Nuclear power station evaporator disassembling and assembling system and positioning and moving device thereof

Abstract

The invention relates to a nuclear power station evaporator disassembling and assembling system and a positioning and moving device thereof. The positioning and moving device of the nuclear power station evaporator disassembling and assembling system comprises a moving assembly, a first conveying assembly and a lifting assembly. In the actual working process of the positioning and moving device of the nuclear power station evaporator disassembling and assembling system, lifting of the moving assembly and the lifting assembly drives one end of the first conveying assembly and the moving assembly to rotate, the first conveying assembly is connected with a manhole flange in a positioning mode, and then a mechanical arm is arranged at one end of the second conveying assembly and extends into the manhole flange; the second conveying assembly is in sliding fit with the first conveying assembly, the first conveying assembly enables the second conveying assembly to freely adjust the length of the second conveying assembly extending into the manhole flange, and the mechanical arm located in the steam generator facilitates intelligent disassembly and assembly of the inner wall of the steam generator and a primary side blocking plate of the steam generator. The degree of freedom of the mechanical arm is improved, and the mechanical arm is prevented from damaging the steam generator manhole.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of nuclear power plant automated maintenance, in particular to a nuclear power plant evaporator dismounting system and a positioning and moving device thereof. BACKGROUND

[0002] During the shutdown and refueling overhaul of a nuclear power plant, the related components of a steam generator need to be maintained, and a one-loop baffle plate and a plug are installed to plug the steam generator one-loop coolant inlet and outlet and the drain hole to prevent water in the reactor one-loop pipe from flowing into the steam generator water chamber.

[0003] Most of the sealing operations of domestic nuclear power plants are carried out by manual operation. Due to high radiation dose inside the steam generator water chamber, narrow space, complex operation process and other factors, there are problems such as exceeding the radiation dose of personnel and operation failure, which may cause radioactive water leakage, affect the overhaul period and the safety of the power plant, and the intelligent dismounting technology of the steam generator primary side baffle plate and the complete equipment development are needed to replace manual operation, reduce the radiation dose of personnel, and improve the safety and reliability of the operation.

[0004] The existing nuclear power plant maintenance mechanical arm is generally arranged outside the steam generator and extends into the manhole for maintenance, and the freedom degree is small during the maintenance process, and the manhole side wall is easily collided, and the steam generator is damaged. SUMMARY

[0005] Therefore, it is necessary to provide a nuclear power plant evaporator dismounting system and a positioning and moving device thereof in view of the problems that the existing nuclear power plant maintenance mechanical arm is generally arranged outside the steam generator and extends into the manhole for maintenance, and the freedom degree is small during the maintenance process, and the manhole side wall is easily collided, and the steam generator is damaged.

[0006] A positioning and moving device of a nuclear power plant evaporator dismounting system, the positioning and moving device of the nuclear power plant evaporator dismounting system comprises:

[0007] a moving assembly;

[0008] a first conveying assembly, one end of which is rotationally connected with the moving assembly, and the other end of which is used for connecting with a manhole flange to convey a mechanical arm;

[0009] a lifting assembly, one end of which is arranged on the moving assembly, and the other end of which is connected with the first conveying assembly to drive the first conveying assembly to rotate relative to the moving assembly.

[0010] The positioning and moving device of the nuclear power plant evaporator dismounting system reaches the vicinity of the manhole flange through the moving assembly in actual work, drives one end of the first conveying assembly to rotate with the moving assembly through the lifting of the lifting assembly, and the other end approaches the manhole flange. The first conveying assembly is positioned and connected with the manhole flange through the fasteners passing through the threaded holes of the first conveying assembly and the manhole flange, and then one end of the second conveying assembly is provided with a mechanical arm and extends into the manhole flange, and the second conveying assembly is slidably connected with the first conveying assembly. The length of the second conveying assembly extending into the manhole flange can be freely adjusted through the first conveying assembly, so that the mechanical arm inside the steam generator can conveniently operate the intelligent dismounting of the steam generator inner wall and the primary side blanking plate of the steam generator, the freedom degree of the mechanical arm is improved, and damage to the manhole of the steam generator is prevented.

