation.

[0045] Further, after the mobile platform moves the conveying assembly and the moving piece to the operation area of the coolant inlet and outlet plugging operation, the baffle plate is conveyed from the first end to the second end close to the coolant inlet and outlet through the conveying assembly. Then, the baffle plate is grabbed by the moving piece and moved to align with the pipe seat communicating with the coolant inlet and outlet. Finally, the baffle plate and the pipe seat are assembled to realize sealing of the coolant inlet and outlet.

[0046] In this way, the nuclear power plant steam generator dismounting device provided in the embodiment of the present application can realize automatic dismounting of the baffle plate in the high-radiation and narrow-space operation water chamber through flexible movement of the mobile platform and mutual cooperation of the conveying assembly and the moving piece, which reduces the risk of personnel exposure, effectively improves operation efficiency and accuracy and reliability of the operation, thereby effectively reducing the probability of radioactive water leakage caused by human operation errors and facilitating the operation safety of the nuclear power plant. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 FIG. 1 is a structural schematic view of the nuclear power plant steam generator dismounting device and the nuclear power plant steam generator in a first perspective view in the present application.

[0048] Figure 2 FIG. 2 is a structural schematic view of the nuclear power plant steam generator dismounting device and the nuclear power plant steam generator in a second perspective view in the present application.

[0049] Figure 3 FIG. 3 is a structural schematic view of the nuclear power plant steam generator dismounting device and the nuclear power plant steam generator in a third perspective view in the present application.

[0050] Figure 4 FIG. 4 is a flow schematic diagram of the dismounting control method in an embodiment.

[0051] Figure 5 FIG. 5 is a flow schematic diagram of the dismounting control method in another embodiment.

[0052] Figure 6 FIG. 6 is a flow schematic diagram of the dismounting control method in still another embodiment.

[0053] REFERENCE SIGNS

[0054] 100 sets of equipment for dismantling and assembling nuclear power plant steam generators;

[0055] Mobile platform 10;

[0056] Blocking plate 11; Assembly part 111;

[0057] Conveying assembly 12; Connector 121;

[0058] Moving component 13; Drive component 14;

[0059] Nuclear power plant steam generator 200;

[0060] Working water chamber 20; manhole 21; coolant inlet and outlet 22; pipe seat 23. Detailed Implementation

[0061] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0062] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0063] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0064] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0065] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0066] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0067] During a nuclear power plant shutdown and refueling overhaul, the nuclear power plant steam generator needs to be inspected. In the specific inspection process, plugs need to be installed at the coolant inlet and outlet of the nuclear power plant steam generator to seal the coolant inlet and outlet, thereby preventing water in the coolant loop pipeline from flowing into the working water chamber of the nuclear power plant steam generator.

[0068] Currently, maintenance operations on nuclear power plant steam generators are usually carried out manually. However, due to factors such as high radiation dose, narrow space, and complex operation processes inside the steam generator's operating water chamber, problems such as excessive radiation dose to personnel and operation failures are prone to occur, which can lead to radioactive water leakage, affecting the overhaul schedule and the safety of the power plant.

[0069] Therefore, to resolve the above issues, please refer to [link / reference needed]. Figures 1 to 3This application provides a nuclear power plant steam generator dismantling and assembly device 100 in one or more embodiments for use with a nuclear power plant steam generator 200. The nuclear power plant steam generator dismantling and assembly device 100 can automatically dismantle and assemble the blocking plate 11 in the high-radiation, narrow-space working water chamber 20 by means of the flexible movement of the mobile platform 10 and the cooperation between the conveying component 12 and the moving part 13, thereby reducing the risk of personnel exposure to radiation and improving work efficiency.

[0070] Specifically, please see Figure 1 and Figure 2 The nuclear power plant steam generator dismantling and assembly equipment 100 includes a moving platform 10, a blocking plate 11, a conveying assembly 12, and a moving component 13. The blocking plate 11 is used to seal the coolant inlet and outlet 22 of the nuclear power plant steam generator 200. The conveying assembly 12 has a first end and a second end disposed opposite to each other. One end of the first end is coupled to the moving platform 10, and the second end extends in a direction away from the moving platform 10. The conveying assembly 12 is configured to transport the blocking plate 11 back and forth between the first end and the second end. The moving component 13 is movably coupled to the second end and is configured to grasp and move the blocking plate 11.

