Multi-coordinate system superposition calculation device and method

Abstract

The invention belongs to the technical field of pressurized water reactor nuclear power unit in-service power plant maintenance, and discloses a multi-coordinate system superposition calculation device which comprises a rotary motion system, a measuring probe mounting frame, a lifting motion system and a lower pipe seat module. The rotating column is installed outside the mandrel, the first motor is in transmission connection with the center gear shaft, the center gear shaft is provided with a center gear, the side gear shaft is provided with a side gear, and the center gear is meshed with the side gear; the measuring probe mounting rack is provided with a bottom plate, and a measuring probe is mounted on the bottom plate; the lifting motion system is provided with a second motor and a linear module, the linear module is connected with the adapter plate, and the second motor provides power for the linear module so that the linear module can do lifting motion. According to the invention, three-dimensional reconstruction and size measurement of the internal space of a large component can be realized, and the shape and position size of a target can be measured in a high-radiation underwater harsh environment.

Description

Technical Field

[0001] This application belongs to the field of maintenance technology for in-service power plants of pressurized water reactor nuclear power units, and particularly relates to a multi-coordinate system superposition calculation device and method. Background Technology

[0002] Currently, an increasing number of nuclear power plant construction projects require underwater operations and the use of corresponding equipment. Because underwater equipment in nuclear power plants is exposed to radiation for extended periods, regular condition monitoring is essential. However, current technology cannot perform scanning measurements in such intense underwater radiation environments due to factors such as long-distance transmission line drops and insufficient radiation resistance.

[0003] Therefore, there is a need for a measuring device that can detect the characteristics of equipment in a strong underwater radiation environment, which can provide reliable data support for the maintenance of underwater equipment in nuclear power plants. Summary of the Invention

[0004] The purpose of this application is to provide a multi-coordinate system superposition calculation device and method that can realize the measurement of the shape and size of a target in harsh underwater environments with high radiation.

[0005] To achieve the above objectives, this application provides the following technical solution: In a first aspect, this application provides a multi-coordinate system superposition computing device, comprising: A rotary motion system includes a spindle, a rotating column, and a first motor. The spindle is mounted on a gear seat, and the rotating column is mounted outside the spindle. The first motor is connected to a central gear shaft. A central gear is mounted on the central gear shaft, and a side gear is mounted on a side gear shaft. The central gear meshes with the side gear. A measuring probe mounting bracket includes an adapter plate, a base plate, and a measuring probe. The adapter plate is connected to a lifting motion system, and the measuring probe is mounted on the base plate. The lifting motion system is fixed to the slider of the linear module by screws. The linear module is driven by a click and has a second motor and a linear module. The linear module is connected to the adapter plate. The second motor provides power to the linear module to make it lift and move. The lower tube seat module is installed at the bottom of the rotary motion system.

[0006] In some embodiments, the mandrel sleeve is provided with an upper end sleeve, and the top of the mandrel is provided with a top bearing end cap.

[0007] In some embodiments, the gear seat is provided with a motor sealing cavity mounting seat, the motor sealing cavity mounting seat is provided with a motor sealing cavity, the first motor is disposed in the motor sealing cavity, and the first motor is threadedly connected to the first motor seat.

[0008] In some embodiments, the top of the motor sealing cavity is provided with a first motor sealing cavity cover, and the first motor sealing cavity cover is provided with a first outgoing wire module.

[0009] In some embodiments, the central gear shaft is connected to a first coupling, which connects the motor shaft and the lower gear shaft. The gear seat is threadedly connected to the lower tube seat module, and the lower part of the rotating column is connected to a thrust ball bearing.

[0010] In some embodiments, the base plate is provided with a positioning slider, the measuring probe is connected to the positioning slider through a threaded hole at its bottom, the positioning slider is connected to a contact circuit board mounting base, and a third outgoing module is installed below the contact circuit board mounting base.

[0011] In some embodiments, the lifting motion system has a second motor sealing cavity cover, with a watertight connector and a second cable outlet module above it, and an electrical mounting plate below it. An electrical module is located below the electrical mounting plate. The second motor is mounted on a second motor base. A motor adapter shaft is connected to the motor shaft of the second motor. The motor adapter shaft is connected to a second coupling. The second coupling is axially connected to the linear module.

[0012] In some embodiments, the outer diameter of the motor adapter shaft and the inner diameter of the second brake are interference-fitted, the second motor mount and the brake mounting seat are fixed axially, and the second brake and the brake mounting seat are fixed axially.