[0011] In one of the embodiments, the positioning and moving device of the nuclear power plant evaporator dismounting system further comprises a positioning disc, one end of the positioning disc is connected with one end of the first conveying assembly away from the moving assembly, and the other end is used for being connected with the manhole flange disc.

[0012] The positioning disc has a through hole corresponding to the manhole, which is used for the mechanical arm to pass through.

[0013] In one of the embodiments, the lifting assembly comprises a first lifting structure.

[0014] The first lifting structure comprises a folding mechanism and a driving mechanism, one end of the folding mechanism is connected with the first conveying assembly, and the other end is connected with the moving assembly.

[0015] The driving mechanism drives the folding mechanism to fold, so as to drive the first conveying assembly to rotate relative to the moving assembly.

[0016] In one of the embodiments, the folding mechanism comprises two first rotating rods and two second rotating rods which are sequentially hinged at the head and tail, the hinged portions of the two first rotating rods are rotationally connected with the moving assembly, the hinged portions of the two second rotating rods are rotationally connected with the first conveying assembly, and the driving mechanism drives the first rotating rod and the second rotating rod to rotate, so as to drive the first conveying assembly to rotate relative to the moving assembly.

[0017] In one of the embodiments, the folding mechanism further comprises a first connecting seat and a second connecting seat, and the driving mechanism comprises a power part, a lead screw and a hinged seat.

[0018] One group of adjacent first rotating rods and second rotating rods are rotationally connected with the first connecting seat, and another group of adjacent first rotating rods and second rotating rods are rotationally connected with the second connecting seat;

[0019] The lead screw is arranged in the first connecting seat and the second connecting seat, rotationally matched with the first connecting seat, and threadedly matched with the second connecting seat;

[0020] One end of the lead screw is threadedly connected with the hinged seat, and the other end is rotationally matched with the power part, the power part drives the lead screw to rotate, and the hinged seat is rotationally matched with the moving assembly.

[0021] In one embodiment, the lifting assembly further comprises a second lifting structure;

[0022] One end of the second lifting structure is connected with the moving assembly, and the other end is connected with one end of the folding mechanism away from the first conveying assembly.

[0023] In one embodiment, the second lifting structure comprises a plurality of lifters and a lifting platform;

[0024] One end of the lifter is connected with the moving assembly, and the other end is connected with the lifting platform;

[0025] One end of the folding mechanism away from the first conveying assembly is hinged with the lifting platform.

[0026] In one embodiment, the lifting platform is provided with a strip-shaped hole, and the first conveying assembly can move in the strip-shaped hole.

[0027] In one embodiment, the moving assembly comprises a moving platform and a plurality of moving wheels, the plurality of moving wheels are connected with the moving platform to drive the moving platform to move, the moving platform is provided with a rotating hole, and one end of the first conveying assembly away from the manhole flange is rotationally connected with the side wall of the rotating hole.

[0028] An embodiment of the present application further provides a nuclear power plant evaporator dismounting system, which comprises a second conveying assembly, a mechanical arm and the positioning and moving device of the nuclear power plant evaporator dismounting system.

[0029] The second conveying assembly is parallel to and slidably matched with the first conveying assembly, one end of the second conveying assembly extends into the manhole flange and is connected with the mechanical arm.

[0030] In the actual working process of the nuclear power plant evaporator dismounting system, first, the positioning moving device of the nuclear power plant evaporator dismounting system is driven by the moving assembly to the manhole flange, one end of the first conveying assembly is rotated by the lifting of the lifting assembly, the other end is close to the manhole flange, the first conveying assembly end away from the moving assembly is aligned with the manhole flange and the extension direction of the first conveying assembly is parallel to the axis of the manhole flange through synchronous fine adjustment of the moving assembly and the lifting assembly, then the first conveying assembly end away from the moving assembly is attached to the manhole flange, the first conveying assembly is positioned and connected with the manhole flange through the fastener passing through the threaded holes of the first conveying assembly and the manhole flange, then one end of the second conveying assembly is provided with a mechanical arm and extends into the manhole flange, the second conveying assembly is slidingly connected with the first conveying assembly, the length of the second conveying assembly extending into the manhole flange can be freely adjusted through the first conveying assembly, so that the mechanical arm inside the steam generator can conveniently operate the steam generator inner wall and the steam generator primary side blanking plate intelligent dismounting, the freedom of the mechanical arm is improved, and damage to the manhole of the steam generator is prevented. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The positioning moving device of the nuclear power plant evaporator dismounting system and the steam generator are shown in the schematic view.

