Device and method for measuring position of cylinder of underwater reactor internals

Abstract

The invention provides an underwater reactor internal cylinder shape and position measuring device and method. The underwater reactor internal cylinder shape and position measuring device comprises control equipment, a lifting motion module and a circular motion module, wherein the lifting motion module and the circular motion module are detachably connected. The control device is connected with the lifting motion module and the circular motion module and used for controlling the lifting mechanism to drive the measuring module to move up and down through the measuring module support. A measurement module is controlled to collect point cloud data of the reactor internal cylinder in the vertical direction of the circumferential area where the reactor internal cylinder is located; controlling the circular motion module to drive the measuring module to move in the circumferential direction of the reactor internals; and carrying out coordinate system integration, splicing and filtering on the point cloud data to form effective point cloud data of measurable parts of the reactor internals, and obtaining the shape, position and size of the reactor internals according to the point cloud data of the reactor internals. The measuring module in the lifting motion module is used for collecting the point cloud data of the reactor internals in the vertical direction of the circumferential area where the reactor internals are located, so that the problem that the shape and position of the reactor internals cannot be measured in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of in-service maintenance of pressurized water reactor nuclear power units, and particularly relates to a device for measuring the shape and position of a reactor internal component cylinder and a method thereof. BACKGROUND

[0002] Nuclear power generation is to generate power by using the heat energy released from the self-sustained chain fission reaction of nuclear fuel. After the first criticality of a pressurized water reactor nuclear power plant, the nuclear fuel assembly, the primary system and the equipment are highly radioactive, the maintenance environment is extremely harsh, and the maintenance personnel cannot normally approach, so that the conventional means cannot be used for maintenance operation. At present, the common method in the industry at home and abroad is to use a certain concentration of boric acid water as a radiation shield to perform maintenance operation at a long distance.

[0003] The reactor internal component is located in the extremely high radiation area of the reactor core, and is subjected to harsh working conditions such as high temperature, high pressure, water flow impact and flow-induced vibration during the operation of the unit. Once a fault occurs, it will lead to irreversible serious consequences, affecting the nuclear safety of the nuclear power plant. The shape and position of the reactor internal component need to be measured for fault judgment and post-repair evaluation. It is understood that there is no mature technology for this purpose at present, and it is urgent to develop a method and device for measuring the shape and position of the cylinder of the underwater reactor internal component. SUMMARY

[0004] Therefore, the application provides a device and method for measuring the shape and position of the cylinder of the underwater reactor internal component, which collects point cloud data of the reactor internal component cylinder in the vertical direction of the circumferential region thereof by using the measurement module in the lifting motion module, so as to solve the problem that the shape and position of the reactor internal component cannot be measured.

[0005] The first aspect of the application provides a device for measuring the shape and position of the cylinder of the underwater reactor internal component, which comprises a control device, and a lifting motion module and a circumferential motion module which are detachably connected. The lifting motion module comprises a lifting mechanism, a measurement module and a measurement module support. The measurement module is connected with the lifting mechanism through the measurement module support. The circumferential motion module is used to be sleeved on the outside of the reactor internal component cylinder. The control device is connected with the lifting motion module and the circumferential motion module, and is used to control the lifting mechanism to drive the measurement module to realize up and down action through the measurement module support; control the measurement module to collect point cloud data of the reactor internal component cylinder in the vertical direction of the circumferential region thereof; control the circumferential motion module to drive the measurement module to move in the circumferential direction of the reactor internal component; integrate, splice and filter the point cloud data in the coordinate system to form effective point cloud data of the measurable part of the reactor internal component cylinder, and obtain the shape and position size of the reactor internal component cylinder according to the point cloud data of the reactor internal component cylinder.

[0006] In an embodiment of the present application, the lifting mechanism comprises a lifting motor, a speed reducer and a lifting module. The measuring module is connected to the lifting module through the measuring module support. The lifting module drives the measuring module to move up and down through the measuring module support. The lifting motor provides power for the lifting module to move up and down through the speed reducer.