[0013] In some embodiments, the lower tube seat module includes a main mounting plate, a locking pin, a locking pin nut, a spring, and a positioning pad. The positioning pad is connected to the lower part of the main mounting plate via the locking pin. The upper part of the locking pin is provided with the locking pin nut for limiting. The spring is coaxially mounted with the locking pin, and its upper end is limited by the locking pin nut, while its lower end is positioned by the main mounting plate.

[0014] Secondly, this application provides a multi-coordinate system superposition calculation method, employing the above-mentioned apparatus, including: The multi-coordinate system superposition calculation device is hoisted into the designated position, so that the lower tube seat module and the water flow hole of the lower grid plate assembly are positioned and fixed; power is turned on, and the first motor and the second motor are controlled to move simultaneously to perform a zero return operation. The second motor is controlled to drive the linear module to move up and down, and the linear module drives the measuring probe to move up and down. During the movement, the enclosure is scanned and point cloud data is generated. After one cycle of scanning is completed in the vertical direction, the first motor is controlled to drive the rotating column to rotate by a corresponding angle, and the second motor is controlled to drive the linear module to move up and down to perform the next cycle of scanning. Repeat the above steps to complete the scanning of the entire enclosure assembly. Transmit the acquired point cloud data back to the ground control center via cable. The ground control center performs 3D modeling on the point cloud data and obtains the relevant dimensional parameters of the enclosure assembly by measuring the model.

[0015] Compared with the prior art, the multi-coordinate system superposition calculation device and method provided in this application have the following advantages: This application utilizes a rotary motion system, a lifting motion system, and a measuring probe to achieve three-dimensional reconstruction and dimensional measurement of the internal space of large components.

[0016] This application enables rapid measurement of the inner surface of the nuclear reactor pressure vessel enclosure assembly, providing reliable data support for special maintenance in nuclear radiation underwater environments and monitoring of the inner surface condition of the nuclear reactor pressure vessel enclosure assembly.

[0017] Furthermore, this application can acquire point cloud data by laser scanning of the target and perform three-dimensional reconstruction, and the target's shape, position, and size can be measured in the reconstructed model. Attached Figure Description

[0018] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the technical description will be briefly introduced below.

[0019] Figure 1 An overview isometric view of the multi-coordinate system superposition computing device provided in this application; Figure 2 Axonometric drawing of the main body of the multi-coordinate system superposition computing device provided in this application; Figure 3 A partial sectional view of the rotary motion system provided in this application; Figure 4 This is a partial sectional view of the lifting motion system provided in this application; Figure 5 This is a partial sectional view of the lower tube seat module provided in this application.

[0020] Explanation of reference numerals in the attached figures: 1000. Multi-coordinate system overlay computing device; 2000. Lower grid plate assembly; 3000. Enclosure assembly; 1. Rotary motion system; 2. Measuring probe mounting bracket; 3. Lifting motion system; 4. Lower tube seat module; 101. Lifting ring; 102. Top bearing end cover; 103. Mandrel; 104. Rotating column; 105. Upper end bushing; 106. First outgoing module; 107. First motor sealing cavity cover; 108. Motor sealing cavity; 109. First motor; 110. First motor base; 111. Sealing flange; 112. First coupling; 113. Side gear; 114. Side gear shaft; 115. Center gear; 116. Center gear shaft; 117. Gear seat; 118. Motor sealing cavity mounting base; 201. Adapter plate; 202. Base plate; 203. Triangular rib; 204. Reinforcing rib; 205. Third outgoing cable module; 206. Contact circuit board mounting base; 207. Positioning slider; 208. Measuring probe; 301. Watertight connector; 302. Second outgoing module; 303. Second motor sealing cavity cover; 304. Electrical mounting plate; 305. Electrical module; 306. Motor sealing cavity; 307. Second motor; 308. Second motor mount; 309. Second brake; 310. Brake mounting base; 311. Motor sealing front cover; 312. Motor adapter shaft; 313. Second coupling; 314. Linear module; 401. Main mounting plate; 402. Locking pin; 403. Locking pin nut; 404. Spring; 405. Positioning pad. Detailed Implementation

[0021] The following detailed description provides further details on specific implementation methods.