[0032] Figure 2 The first lifting structure is shown in the enlarged view. Figure 1

[0033] BRIEF DESCRIPTION OF DRAWINGS:

[0034] 10-positioning moving device of the nuclear power plant evaporator dismounting system;

[0035] 100-moving assembly; 110-moving platform; 110a-rotation hole; 120-moving wheel;

[0036] 200-first conveying assembly; 210-first fixed rod; 220-first guide rail; 230-first motor;

[0037] 300-lifting assembly;

[0038] 400-positioning disc; 410-passing hole; 420-fastener;

[0039] 500-first lifting structure; 510-folding mechanism; 511-first rotation rod; 512-second rotation rod; 513-first connecting seat; 514-second connecting seat; 520-driving mechanism; 521-power part; 522-screw rod; 523-hinge seat; 530-first fixed seat; 540-second fixed seat;

[0040] ​600 - second lifting structure; 610 - lifter; 620 - lifting platform; 620a - bar-shaped hole; 630 - guide rod;

[0041] 20 - steam generator; 20a - manhole; 21 - manhole flange. DETAILED DESCRIPTION

[0042] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced in a variety of ways beyond the specific embodiments described herein without departing from the spirit of the present application, and that the present application is not limited to the specific embodiments disclosed below.

[0043] In the description of the present application, it should be understood that, if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0044] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0045] In the present application, unless otherwise specifically defined and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] In the present application, unless specifically defined and limited otherwise, if there is a description of a first feature on or above or below a second feature, it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature can be above or above or above the second feature, or it can only mean that the first feature is higher than the second feature in horizontal height. The first feature can be below or below or below the second feature, or it can only mean that the first feature is lower than the second feature in horizontal height.

[0047] It should be noted that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or there can be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are only for illustrative purposes and do not represent the only implementation.

[0048] Referring to Figure 1 , Figure 1 The positioning and moving device 10 of the nuclear power plant evaporator disassembly system in an embodiment of the present application and the structure of the steam generator 20 are shown. The positioning and moving device 10 of the nuclear power plant evaporator disassembly system provided in an embodiment of the present application comprises a moving assembly 100, a first conveying assembly 200 and a lifting assembly 300.

[0049] In the positioning and moving device 10 of the nuclear power plant evaporator disassembly system described above, one end of the first conveying assembly 200 is rotationally connected with the moving assembly 100, and the other end is used to be connected with the manhole flange 21 to convey the mechanical arm. One end of the lifting assembly 300 is arranged on the moving assembly 100, and the other end is connected with the first conveying assembly 200 to drive the first conveying assembly 200 to rotate relative to the moving assembly 100.

[0050] The positioning and moving device 10 of the nuclear power plant evaporator dismounting system in the actual working process, first through the moving assembly 100 drives the whole nuclear power plant evaporator dismounting system positioning and moving device 10 reaches the manhole flange 21 nearby, through the lifting assembly 300 lifting drives the first conveying assembly 200 one end and the moving assembly 100 rotates, the other end is close to the manhole flange 21, through the moving assembly 100 and lifting assembly 300 synchronous fine adjustment, so that the first conveying assembly 200 deviates from the one end of the moving assembly 100 and the manhole flange 21 alignment and ensure that the extension direction of the first conveying assembly 200 and the axis of the manhole flange 21 parallel, then the first conveying assembly 200 deviates from the one end of the moving assembly 100 and the manhole flange 21 attached, through the fastener 420 through the threaded hole of the first conveying assembly 200 and the manhole flange 21, to position the first conveying assembly 200 and the manhole flange 21 connection, then the second conveying assembly one end is provided with a mechanical arm and extends into the manhole flange 21, the second conveying assembly and the first conveying assembly 200 sliding fit, through the first conveying assembly 200 the second conveying assembly can freely adjust the length of the manhole flange 21, so that the mechanical arm inside the steam generator 20 is convenient for the steam generator 20 inner wall and the steam generator 20 primary side baffle intelligent dismounting operation, improve the degree of freedom of the mechanical arm, prevent the mechanical arm from causing damage to the manhole 20a of the steam generator 20.