[0071] Understandably, in the actual operation of sealing the coolant inlet and outlet 22 of the nuclear power plant steam generator 200 using the nuclear power plant steam generator dismantling and assembly equipment 100, the mobile platform 10 can enable the overall flexible movement of the nuclear power plant steam generator dismantling and assembly equipment 100, so that the nuclear power plant steam generator dismantling and assembly equipment 100 can be adjusted to different positions around the nuclear power plant steam generator 200 according to the actual operation requirements, thereby helping to ensure that the conveying component 12 and the moving part 13 can accurately reach the operation area for sealing the coolant inlet and outlet 22.

[0072] Furthermore, after the mobile platform 10 moves the conveying assembly 12 and the moving component 13 to the work area for the sealing operation of the coolant inlet / outlet 22, the conveying assembly 12 conveys the blocking plate 11 from the first end to the second end near the coolant inlet / outlet 22. Then, the moving component 13 grasps the blocking plate 11 and moves it to align with the pipe seat 23 connecting the coolant inlet / outlet 22. Finally, the blocking plate 11 and the pipe seat 23 are assembled to achieve a seal on the coolant inlet / outlet 22.

[0073] Thus, the nuclear power plant steam generator dismantling and assembly equipment 100 provided in this application embodiment, through the flexible movement of the mobile platform 10 and the cooperation between the conveying component 12 and the moving part 13, can realize the automated dismantling and assembly of the blocking plate 11 in the high-radiation, narrow-space working water chamber 20, reducing the risk of personnel exposure to radiation, and effectively improving the efficiency, accuracy and reliability of the operation, thereby effectively reducing the probability of radioactive water leakage caused by human error, which is conducive to ensuring the safe operation of the nuclear power plant.

[0074] In some embodiments, see Figure 1 and Figure 2 The first end is coupled to the mobile platform 10 and forms a pivot point. The nuclear power plant steam generator dismantling and assembly equipment 100 also includes a drive assembly 14, which is coupled to the mobile platform 10 and drivenly connected to the conveying assembly 12. The drive assembly 14 is configured to drive the conveying assembly 12 to rotate about the pivot point.

[0075] Understandably, the drive assembly 14 can drive the conveying assembly 12 to rotate around the pivot point to flexibly adjust the posture of the conveying assembly 12, which helps to ensure the accurate delivery of the conveying assembly 12 to the blockage plate 11.

[0076] Specifically, in the actual operation of sealing the coolant inlet and outlet 22 of the nuclear power plant steam generator 200 using the nuclear power plant steam generator dismantling and assembly equipment 100, the mobile platform 10 enables the flexible movement of the entire nuclear power plant steam generator dismantling and assembly equipment 100, allowing the conveying assembly 12 and the moving part 13 to accurately reach the work area for sealing the coolant inlet and outlet 22. Further, the driving assembly 14 drives the conveying assembly 12 to rotate around the pivot point until the second end of the conveying assembly 12 is aligned with the manhole 21, so that the conveying assembly 12 can convey the sealing plate 11 from the first end to the second end near the coolant inlet and outlet 22. Subsequently, the moving part 13 grasps the sealing plate 11 and moves it to align with the pipe seat 23 connecting the coolant inlet and outlet 22. Finally, the sealing plate 11 and the pipe seat 23 are assembled to achieve the seal of the coolant inlet and outlet 22.

[0077] In some embodiments, see Figure 1 and Figure 2 The conveying assembly 12 includes a first conveying member, a second conveying member, and a clamp. The first conveying member has a first end and a second end that are disposed opposite to each other. The second conveying member is movably coupled to the first conveying member. The clamp is movably coupled to the second conveying member.

[0078] The drive assembly 14 drives the first conveyor, the second conveyor, and the clamp. The drive assembly 14 is configured to drive the first conveyor to rotate around the pivot point, drive the second conveyor to move relative to the first conveyor between the first end and the second end, drive the clamp to clamp the blocking plate 11, and drive the clamp to rotate relative to the second conveyor. When the second conveyor moves to the second end, the second conveyor extends at least partially through the manhole 21 into the working water chamber 20 of the nuclear power plant steam generator 200.