[0007] In an embodiment of the present application, the lifting motion module further comprises underwater fastening bolts and a lifting motion base plate. The lifting mechanism is connected to the lifting motion base plate. The lifting motion base plate is designed with a plurality of bolt holes, and each bolt hole is provided with an underwater fastening bolt.

[0008] In an embodiment of the present application, the circular motion module comprises a gear, a rotating motor, a circular running base plate, a plurality of guide wheel sets, a circular track, a rack and a track base. The rotating motor is installed on the circular running base plate, and the gear is installed on the output shaft of the rotating motor and matched with the rack. The rotating motor provides power for the circular motion of the circular running base plate through the gear and the rack. A plurality of guide wheel sets are installed below the circular running base plate, and the guide wheel sets are matched with the circular track to realize the movement of the circular running base plate in the circular direction of the track. The circular track is installed on the track base through bolts.

[0009] In an embodiment of the present application, the circular motion module further comprises a plurality of guide modules. The guide modules are installed above the circular running base plate. The plurality of guide modules are used for remote centering with the lifting motion module.

[0010] In an embodiment of the present application, the circular motion module further comprises a magnet and a proximity switch. The magnet is installed on the track base. The proximity switch is installed on the circular running base plate and corresponds to the installation position of the magnet.

[0011] In an embodiment of the present application, the circular motion module further comprises a plurality of lifting lugs. The plurality of lifting lugs are arranged on the inner side of the track base.

[0012] In an embodiment of the present application, the circular motion module further comprises a plurality of guide adapters arranged below the track base. The plurality of guide adapters are matched with the in-core structure cylinder and used for precise positioning of the circular motion module on the in-core structure cylinder.

[0013] In an embodiment of the present application, the circular motion module further comprises a long guide shaft and a short guide shaft arranged below the track base.

[0014] The second aspect of the present application provides a method for measuring the shape and position of an underwater in-core structure cylinder, which comprises:

[0015] Step one, the control equipment controls the lifting mechanism to drive the measuring module to move to the initial position through the measuring module support, and controls the circular motion module to drive the measuring module to move in the circumferential direction of the in-core structure, so as to collect the point cloud data of the in-core structure cylinder in the vertical direction of the circumferential area by the measuring module.

[0016] Step two, the control equipment controls the lifting mechanism to drive the measuring module to move a preset distance, and collects the point cloud data of the in-core structure cylinder in the vertical direction of the circumferential area by the measuring module, and the preset distance is less than the measurement width of the measuring module in the circumferential direction.

[0017] Step three, repeat step one and step two until the measurement range covers the circumferential accessible part of the in-core structure cylinder.

[0018] Step four, the control equipment integrates, splices and filters the point cloud data to form the effective point cloud data of the measurable part of the in-core structure cylinder, and obtains the shape and position size of the in-core structure cylinder according to the point cloud data of the in-core structure cylinder.

[0019] The beneficial effects of the technical scheme of the application are that: by setting the underwater in-core structure cylinder shape and position measuring device as a detachable lifting motion module and a circumferential motion module, the underwater in-core structure cylinder shape and position measuring device is a split structure, the lifting motion module and the circumferential motion module can be installed in stages underwater, so that the risk of collision during transportation and installation of the underwater in-core structure cylinder shape and position measuring device can be reduced, and the transportation, installation and debugging time of the underwater in-core structure cylinder shape and position measuring device can be shortened. In addition, by using the control equipment to control the movement of the lifting mechanism, the measuring module and the circumferential motion module, the dense point cloud data of the in-core structure cylinder and other large components can be collected, and the shape and position size of the in-core structure cylinder can be obtained by processing the point cloud data collected by the measuring module in the circumferential direction of the in-core structure, so as to facilitate subsequent fault judgment and post evaluation of the in-core structure, timely risk discovery and improvement of nuclear safety of the nuclear power plant. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Fig. 1 shows a structure schematic diagram of an underwater in-core structure cylinder shape and position measuring device provided by an embodiment of the application.

[0021] Figure 2 Fig. 2 shows a local structure schematic diagram of an underwater in-core structure cylinder shape and position measuring device provided by an embodiment of the application.