[0051] Referring to Figure 1 In one embodiment, the positioning and moving device 10 of the nuclear power plant evaporator dismounting system further comprises a positioning disc 400, one side of the positioning disc 400 is connected with the one end of the first conveying assembly 200 deviating from the moving assembly 100, and the other end is used for connecting with the manhole flange 21 disc. The positioning disc 400 has a through hole 410 corresponding to the manhole 20a for the mechanical arm to pass through.

[0052] In this embodiment, one side of the positioning disc 400 is connected with the first conveying assembly 200, and the other side is connected with the manhole flange 21, so that the first conveying assembly 200 is positioned and connected with one side of the manhole flange 21, and the positioning disc 400 is provided with the through hole 410, so that the mechanical arm can pass through conveniently. Specifically, the second conveying assembly passes through the through hole 410, and the second conveying assembly conveys the mechanical arm into the steam generator 20. By providing the positioning disc 400 with the through hole 410, the first conveying assembly 200 can be conveniently connected with the manhole flange 21, and at the same time, the conveying space for the mechanical arm is provided, so that the first conveying assembly 200 does not hinder the mechanical arm from extending into the manhole flange 21. In this embodiment, the positioning of the first conveying assembly 200 and the manhole flange 21 and the avoidance seat of the manhole flange 21 are combined, which solves the problem that the mechanical arm cannot be conveyed into the manhole 20a, improves the degree of freedom of the mechanical arm, and ensures the stability of the steam generator 20 during maintenance.

[0053] Specifically, the positioning disc 400 is U-shaped or partially annular, and corresponds to the flange shape of the manhole flange 21, i.e., the through hole 410 is an open hole slot, so as to facilitate the fastening of the positioning disc 400 and the flange plate of the manhole flange 21 by means of bolts or screws, etc., so as to ensure that the first conveying assembly 200 can pass through the hole slot of the positioning disc 400.

[0054] Referring to Figure 1 and Figure 2 In one embodiment, the lifting assembly 300 includes a first lifting structure 500. The first lifting structure 500 includes a folding mechanism 510 and a driving mechanism 520. One end of the folding mechanism 510 is connected to the first conveying assembly 200, and the other end is connected to the moving assembly 100. The driving mechanism 520 drives the folding mechanism 510 to fold, so as to drive the first conveying assembly 200 to rotate relative to the moving assembly 100.

[0055] In this embodiment, the folding mechanism 510 is driven to fold by the driving mechanism 520, so as to drive the part of the first conveying assembly 200 connected to the folding mechanism 510 to lift or fall, and one end of the first conveying assembly 200 is rotationally connected to the moving assembly 100, so as to enable the other end of the first conveying assembly 200 to lift or fall, thereby facilitating the movement of the end of the first conveying assembly 200 away from the moving assembly 100 to the vicinity of the manhole flange 21.

[0056] Referring to Figure 1 and Figure 2 In one embodiment, the folding mechanism 510 includes two first rotating rods 511 and two second rotating rods 512 connected in sequence at their ends. The hinged portions of the two first rotating rods 511 are rotationally connected to the moving assembly 100, and the hinged portions of the two second rotating rods 512 are rotationally connected to the first conveying assembly 200. The driving mechanism 520 drives the first rotating rods 511 and the second rotating rods 512 to rotate, so as to drive the first conveying assembly 200 to rotate relative to the moving assembly 100.