[0079] Understandably, after the mobile platform 10 moves the conveying assembly 12 and the moving component 13 to the work area for sealing the coolant inlet / outlet 22, the drive assembly 14 drives the first conveying component to rotate around the pivot point, aligning the second end of the first conveying component with the manhole 21. Further, the drive assembly 14 drives the clamp to pick up the blocking plate 11 and rotates it relative to the second conveying component to adjust the posture of the blocking plate 11, ensuring that the blocking plate 11 can enter the working water chamber 20 through the manhole 21. Subsequently, the drive assembly 14 drives the second conveying component to move relative to the first conveying component from the first end to the second end, conveying the blocking plate 11 into the working water chamber 20. Finally, the moving component 13 picks up the blocking plate 11 and moves it to align with the pipe seat 23 connecting the coolant inlet / outlet 22, completing the assembly operation between the blocking plate 11 and the pipe seat 23 to achieve sealing of the coolant inlet / outlet 22.

[0080] Thus, the nuclear power plant steam generator disassembly and assembly equipment 100 provided in this application embodiment, through the coordinated control of the first conveying component, the second conveying component and the clamp by the drive component 14, can realize the automated operation of the blockage plate 11 from grasping to posture adjustment, and then to conveying it to the working water chamber 20 through the manhole 21. This is conducive to improving the accuracy and smoothness of the blockage plate 11 conveying process, and can effectively improve the work efficiency and the accuracy and reliability of the operation.

[0081] In some embodiments, see Figure 1 and Figure 2 The conveying assembly 12 also includes a connector 121, which is fitted to the second end and is used to fit with the manhole 21 flange of the nuclear power plant steam generator 200.

[0082] Understandably, after the mobile platform 10 moves the conveying assembly 12 and the moving part 13 to the work area for the sealing operation of the coolant inlet / outlet 22, the drive assembly 14 drives the first conveying part to rotate around the pivot point, aligning the second end of the first conveying part with the manhole 21, and connecting the connecting part 121 with the flange plate of the manhole 21, so as to achieve a stable connection between the conveying assembly 12 and the working water chamber 20, and ensure that when the second conveying part moves the blocking plate 11, the blocking plate 11 can always smoothly pass through the manhole 21 and enter the working water chamber 20 along the preset path. Subsequently, the drive assembly 14 drives the clamp to pick up the blocking plate 11 and drives the clamp to rotate relative to the second conveying part to adjust the posture of the blocking plate 11. Further, the drive assembly 14 drives the second conveying part to move relative to the first conveying part from the first end to the second end, until the blocking plate 11 is conveyed into the working water chamber 20. Finally, the moving part 13 grabs the blocking plate 11 and moves the blocking plate 11 to align with the pipe seat 23 that connects to the coolant inlet and outlet 22, and completes the assembly operation of the blocking plate 11 and the pipe seat 23 to achieve the sealing of the coolant inlet and outlet 22.

[0083] In some embodiments, see Figure 1 and Figure 2 The conveying assembly 12 also includes a third conveyor, which is movably coupled to the first conveyor and is movable relative to the first conveyor between a first end and a second end. The third conveyor is configured to convey the movable member 13 into the working water chamber 20. The movable member 13 has a folded-down state and an extended-moving state. When the movable member 13 is in the folded-down state, it bends and fits against the outer wall of the conveying assembly 12. When the movable member 13 is in the extended-moving state, it can grasp and move the blocking plate 11.

[0084] Understandably, before the second conveyor transports the blockage plate 11 into the working water chamber 20, the movable component 13 needs to be adjusted to a folded state to reduce its space occupation, thereby ensuring that the third conveyor can smoothly drive the movable component 13 through the manhole 21 into the working water chamber 20. After the third conveyor transports the movable component 13 into the working water chamber 20, the movable component 13 switches from the folded state to the extended state so that it can grasp and move the blockage plate 11 in subsequent operations.