[0022] Figure 3 Fig. 3 shows another local structure schematic diagram of an underwater in-core structure cylinder shape and position measuring device provided by an embodiment of the application.

[0023] Figure 4Fig. 1 is a structural schematic diagram of a circumferential motion module in a water- underwater in-core component cylinder shape measurement device according to an embodiment of the present application.

[0024] Figure 5 Fig. 2 is a structural schematic diagram of a lifting motion module in a water- underwater in-core component cylinder shape measurement device according to an embodiment of the present application.

[0025] In the figure, 1 is a lifting motor, 2 is a speed reducer, 3 is a lifting module, 4 is an in- core component, 5 is a measurement module, 6 is a measurement module support, 7 is a gear, 8 is a rotary motor, 9 is a magnet, 10 is a proximity switch, 11 is an underwater fastening bolt, 12 is a lifting motion base plate, 13 is a guide module, 14 is a circumferential motion base plate, 15 is a guide wheel set, 16 is a circumferential track, 17 is a rack, 18 is an ear, 19 is a guide adapter, 20 is a long guide shaft, 21 is a short guide shaft, and 22 is a track base. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0027] At least one embodiment of the present application provides a water- underwater in-core component cylinder shape measurement device, which is suitable for a high-radiation underwater environment of a nuclear power plant. Referring to Figures 1 to 5 The water- underwater in-core component cylinder shape measurement device includes a control device, and a lifting motion module and a circumferential motion module which are detachably connected. The lifting motion module includes a lifting mechanism, a measurement module 5, and a measurement module support 6. The measurement module 5 is connected with the lifting mechanism through the measurement module support 6. The circumferential motion module is used to be sleeved on the outside of the in-core component cylinder 4. The control device is connected with the lifting motion module and the circumferential motion module, and is used to control the lifting mechanism to drive the measurement module 5 to realize up-down action through the measurement module support 6; control the measurement module 5 to collect point cloud data of the in-core component cylinder 4 in the vertical direction of the circumferential region; control the circumferential motion module to drive the measurement module 5 to move in the circumferential direction of the in-core component; integrate, splice, and filter the point cloud data in the coordinate system to form effective point cloud data of a measurable part of the in-core component cylinder, and derive shape and position sizes of the in-core component cylinder according to the point cloud data of the in-core component cylinder.

[0028] It should be noted that the measurement module 5 can adopt a laser measurement technology. In this way, the high-density point cloud data of the measured area can be collected by the measurement module 5 adopting the laser measurement technology, the accurate measurement of the measured area can be realized, and the density of the point cloud collection can be adjusted according to the actual demand, and the efficiency of the on-site data collection can be improved. The measurement module 5 can be subjected to anti-radiation shielding treatment, so that the measurement function of the measurement module 5 in the high-radiation underwater environment can be realized. The high-radiation underwater environment can be a radiation protection red zone.

[0029] All underwater parts of the underwater in-core barrel shape measurement device, such as the lifting motor 1 and the speed reducer 2, are subjected to waterproof sealing treatment, so that the long-time underwater measurement requirement can be met. Most of the parts in the underwater in-core barrel shape measurement device are made of stainless steel or aluminum alloy structure, which is convenient for removing the radioactive dust on the surface of the underwater in-core barrel shape measurement device after use in a radiation environment.

[0030] According to the technical scheme provided in the embodiments of the present application, the underwater in-core barrel shape measurement device is set as a lifting motion module and a circumferential motion module that are detachably connected, so that the underwater in-core barrel shape measurement device is a split structure, the lifting motion module and the circumferential motion module can be installed in stages underwater, thereby the risk of collision during transportation and installation of the underwater in-core barrel shape measurement device can be reduced, and the time for transportation, installation and debugging of the underwater in-core barrel shape measurement device can be shortened. In addition, the motion of the lifting mechanism, the measurement module 5 and the circumferential motion module is controlled by using the control equipment, the dense point cloud data of the in-core barrel and other large components is collected, and the shape and position size of the in-core barrel are obtained by processing the point cloud data collected by the measurement module 5 in the multi-layer circumferential direction of the in-core barrel, thereby facilitating subsequent fault judgment and post-repair evaluation of the in-core component, timely discovering risks, and improving the nuclear safety of the nuclear power plant.