[0057] In this embodiment, the folding mechanism 510 is formed by the first rotating rods 511 and the second rotating rods 512 connected in sequence at their ends to form a quadrilateral. The distance between the two ends can be lengthened or shortened by folding. By driving any one of the first rotating rods 511 or the second rotating rods 512 to rotate by means of the driving mechanism 520, and by rotationally connecting the hinged portions of the two first rotating rods 511 to the moving assembly 100 and rotationally connecting the hinged portions of the two second rotating rods 512 to the first conveying assembly 200, the entire folding mechanism 510 can be deformed in the form of a quadrilateral, thereby driving the first conveying assembly 200 to lift or fall.

[0058] Specifically, the moving assembly 100 is provided with a first fixing seat 530, the first conveying assembly 200 is provided with a second fixing seat 540, the hinging portions of the two first rotating rods 511 are rotationally connected with the fixing seat, and the hinging portions of the two second rotating rods 512 are rotationally connected with the second fixing seat 540.

[0059] Preferably, the first lifting structure 500 comprises two folding mechanisms 510, which are respectively located at the two sides of the lead screw 522, so as to ensure folding stability and prevent deviation.

[0060] In other embodiments, the folding mechanism 510 can also be a folding lifting frame, and the first lifting structure 500 can also be a gas cylinder or other structure. The specific form of the first lifting structure 500 is not limited here, as long as it can drive the first conveying assembly 200 to lift.

[0061] Referring to Figure 1 and Figure 2 In one embodiment, the folding mechanism 510 further comprises a first connecting seat 513 and a second connecting seat 514, and the driving mechanism 520 comprises a power part 521, a lead screw 522 and a hinging seat 523. One set of adjacent first rotating rods 511 and second rotating rods 512 are rotationally connected with the first connecting seat 513, and the other set of adjacent first rotating rods 511 and second rotating rods 512 are rotationally connected with the second connecting seat 514. The lead screw 522 is arranged in the first connecting seat 513 and the second connecting seat 514, and rotationally cooperates with the first connecting seat 513 and threadedly cooperates with the second connecting seat 514. One end of the lead screw 522 is threadedly connected with the hinging seat 523, and the other end rotationally cooperates with the power part 521. The power part 521 drives the lead screw 522 to rotate, and the hinging seat 523 rotationally cooperates with the moving assembly 100.

[0062] In this embodiment, in order to ensure stable folding of the folding mechanism 510, the first connecting seat 513 rotationally cooperates with the lead screw 522, and the second connecting seat 514 threadedly cooperates with the lead screw 522. When the power part 521 drives the lead screw 522 to rotate, the distance between the first connecting seat 513 and the power part 521 remains unchanged, but the lead screw 522 rotationally cooperates with the first connecting seat 513 and threadedly cooperates with the second connecting seat 514, so as to drive the second connecting seat 514 to move close to or away from the first connecting seat 513, and further cause the folding mechanism 510 in the shape of a quadrilateral to deform, and the two first rotating rods 511 move close to or away from the two second rotating rods 512, thereby driving the first conveying assembly 200 to lift.

[0063] Referring to Figure 1In one embodiment, the lifting assembly 300 further comprises a second lifting structure 600. One end of the second lifting structure 600 is connected to the moving assembly 100, and the other end is connected to the folding mechanism 510 away from the first conveying assembly 200.

[0064] Specifically, the second lifting structure 600 comprises a plurality of lifters 610 and a lifting platform 620. One end of the lifter 610 is connected to the moving assembly 100, and the other end is connected to the lifting platform 620. The end of the folding mechanism 510 away from the first conveying assembly 200 is hinged to the lifting platform 620. In this embodiment, the end of the first conveying assembly 200 away from the moving assembly 100 is preliminarily brought close to the manhole flange 21 by the second lifting structure 600, that is, the lifting platform 620 is lifted by the plurality of lifters 610, the first lifting structure 500 is lifted by the lifting platform 620, and finally the first conveying assembly 200 is lifted. The lifting of the folding structure by the lifter 610 relative to the above-mentioned screw rod 522 is more direct and can be used for coarse height adjustment, and the rotation of the screw rod 522 can accurately control the number of rotation circles to fine-tune the height.

[0065] Among them, the lifter 610 can be a pneumatic cylinder or a telescopic rod, which is electric or pneumatic, or hydraulic.