[0085] In some embodiments, see Figure 1 and Figure 3The blocking plate 11 includes a main plate, a left side plate, a right side plate, and a seal. The left side plate, main plate, and right side plate are sequentially mounted side-by-side on the pipe seat 23 that connects to the coolant inlet and outlet 22. The seal is mounted on the main plate and is configured to have both an extended sealing state and a folded retracted state. When the seal is in the extended sealing state, it seals the coolant inlet and outlet 22. When the seal is in the folded retracted state, it retracts into the outer contour of the main plate.

[0086] It is understandable that by dividing the blocking plate 11 into a main plate, a left plate and a right plate, and by sequentially conveying and assembling the main plate, the left plate and the right plate during the process of conveying the blocking plate 11 into the working water chamber 20, the volume of components conveyed in a single transport can be effectively reduced, so as to ensure the smooth transport of the blocking plate 11 into the working water chamber 20 through the narrow manhole 21.

[0087] Furthermore, during the process of conveying the plug plate 11 using the second conveyor and the process of the moving component 13 grasping and moving the plug plate 11, the sealing component is in a folded and retracted state. This helps to reduce the overall size of the plug plate 11, ensuring that the plug plate 11 can smoothly pass through the inlet and enter the working water chamber 20. After the plug plate 11 is aligned and fixedly assembled with the pipe seat 23, the sealing component is switched from the folded and retracted state to the extended sealing state, so as to achieve a reliable seal on the coolant inlet and outlet 22 and prevent water in the coolant circuit pipeline from flowing into the working water chamber 20.

[0088] In some embodiments, see Figure 1 and Figure 3 The blocking plate 11 also includes a fixing component and an assembly 111. The assembly 111 is respectively connected to the main board, the left side plate and the right side plate, and the assembly 111 is used to fix the fixing component to the main board and the tube socket 23, the left side plate and the tube socket 23, and the right side plate and the tube socket 23.

[0089] It is understandable that during the process of conveying the blockage plate 11 into the working water chamber 20, the main plate, the left plate and the right plate need to be conveyed in sequence by the second conveyor, and the main plate, the left plate and the right plate are aligned with the corresponding positions of the pipe seat 23 in sequence with the moving part 13. Then, the main plate, the left plate and the right plate are fixedly assembled with the pipe seat 23 by the assembly part 111.

[0090] In some embodiments, see Figure 1 and Figure 2 The nuclear power plant steam generator dismantling and assembly equipment 100 also includes a sensor, which is attached to the plug plate 11 and is communicatively connected to the moving part 13. The sensor is configured to detect in real time the relative position of the plug plate 11 and the pipe seat 23 during the process of the moving part 13 grabbing and moving the plug plate 11, and to control the moving part 13 to move the plug plate 11 according to the detection result.

[0091] Understandably, the sensor can detect in real time the relative position of the blocking plate 11 and the pipe seat 23 during the process of the moving part 13 grabbing and moving the blocking plate 11, and feed back the detected position information to the moving part 13 in real time. This allows the moving part 13 to accurately adjust the moving trajectory and attitude of the blocking plate 11 based on the feedback data, thereby ensuring that the blocking plate 11 and the pipe seat 23 are aligned. This effectively improves the accuracy and reliability of the installation of the blocking plate 11, which in turn helps to ensure the tightness of the sealing of the coolant inlet and outlet 22 and reduces the potential risk of radioactive water leakage.

[0092] Please see Figure 4 In one or more embodiments of this application, a disassembly and assembly control method is also provided for use in the nuclear power plant steam generator disassembly and assembly equipment 100 as described in the foregoing embodiments. The disassembly and assembly control method includes:

[0093] S10: Control the movement of the mobile platform 10 and synchronously control the conveying assembly 12 to rotate relative to the mobile platform 10 around the pivot point until the connector 121 is aligned and mated with the flange plate of the manhole 21 of the nuclear power plant steam generator 200.

[0094] Understandably, in the actual operation of sealing the coolant inlet and outlet 22 of the nuclear power plant steam generator 200 using the nuclear power plant steam generator dismantling and assembly equipment 100, the control of the mobile platform 10 enables the overall flexible movement of the nuclear power plant steam generator dismantling and assembly equipment 100. This allows the nuclear power plant steam generator dismantling and assembly equipment 100 to be adjusted to different positions around the nuclear power plant steam generator 200 according to actual operational needs, thereby helping to ensure that the conveying component 12 and the moving component 13 can accurately reach the operation area for sealing the coolant inlet and outlet 22.