[0031] In at least one embodiment of the present application, referring to Figure 1 and Figure 2 , the lifting mechanism includes a lifting motor 1, a speed reducer 2 and a lifting module 3. The measurement module 5 is connected to the lifting module 3 through a measurement module support 6. The lifting module 3 drives the measurement module 5 to move up and down through the measurement module support 6. The lifting motor 1 provides power for the lifting module 3 to move up and down through the speed reducer 2.

[0032] In at least one embodiment of the present application, referring to Figure 2, the lifting movement module further comprises underwater fastening bolts 11 and a lifting movement base plate 12. The lifting mechanism is connected with the lifting movement base plate 12. The lifting movement base plate 12 is designed with a plurality of bolt holes, and each bolt hole is respectively provided with an underwater fastening bolt 11. In this way, the underwater fastening bolts 11 and the lifting movement base plate 12 can enable the reliable connection of the lifting movement module and the circular movement module after the centering.

[0033] It should be noted that the lifting module 3 can be installed on the side of the lifting movement base plate 12 through bolt connection. The number of the plurality of bolt holes can be set according to actual needs, for example, the plurality of bolt holes can be four bolt holes, and the number of the plurality of bolt holes is not limited in the embodiment of the application.

[0034] The circular movement module can only realize the functions of being sleeved on the outside of the in-core structure cylinder 4 and driving the measurement module 5 to move in the circumferential direction of the in-core structure. On this basis, the specific structure of the circular movement module is not limited in the embodiment of the application. In the following, the specific structure of the circular movement module will be exemplified in combination with specific embodiments.

[0035] In at least one embodiment of the application, referring to Figure 2 and Figure 3 , the circular movement module comprises a gear 7, a rotary motor 8, a circular running base plate 14, a plurality of guide wheel sets 15, a circular track 16, a rack 17 and a track base 22. The rotary motor 8 is installed on the circular running base plate 14, and the gear 7 is installed on the output shaft of the rotary motor 8 and matched with the rack 17. The rotary motor 8 provides power for the circular movement of the circular running base plate 14 through the gear 7 and the rack 17. A plurality of guide wheel sets 15 are installed below the circular running base plate 14, and the guide wheel sets 15 are matched with the circular track 16 to realize the movement of the circular running base plate 14 in the circumferential direction of the track. The circular track 16 is installed on the track base 22 through bolts.

[0036] In at least one embodiment of the application, the circular movement module further comprises a plurality of guide modules 13. The guide modules 13 are installed above the circular running base plate 14. The plurality of guide modules 13 are used for remote centering with the lifting movement module.

[0037] For example, the lifting movement base plate 12 is designed with a plurality of guide holes. Remote centering between the guide modules 13 and the guide holes can realize remote centering of the lifting movement module and the circular movement module.

[0038] The number of the plurality of guide holes can be set according to actual needs, for example, the plurality of guide holes can be two guide holes, and the number of the plurality of guide holes is not limited in the embodiment of the application.

[0039] In at least one embodiment of the application, referring toFigure 2 And Figure 3 The circumferential motion module further comprises a magnet 9 and a proximity switch 10. The magnet 9 is installed on the track base 22. The proximity switch 10 is installed on the circumferential running base plate 14 and corresponds to the installation position of the magnet 9. In this way, the magnet 9 and the proximity switch 10 can be used to calibrate the zero position of the circumferential motion module on the circumferential running track.

[0040] In at least one embodiment of the present application, referring to Figure 2 And Figure 3 The circumferential motion module further comprises a plurality of lifting lugs 18. The plurality of lifting lugs 18 are arranged on the inner side of the track base 22. In this way, the plurality of lifting lugs 18 are used to realize the overall lifting of the circumferential motion module.