[0022] like Figures 1 to 5 As shown, this application provides a multi-coordinate system superposition computing device 1000, including a rotary motion system 1, a measuring probe mounting bracket 2, a lifting motion system 3, and a lower tube seat module 4. The rotary motion system 1 is connected to the lifting motion system 3. The rotary motion system 1 is fixedly connected to the main mounting plate 401 in the lower tube seat module 4 by bolts through a gear seat 117. The measuring probe mounting bracket 2 is fixed to the linear module in the lifting motion system 3 by screws.

[0023] like Figure 3 As shown, the rotary motion system 1 includes a lifting ring 101, a top bearing end cover 102, a spindle 103, a rotating column 104, an upper end bushing 105, a first cable outlet module 106, a first motor sealing cavity cover 107, a motor sealing cavity 108, a first motor 109, a first motor base 110, a sealing flange 111, a first coupling 112, a central gear shaft 116, a central gear 115, a side gear shaft 114, a side gear 113, a gear base 117, a motor sealing cavity mounting base 118, a first brake, a deep groove ball bearing, and a thrust ball bearing.

[0024] The lifting eye 101 is connected to the threaded hole on the upper end face of the spindle 103. The top bearing end cap 102 is installed on the upper part of the spindle 103, the rotating column 104 is installed on the outside of the spindle 103, and the upper end bushing 105 is sleeved on the spindle 103 and arranged between the spindle 103 and the rotating column 104.

[0025] The first outgoing module 106 is connected to the first motor sealing cavity cover 107, which is located above the motor sealing cavity 108. The first motor 109 is connected to the first motor base 110 via threads and is arranged in the motor sealing cavity 108.

[0026] The gear seat 117 is mounted on the lower tube seat module 4, and the bottom of the spindle 103 is mounted on the gear seat 117. The motor sealing cavity mounting seat 118 is mounted on the gear seat 117 and fixed with screws. The central gear shaft 116, the central gear 115, the side gear shaft 114, and the side gear 113 are fixed on the gear seat 117. The central gear shaft 116 is connected to the first coupling 112.

[0027] The spindle 103 has a hollow cylindrical structure with two threaded holes evenly distributed around its circumference on its upper end face. The spindle center has a through hole structure, and the threaded hole is used to connect with the lifting ring 101. The through hole at the spindle center is used for cable outlet and connection to the bottom controller. The outer circle of the spindle 103 has a stepped shaft structure, and the stepped structure provides a mounting and positioning shoulder for the deep groove ball bearing. The lower end face of the spindle 103 has threaded holes evenly distributed.

[0028] The top bearing end cap 102 is a disc-shaped structure with a boss, which contacts and limits the outer circle of the bearing. The top bearing end cap 102 is installed on the upper part of the spindle 103 and is fixed to the rotating column 104 by screws.

[0029] The rotating column 104 has a rounded cubic outer surface and a hollow columnar center. To reduce its weight underwater, the sides are hollowed out. Threaded holes are machined on its outer surface for connection to the linear module 314. Threaded holes are evenly distributed around the circumference of the lower end face of the rotating column 104 for connection to the gear disk. The top bearing end cap 102 is positioned above the rotating column 104. The lower part of the rotating column 104 is connected to a thrust ball bearing.

[0030] The first motor sealing cavity cover 107 is a cylindrical structure with threaded holes machined on its upper surface, connecting to the first outgoing module 106. The motor sealing cavity 108 is a cylindrical structure with flanges, and sealing grooves are machined on both end faces, which are sealed by O-rings.

[0031] The first motor 109 is fixed to the first motor base 110 by threads. The first motor base 110 is a rotating structure with a positioning shoulder and a flange, which can be used to position the motor during installation. At the same time, the flange structure can play a positioning role in the installation between the first motor base 110 and the sealing flange 111.

[0032] The sealing flange 111 is a rotating body structure with a through hole and radial sealing groove machined at the shaft center. The outer surface of the first coupling 112 is precision machined to ensure high-quality surface finish. After passing through the sealing flange 111, it forms a seal through the compression action with the O-ring and Glyd ring.

[0033] The central gear shaft 116 and the side gear shaft 114 are solid shafts with shoulders. The gear mounting positions are machined with keyways for torque transmission.

[0034] The gear seat 117 is a stepped rotating body structure used to install the spindle 103. The bottom of the gear seat 117 is machined with a threaded through hole, which is fixed to the lower tube seat module 4.

[0035] The first brake is a hollow structure, fixed to the bottom of the first motor base 110 by screws, and brakes the first coupling 112 through the electronic control system.

[0036] A deep groove ball bearing is installed between the spindle 103 and the rotating column 104, and a thrust ball bearing is installed between the rotating column 104 and the gear seat 117.