[0095] Furthermore, by controlling the drive assembly 14 to drive the first conveyor to rotate around the pivot point, the second end of the first conveyor is aligned with the manhole 21, and the connector 121 is connected to the flange of the manhole 21, so as to achieve a stable connection between the conveyor assembly 12 and the working water chamber 20, and ensure that when the second conveyor drives the blocking plate 11 to move, the blocking plate 11 can always smoothly pass through the manhole 21 and enter the working water chamber 20 along the preset path.

[0096] S20: The moving part 13 is transported to the working water chamber 20 of the nuclear power plant steam generator 200 via the third conveyor.

[0097] Understandably, before the second conveyor transports the blockage plate 11 into the working water chamber 20, the movable component 13 needs to be adjusted to a folded state to reduce its space occupation, thereby ensuring that the third conveyor can smoothly drive the movable component 13 through the manhole 21 into the working water chamber 20. After the third conveyor transports the movable component 13 into the working water chamber 20, the movable component 13 switches from the folded state to the extended state so that it can grasp and move the blockage plate 11 in subsequent operations.

[0098] S30: The clamping device picks up the blocking plate 11 and controls the clamping device to rotate relative to the second conveyor to adjust the blocking plate 11 to the preset insertion position.

[0099] S40: Control the second conveyor to convey the blockage plate 11 into the working water chamber 20.

[0100] Understandably, after aligning the second end of the first conveyor with the manhole 21, the drive assembly 14 drives the clamp to pick up the blocking plate 11 and rotates it relative to the second conveyor to adjust the blocking plate 11 to the manhole position, thereby ensuring that the blocking plate 11 can enter the working water chamber 20 through the manhole 21. Subsequently, the drive assembly 14 is controlled to move the second conveyor relative to the first conveyor from the first end to the second end, until the blocking plate 11 is conveyed into the working water chamber 20.

[0101] S50: Control the moving part 13 to grab and move the blocking plate 11 until it is aligned with the pipe seat 23 that connects to the coolant inlet and outlet 22.

[0102] It is understandable that by controlling the moving part 13 to grab the blocking plate 11 and move the blocking plate 11 to align with the pipe seat 23 that connects to the coolant inlet and outlet 22, and completing the assembly operation of the blocking plate 11 and the pipe seat 23, the coolant inlet and outlet 22 can be sealed.

[0103] S60: Perform assembly operations on the plug plate 11 and the pipe seat 23, and seal the coolant inlet and outlet 22.

[0104] Understandably, after the plug plate 11 is aligned and fixedly assembled with the pipe seat 23, the seal is switched from the folded storage state to the extended sealing state so as to achieve a reliable seal on the coolant inlet and outlet 22 and prevent water in the coolant circuit pipeline from flowing into the working water chamber 20.

[0105] In some embodiments, see Figure 5 Before the step of conveying the movable part 13 to the working water chamber 20 of the nuclear power plant steam generator 200 via the third conveyor, the disassembly and assembly control method further includes:

[0106] S70: Adjust the moving part 13 to a folded and stowed state and assemble it onto the third conveyor.

[0107] Understandably, before the second conveyor is used to transport the blockage plate 11 into the working water chamber 20, the moving part 13 needs to be adjusted to a folded state to reduce the space occupied by the moving part 13, so as to ensure that the third conveyor can smoothly drive the moving part 13 into the working water chamber 20 through the manhole 21.

[0108] In some embodiments, see Figure 5 After the step of conveying the movable part 13 to the working water chamber 20 of the nuclear power plant steam generator 200 via the third conveyor, the disassembly and assembly control method further includes:

[0109] S80: Adjust the movable part 13 to the extended movement state.

[0110] Understandably, after the third conveyor delivers the movable part 13 into the working water chamber 20, the movable part 13 switches from a folded state to an extended state so that it can grab and move the blocking plate 11 in subsequent operations.