[0041] The number of the plurality of lifting lugs 18 can be set according to actual needs, for example, the number of the plurality of lifting lugs 18 can be 2, 3 or 4, and the number of the plurality of lifting lugs 18 is not limited in the embodiments of the present application.

[0042] In at least one embodiment of the present application, referring to Figure 3 The circumferential motion module further comprises a plurality of guide adapters 19 arranged below the track base 22. The plurality of guide adapters 19 are adapted to the in-pile component cylinder and are used for precise positioning of the circumferential motion module on the in-pile component cylinder. In this way, the plurality of guide adapters 19 are used to realize the precise positioning of the circumferential motion module on the in-pile component. In addition, through the modular design, adaptive matching can be realized according to different in-pile components of different types (only the guide adapter 19 needs to be modified).

[0043] For example, the guide adapter 19 is designed according to the four-in-one key structure of the in-pile component.

[0044] In at least one embodiment of the present application, referring to Figure 3 The circumferential motion module further comprises a long guide shaft 20 and a short guide shaft 21 arranged below the track base 22. In this way, the long guide shaft 20 and the short guide shaft 21 can be used to realize the preliminary positioning of the circumferential motion module on the in-pile component, that is, to realize the fast remote coarse positioning of the underwater in-pile component cylinder shape and position measuring device.

[0045] The circumferential running base plate 14 is further designed with a plurality of bolt holes corresponding to the position of the underwater fastening bolt 11 in the lifting motion module. When the lifting motion module and the circumferential motion module are centered, the underwater fastening bolt 11 can be used to realize the reliable connection of the two remotely.

[0046] The water under pile internal component cylinder shape position measurement method is executed by using the water under pile internal component cylinder shape position measurement device of any one of the above embodiments. The water under pile internal component cylinder shape position measurement method comprises the following steps.

[0047] Step one, the control equipment controls the lifting mechanism to drive the measurement module 5 to move to the initial position through the measurement module support 6, and controls the circular motion module to drive the measurement module 5 to move in the circumferential direction of the internal component, so as to collect the point cloud data of the internal component cylinder 4 in the vertical direction of the circumferential area.

[0048] Specifically, the measurement module 5 can realize the lifting movement in the vertical direction by relying on the lifting mechanism and the measurement module support 6. Through the up-and-down lifting movement, the measurement module 5 can collect the point cloud data of the internal component cylinder 4 in the vertical direction of the circumferential area. The measurement module 5 can realize the function of moving in the circumferential direction of the internal component through the circular motion module.

[0049] Step two, the control equipment controls the lifting mechanism to drive the measurement module 5 to move a preset distance, and collects the point cloud data of the internal component cylinder 4 in the vertical direction of the current circumferential area by using the measurement module 5, wherein the preset distance is less than the measurement width of the measurement module 5 in the circumferential direction.

[0050] The measurement module 5 moves a certain distance (distance must), and the measurement module 5 collects the point cloud data of the internal component cylinder 4 in the vertical direction of the current circumferential area by relying on the lifting movement module.

[0051] Step three, repeat step one and step two until the measurement range covers the circumferential accessible part of the internal component cylinder 4.

[0052] Step four, the control equipment integrates, splices and filters the coordinate system of the point cloud data to form the effective point cloud data of the measurable part of the internal component cylinder, and obtains the shape and position size of the internal component cylinder according to the point cloud data of the internal component cylinder.

[0053] Next, the installation of the water under pile internal component cylinder shape position measurement device is illustrated by combining specific embodiments.

[0054] The lifting appliance and the hoisting equipment are used to lift the circular motion module above the reactor internal component. The circular motion module is slowly lowered, and the long guide shaft 20 and the short guide shaft 21 are sequentially inserted into the internal component guide hole to realize remote and rapid coarse positioning. The circular motion module is continuously slowly lowered, the guide adapter 19 is accurately matched with the four-in-one key of the internal component, and accurate positioning of the device is realized.

[0055] The lifting motion module is hoisted above the reactor in-vessel component using a lifting tool and lifting equipment. The lifting motion module is slowly lowered and the positioning hole on the lifting motion base plate 12 is precisely positioned with the guide module 13 on the circular motion module.