[0066] Preferably, the second lifting structure 600 further comprises a plurality of guide rods 630, one end of the guide rod 630 is connected to the moving platform 110 away from the side of the moving wheel 120, and the other end is arranged in the lifting platform 620 and slidably connected with the lifting platform 620.

[0067] Referring to Figure 1 In one embodiment, the lifting platform 620 is provided with a strip-shaped hole 620a, and the first conveying assembly 200 can move in the strip-shaped hole 620a. Thus, in the case that the balance surface of the moving assembly 100 is small, the angle range in which the first conveying assembly 200 can rotate is increased, so that the first conveying assembly 200 can be rotated to a smaller acute angle intersecting with the horizontal plane, and the height of the end of the first conveying assembly 200 away from the moving assembly 100 is lower.

[0068] Referring to Figure 1In one of the embodiments, the moving assembly 100 comprises a moving platform 110 and a plurality of moving wheels 120 connected with the moving platform 110 to drive the moving platform 110 to move, the moving platform 110 has a rotating hole 110a, and the first conveying assembly 200 is rotationally connected with the sidewall of the rotating hole 110a at the end away from the manhole flange 21. Specifically, the moving wheels 120 are universal wheels, so that the moving assembly 100 has a larger moving range when adjusting the position of the first conveying assembly 200 and the manhole flange 21 in cooperation with the lifting assembly 300, and the efficiency of alignment positioning is improved. The rotating hole 110a improves the degree of freedom of rotation of the first conveying assembly 200 while ensuring that the first conveying assembly 200 can be rotationally connected with the moving platform 110.

[0069] Specifically, the strip-shaped hole 620a and the rotating hole 110a correspond in the vertical direction, and both are strips with consistent extension directions, so that the first conveying assembly 200 can be conveniently rotated. The strip-shaped hole 620a is a through groove formed in the side of the lifting platform 620, and the rotating hole 110a is a through groove formed in the side of the moving platform 110.

[0070] Specifically, the first conveying assembly 200 comprises a first fixed rod 210, a first guide rail 220, and a first motor 230. One end of the fixed rod is rotationally connected with the rotating hole 110a of the moving platform 110, and the other end is connected with the positioning disc 400. The first guide rail 220 is arranged on the first fixed rod 210, and the first motor 230 drives the second conveying assembly to slide with the first guide rail 220, so that the length of the second conveying assembly extending into the manhole flange 21 can be controlled.

[0071] Preferably, the second conveying assembly comprises a connecting part, a second fixed rod, a second guide rail, and a second motor. One end of the connecting part is connected with the second fixed rod, and the other end is slidably connected with the first guide rail 220. The second fixed rod is arranged in parallel with the first fixed rod 210. The second guide rail is arranged on the second fixed rod. The first motor 230 drives the mechanical arm to slide with the second guide rail, so that the position of the mechanical arm in the steam generator 20 can be controlled.

[0072] Specifically, the above-mentioned rotationally connected manner can be realized by a rotating shaft or a rotating protrusion for rotation or hinging, and the specific rotating structure is not limited here.

[0073] An embodiment of the present application further provides a nuclear power plant evaporator dismounting system, which comprises a second conveying assembly, a mechanical arm, and a positioning and moving device 10 of the nuclear power plant evaporator dismounting system. The second conveying assembly is parallel to and slidably connected with the first conveying assembly 200. One end of the second conveying assembly extends into the manhole flange 21 and is connected with the mechanical arm.

[0074] In actual working process of the nuclear power plant evaporator dismounting system, first, the positioning moving device 10 of the nuclear power plant evaporator dismounting system is driven by the moving assembly 100 to reach the manhole flange 21, the first conveying assembly 200 is rotated by the lifting of the lifting assembly 300 and the moving assembly 100, the other end is close to the manhole flange 21, the first conveying assembly 200 is aligned with the manhole flange 21 by the synchronous fine adjustment of the moving assembly 100 and the lifting assembly 300, and the extension direction of the first conveying assembly 200 is parallel to the axis of the manhole flange 21, then the end of the first conveying assembly 200 away from the moving assembly 100 is attached to the manhole flange 21, the first conveying assembly 200 is positioned and connected with the manhole flange 21 by the fastener 420 passing through the threaded hole of the first conveying assembly 200 and the manhole flange 21, then one end of the second conveying assembly is provided with a mechanical arm and extends into the manhole flange 21, the second conveying assembly is slidably connected with the first conveying assembly 200, the length of the second conveying assembly extending into the manhole flange 21 can be freely adjusted by the first conveying assembly 200, so that the mechanical arm inside the steam generator 20 can conveniently operate the steam generator 20 inner wall and the steam generator 20 primary side blanking plate intelligent dismounting, the freedom of the mechanical arm is improved, and damage to the manhole 20a of the steam generator 20 is prevented.