[0111] In some embodiments, see Figure 6 The steps include controlling the second conveyor to transport the plug plate 11 into the working water chamber 20, controlling the moving component 13 to grab and move the plug plate 11 to align with the pipe seat 23 that connects to the coolant inlet / outlet 22, assembling the plug plate 11 and the pipe seat 23, and sealing the coolant inlet / outlet 22.

[0112] S401: Control the second conveyor to transport the main board and the seals attached to the main board and in a folded and stored state into the working water chamber 20.

[0113] S501: Control the moving part 13 to grab and move the main board and the sealing part attached to the main board and in a folded storage state to align with the first preset position of the connecting pipe seat 23.

[0114] It is understandable that during the process of using the second conveyor to transport the blocking plate 11 and the moving part 13 to grab and move the blocking plate 11, the sealing parts are in a folded and stored state, which helps to reduce the overall size of the blocking plate 11 and ensure that the blocking plate 11 can smoothly pass through the inlet and enter the working water chamber 20.

[0115] S601: Perform assembly operations on the motherboard and socket 23.

[0116] S402: Control the second conveyor to transport the left side plate into the working water chamber 20.

[0117] S502: Control the moving part 13 to grab and move the left side plate to align with the second preset position of the connecting pipe seat 23.

[0118] S602: Perform assembly operation on the left side plate and tube seat 23.

[0119] S403: Control the second conveyor to transport the right side plate into the working water chamber 20.

[0120] S503: Control the moving part 13 to grab and move the right side plate to align with the third preset position of the connecting pipe seat 23.

[0121] S603: Perform assembly operation on the right side plate and tube seat 23.

[0122] S90: Adjust the seal to the extended seal state to seal the coolant inlet and outlet 22.

[0123] Understandably, after the plug plate 11 is aligned and fixedly assembled with the pipe seat 23, the seal is switched from the folded storage state to the extended sealing state so as to achieve a reliable seal on the coolant inlet and outlet 22 and prevent water in the coolant circuit pipeline from flowing into the working water chamber 20.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A nuclear power plant steam generator disassembly and assembly device, characterized in that, include: Mobile platform; A sealing plate, used to seal the coolant inlet and outlet of a steam generator in a nuclear power plant; A conveying assembly has a first end and a second end disposed opposite to each other, one end of the first end being coupled to the moving platform, and the second end extending in a direction away from the moving platform; the conveying assembly is configured to convey the block plate back and forth between the first end and the second end. A movable element is movably coupled to the second end, and the movable element is configured to grasp and move the blocking plate.

2. The nuclear power plant steam generator disassembly and assembly equipment according to claim 1, characterized in that, The first end is coupled to the mobile platform and configured to form a rotation fulcrum; The nuclear power plant steam generator dismantling and assembly equipment also includes a drive assembly, which is coupled to the mobile platform and drivenly connected to the conveying assembly; the drive assembly is configured to drive the conveying assembly to rotate around the pivot point.

3. The nuclear power plant steam generator disassembly and assembly equipment according to claim 2, characterized in that, The conveying assembly includes a first conveying member, a second conveying member, and a clamp. The first conveying member has a first end and a second end that are disposed opposite to each other. The second conveying member is movably coupled to the first conveying member. The clamp is movably coupled to the second conveying member. The drive assembly drives the first conveyor, the second conveyor, and the clamp. The drive assembly is configured to drive the first conveyor to rotate around the pivot point, drive the second conveyor to move relative to the first conveyor between a first end and a second end, drive the clamp to clamp the blocking plate, and drive the clamp to rotate relative to the second conveyor. When the second conveyor moves to the second end, the second conveyor extends at least partially through the manhole of the nuclear power plant steam generator into the working water chamber of the nuclear power plant steam generator.

4. The nuclear power plant steam generator disassembly and assembly equipment according to claim 3, characterized in that, The conveying assembly further includes a connector, which is fitted to the second end and is used to fit with the manhole flange of the nuclear power plant steam generator.