[0056] The underwater fastening bolt 11 on the lifting motion module is screwed clockwise into the bolt hole on the circular motion base plate 14 using a long rod special tool and fastened. At this time, the circular motion module and the lifting motion module are reliably connected together.

[0057] Next, the debugging and measurement of the underwater in-vessel component cylindrical shape measurement device are illustrated by specific examples.

[0058] After checking and confirming that the power supply line and each cable are correctly and reliably connected, the device is turned on, and each function and parameter is checked and confirmed to be normal.

[0059] The lifting motion module is slowly moved along the circumferential direction of the circular motion module to the device circumferential zero point. The measurement module 5 is slowly moved along the vertical direction of the lifting motion module to the highest position.

[0060] Motion path interference check: the measurement module 5 is manually moved along the vertical direction of the lifting motion module from the highest position to the lowest position, and the interference during the movement is checked by the camera to ensure that there is no interference, knocking, etc. during the operation of the device. After the above steps are completed, the lifting motion module is slowly moved along the circumferential direction of the circular motion module for a certain distance, and the above steps are repeated to check the motion path interference, until the entire measured area is covered.

[0061] Automatic measurement: the lifting motion module is slowly moved along the circumferential direction of the circular motion module to the device circumferential zero point. The measurement module 5 is slowly moved along the vertical direction of the lifting motion module to the highest position. The automatic measurement is started. At this time, the measurement module 5 is slowly moved along the vertical direction of the lifting motion module from the highest position to the lowest position, and the point cloud data of the measured area is collected. After the above steps are completed, the lifting motion module is slowly moved along the circumferential direction of the circular motion module for a certain distance (the effective measurement area of two adjacent vertical directions must have an overlap), and the above steps are repeated to check the motion path interference, until the entire measured area is covered. The spatial coordinates of all point cloud data are unified by software, noise points are removed, and the point cloud data of the in-vessel component cylinder is generated.

[0062] The in-vessel component cylinder point cloud data is measured by software, and the cylinder position size is obtained.

[0063] Next, the disassembly of the underwater in-vessel component cylindrical shape measurement device is illustrated by specific examples.

[0064] The whole process needs radiation dose instrument real-time tracking measurement to avoid taking radioactive material out of water and other shielding environment.

[0065] Turn off all equipment and remove power.

[0066] Use long rod special tool to unscrew underwater fastening bolt 11 on the lifting movement module counterclockwise from the bolt hole on the circular motion base plate 14.

[0067] Slowly lift the lifting movement module using the lifting appliance and lifting equipment, at this time the lifting movement base plate 12 on the lifting movement module is separated from the guide module 13 on the circular movement module, hoist the lifting movement module out and store it to the designated place.

[0068] Slowly lift the circular movement module using the lifting appliance and lifting equipment, separate the guide adapter 19 from the four-in-one key of the in-pile component, hoist the circular movement module out and store it to the designated place.

[0069] Check and confirm that there is no equipment and material left in the field, clean up the maintenance area, and finish the material and field.

[0070] It should be noted that the combination of various technical features in the embodiments of the present application is not limited to the combination described in the embodiments of the present application or the combination described in the specific embodiments. All technical features described in the present application can be freely combined or combined, unless contradictory.

[0071] As shown in the present application and claims, unless the context clearly indicates otherwise, "one", "a", and / or "the" do not refer to the singular, but can also include the plural. Generally, the term "comprising" only indicates the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0072] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A device for measuring the shape and position of an underwater reactor internal component cylinder, characterized in that, Includes control equipment, as well as detachably connectable lifting and circular motion modules. The lifting motion module includes a lifting mechanism, a measuring module, and a measuring module bracket. The measuring module is connected to the lifting mechanism through the measuring module bracket. The circular motion module is used to be fitted onto the outside of the internal component cylinder of the stack. The control equipment is connected to the lifting motion module and the circular motion module. It is used to control the lifting mechanism to drive the measuring module to move up and down through the measuring module bracket. The control measuring module collects point cloud data of the internal component cylinder in the vertical direction of its circumferential area. The control circular motion module drives the measuring module to move in the circumferential direction of the internal component. The point cloud data is integrated, stitched and filtered in the coordinate system to form effective point cloud data of the measurable parts of the internal component cylinder. The shape and position dimensions of the internal component cylinder are obtained based on the point cloud data of the internal component cylinder.