[0075] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0076] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A positioning and moving device for a nuclear power plant evaporator assembly / disassembly system, characterized in that, The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system includes: Mobile components; The first conveying assembly has one end rotatably engaged with the moving assembly and the other end connected to the manhole flange to convey the robotic arm; The lifting component has one end mounted on the moving component and the other end connected to the first conveying component, and is used to drive the first conveying component to rotate relative to the moving component.

2. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 1, characterized in that, The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system further includes a positioning plate, one side of which is connected to the end of the first conveying component away from the moving component, and the other end is used to connect to the manhole flange. The positioning plate has a through hole, which corresponds to the manhole and is used for the robotic arm to pass through.

3. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 1, characterized in that, The lifting assembly includes a first lifting structure; The first lifting structure includes a folding mechanism and a driving mechanism. One end of the folding mechanism is connected to the first conveying component, and the other end is connected to the moving component. The driving mechanism drives the folding mechanism to fold, thereby causing the first conveying component to rotate relative to the moving component.

4. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 3, characterized in that, The folding mechanism includes two first rotating rods and two second rotating rods that are hinged together at their ends. The hinge joints of the two first rotating rods are rotatably connected to the moving component, and the hinge joints of the two second rotating rods are rotatably connected to the first conveying component. The driving mechanism drives the first rotating rods and the second rotating rods to rotate, thereby causing the first conveying component to rotate relative to the moving component.

5. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 4, characterized in that, The folding mechanism further includes a first connecting seat and a second connecting seat, and the driving mechanism includes a power unit, a lead screw, and a hinge seat; One set of adjacent first rotating rods and second rotating rods is rotatably connected to the first connecting seat, and another set of adjacent first rotating rods and second rotating rods is rotatably connected to the second connecting seat; The lead screw passes through the first connecting seat and the second connecting seat, and the lead screw is rotatably engaged with the first connecting seat and threadedly engaged with the second connecting seat. One end of the lead screw is threadedly connected to the hinge seat, and the other end is rotatably engaged with the power unit. The power unit drives the lead screw to rotate, and the hinge seat is rotatably engaged with the moving component.

6. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 3, characterized in that, The lifting assembly also includes a second lifting structure; One end of the second lifting structure is connected to the moving component, and the other end is connected to the end of the folding mechanism that is away from the first conveying component.

7. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 6, characterized in that, The second lifting structure includes multiple lifters and a lifting platform; One end of the lifter is connected to the moving component, and the other end is connected to the lifting platform; The end of the folding mechanism opposite to the first conveying component is hinged to the lifting platform.

8. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 7, characterized in that, The lifting platform has a slotted opening, and the first conveying component can move within the slotted opening.

9. The positioning and moving device of the nuclear power plant evaporator disassembly and assembly system according to claim 1, characterized in that, The moving component includes a moving platform and multiple moving wheels. The multiple moving wheels are connected to the moving platform to drive the moving platform to move. The moving platform has a rotating hole. The end of the first conveying component opposite to the manhole flange is rotatably connected to the side wall of the rotating hole.

10. A nuclear power plant evaporator disassembly and assembly system, characterized in that, The nuclear power plant evaporator disassembly and assembly system includes: a second conveying assembly, a robotic arm, and a positioning and moving device for the nuclear power plant evaporator disassembly and assembly system according to any one of claims 1-9; The second conveying assembly is parallel to and slidably fitted with the first conveying assembly, and one end of the second conveying assembly extends into the manhole flange and is connected to the robotic arm.

Images