5. The nuclear power plant steam generator disassembly and assembly equipment according to claim 4, characterized in that, The conveying assembly further includes a third conveying member movably coupled to the first conveying member and movable relative to the first conveying member between a first end and a second end; the third conveying member is configured to convey the movable member into the working water chamber; The movable component has a folded-down state and an extended-moving state; when the movable component is in the folded-down state, it bends and fits against the outer wall of the conveying assembly; when the movable component is in the extended-moving state, it can grasp and move the blocking plate.

6. The nuclear power plant steam generator disassembly and assembly equipment according to claim 1, characterized in that, The blocking plate includes a main plate, a left side plate, a right side plate, and a sealing element. The left side plate, the main plate, and the right side plate are sequentially and side by side connected to the pipe socket that connects to the coolant inlet and outlet. The seal is fitted onto the motherboard and is configured to have an extended sealing state and a folded storage state; when the seal is in the extended sealing state, the seal seals the coolant inlet and outlet; when the seal is in the folded storage state, the seal is folded into the outer contour of the motherboard.

7. The nuclear power plant steam generator disassembly and assembly equipment according to claim 6, characterized in that, The blocking plate also includes a fixing component and an assembly component. The assembly component is respectively fitted to the main board, the left side plate and the right side plate, and the assembly component is used to fix the fixing component to the main board and the tube socket, the left side plate and the tube socket, and the right side plate and the tube socket.

8. The nuclear power plant steam generator disassembly and assembly equipment according to claim 1, characterized in that, It also includes a sensor, which is coupled to the blocking plate and is communicatively connected to the moving part; the sensor is configured to detect in real time the relative position of the blocking plate and the tube seat of the nuclear power plant steam generator during the process of the moving part grabbing and moving the blocking plate, and to control the moving part to move the blocking plate according to the detection result.

9. A disassembly and assembly control method, used in the nuclear power plant steam generator disassembly and assembly equipment as described in any one of claims 1 to 8, characterized in that, include: The mobile platform is controlled to move, and the conveying assembly is simultaneously controlled to rotate relative to the mobile platform around the pivot point until the connecting piece is aligned and mated with the manhole flange plate of the nuclear power plant steam generator. The moving part is transported to the working water chamber of the nuclear power plant steam generator by a third conveyor. The clamp is used to pick up the blocking plate, and the clamp is controlled to rotate relative to the second conveyor to adjust the blocking plate to a preset insertion position; The second conveyor is controlled to transport the blockage plate into the working water chamber; Control the moving part to grasp and move the blocking plate until it is aligned with the pipe seat that connects to the coolant inlet and outlet; The plug plate and the tube seat are assembled, and the coolant inlet and outlet are sealed.

10. The disassembly and assembly control method according to claim 9, characterized in that, Prior to the step of conveying the movable component to the working water chamber of the nuclear power plant steam generator via the third conveyor, the disassembly and assembly control method further includes: The moving part is adjusted to a folded and stowed state and then assembled onto the third conveyor.

11. The disassembly and assembly control method according to claim 10, characterized in that, Following the step of conveying the movable component to the working water chamber of the nuclear power plant steam generator via the third conveyor, the disassembly and assembly control method further includes: Adjust the movable component to an extended movement state.

12. The disassembly and assembly control method according to claim 9, characterized in that, The steps of controlling the second conveying component to convey the plug plate into the working water chamber, controlling the moving component to grab and move the plug plate to align with the pipe seat connecting the coolant inlet and outlet, and assembling the plug plate with the pipe seat and sealing the coolant inlet and outlet specifically include: The second conveyor is controlled to convey the main board and the sealing element, which is attached to the main board and is in a folded and stored state, into the working water chamber; Control the moving part to grasp and move the motherboard and the sealing part that is attached to the motherboard and is in a folded storage state to align with the first preset position that connects to the tube socket; The motherboard and the socket are assembled. The second conveyor is controlled to transport the left side plate into the working water chamber; Control the moving component to grasp and move the left side plate to align it with the second preset position connected to the tube seat; The left side plate and the tube seat are assembled. The second conveyor is controlled to transport the right side plate into the working water chamber; Control the moving part to grasp and move the right side plate to align with the third preset position connected to the tube seat; The right side plate and the tube seat are assembled. The seal is adjusted to an extended sealing state to seal the coolant inlet and outlet.

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