2. The underwater reactor internal component cylinder shape and position measuring device according to claim 1, characterized in that, The lifting mechanism includes a lifting motor, a reducer, and a lifting module. The measuring module is connected to the lifting module through a measuring module bracket. The lifting module drives the measuring module to move up and down through the measuring module bracket. The lifting motor provides the lifting module with the power to move up and down through the reducer.

3. The underwater reactor internal component cylinder shape and position measuring device according to claim 1, characterized in that, The lifting motion module also includes underwater fastening bolts and a lifting motion base plate. The lifting mechanism is connected to the lifting motion base plate, which is designed with multiple bolt holes, each of which is used to install one underwater fastening bolt.

4. A device for measuring the shape and position of an underwater reactor internal component cylinder according to any one of claims 1 to 3, characterized in that, The circular motion module includes gears, a rotary motor, a circular running base plate, multiple sets of guide wheel assemblies, a circular track, a rack, and a track base. The rotary motor is mounted on the circular running base plate, and a gear is mounted on the output shaft of the rotary motor, which matches the rack. The rotary motor provides power for the circular motion of the circular running base plate through the gear and rack. Multiple sets of guide wheel assemblies are mounted below the circular running base plate, and the guide wheel assemblies match the circular track to realize the movement of the circular running base plate in the circumferential direction of the track. The circular track is bolted to the track base.

5. The underwater reactor internal component cylinder shape and position measuring device according to claim 4, characterized in that, The circular motion module also includes multiple guide modules, which are installed above the circular running base plate and are used for remote alignment with the lifting motion module.

6. The underwater reactor internal component cylinder shape and position measuring device according to claim 4, characterized in that, The circular motion module also includes a magnet and a proximity switch. The magnet is mounted on the track base, and the proximity switch is mounted on the circular running base plate, corresponding to the mounting position of the magnet.

7. The underwater reactor internal component cylinder shape and position measuring device according to claim 4, characterized in that, The circular motion module also includes multiple lifting lugs, which are located inside the track base.

8. The underwater reactor internal component cylinder shape and position measuring device according to claim 4, characterized in that, The circular motion module also includes multiple guide adapters located below the track base; these guide adapters are adapted to the in-core component cylinder for precise positioning of the circular motion module on the in-core component cylinder.

9. The underwater reactor internal component cylinder shape and position measuring device according to claim 4, characterized in that, The circular motion module also includes a long guide shaft and a short guide shaft located below the track base.

10. A method for measuring the shape and position of an internal component cylinder in an underwater reactor, characterized in that, The underwater reactor internal component cylinder shape and position measurement device as described in any one of claims 1 to 9 is used, and the underwater reactor internal component cylinder shape and position measurement method includes: Step 1: Control the lifting mechanism of the control equipment to move the measurement module to the initial position through the measurement module bracket, and control the circumferential motion module to move the measurement module in the circumferential direction of the in-pile component, so as to use the measurement module to collect point cloud data of the in-pile component cylinder in the vertical direction of the circumferential area. Step 2: The control equipment controls the lifting mechanism to move the measurement module a preset distance. The measurement module is used to collect point cloud data in the vertical direction of the current circumferential area of ​​the internal component cylinder. The preset distance is less than the measurement width of the measurement module in the circumferential direction. Step 3: Repeat steps 1 and 2 until the measurement range covers the circumference of the internal components of the stack. Step 4: The control equipment integrates, stitches, and filters the point cloud data to form effective point cloud data of measurable parts of the internal component cylinder, and obtains the shape and position dimensions of the internal component cylinder based on the point cloud data of the internal component cylinder.

Images