[0037] like Figure 4 As shown, the lifting motion system 3 includes a watertight connector 301, a second cable outlet module 302, a second motor sealing cavity cover 303, an electrical mounting plate 304, an electrical module 305, a motor sealing cavity 306, a second motor 307, a second motor base 308, a second brake 309, a brake mounting base 310, a motor sealing front cover 311, a motor adapter shaft 312, a second coupling 313, and a linear module 314.

[0038] The watertight connector 301 and the second outgoing module 302 are respectively disposed above the second motor sealing cavity cover 303 (top upper surface), the electrical mounting plate 304 is disposed below the second motor sealing cavity cover 303 (top lower surface), and the electrical module 305 is disposed below the electrical mounting plate 304.

[0039] The second motor mount 308 is installed above the motor sealing front cover 311 and fixed with screws. The second motor mount 308 is a hollow rotating body structure. The central part of the rotating body is fixed to the second motor 307, and the outer part is fixed to the motor sealing front cover 311 with screws.

[0040] The watertight connector 301 is an electrical plug with a built-in cable seal, and its end has a sealing groove and a screw structure. The lower part of the watertight connector 301 has a threaded structure for fixing to the second motor sealing cavity cover 303, and the upper thread of the watertight connector 301 is used to lock the external cable during equipment use. When the lower thread is screwed into the second motor sealing cavity cover 303, a seal is formed by an O-ring.

[0041] The second motor sealing cavity cover 303 is machined with internal and external threads. The external thread is used to fix it to the second output module 302, and the internal thread is used to fix it to the watertight connector 301. The inner surface of the second motor sealing cavity cover 303 is machined with threaded blind holes for fixing it to the electrical mounting plate 304. The electrical mounting plate 304 is an I-shaped sheet metal part with a through hole at one end and a threaded rivet at the other end.

[0042] The motor sealing cavity 306 is a rotating structure with an external flange structure at the lower end. The motor sealing cavity 306 is a cylindrical structure, and the second motor 307 is arranged inside it.

[0043] The second motor base 308 is a rotating mechanism with a positioning step machined on the upper end. The positioning step plays a positioning role when the second motor 307 is installed.

[0044] The outer diameter of the motor adapter shaft 312 and the inner diameter of the second brake 309 form an interference fit. One end of the shaft has an inner hole for motor connection. The second motor base 308 is fixed axially to the brake mounting base 310, and the second brake 309 is fixed axially to the brake mounting base 310. The brake mounting base 310 is used for mounting and positioning.

[0045] The motor sealing front cover 311 and the motor sealing cavity 306 are sealed by an O-ring. The shaft of the motor sealing front cover 311 is a through hole with a sealing groove. The outer surface of the coupling is precision machined to ensure a high-quality finish. After the coupling passes through the shaft of the motor sealing front cover 311, it forms a seal through the compression action of the O-ring and Glyd ring. The other end of the coupling is axially connected to the linear module 314 (e.g., an underwater linear module), inputting motor power into the linear module 314. The linear module 314 has a water-permeable structure to facilitate the removal of residual water after underwater operation.

[0046] The brake mounting base 310 is relatively small and is located inside the second motor base 308. It is fixed to the motor sealing front cover 311 with screws. The motor adapter shaft 312 is sleeved on the outside of the motor shaft and connects to the second coupling 313 to transmit torque. The motor sealing front cover 311 is fixed to the top of the linear module 314 with screws, and the motor torque is transmitted to the linear module 314 through the second coupling 313.

[0047] Alternatively, the second brake 309 may be the same existing brake as the first brake.

[0048] like Figure 4 As shown, the measuring probe mounting bracket 2 is fixed to the moving part of the linear module by screws. The measuring probe mounting bracket 2 includes an adapter plate 201, a base plate 202, a triangular rib 203, a reinforcing rib 204, a third outgoing line module 205, a contact circuit board mounting base 206, a positioning slider 207, and a measuring probe 208.

[0049] The base plate 202 and the adapter plate 201 are fixed together with screws. A triangular rib 203 is connected to the top of the base plate 202, and the triangular rib 203 is simultaneously fixed to both the base plate 202 and the adapter plate 201 with screws to increase the stability of the structure. A reinforcing rib 204 is installed below the base plate 202 and fixed with screws to increase the structural strength of the base plate 202. The base plate 202 has a slotted groove at the location where the positioning slider 207 is installed. The positioning slider 207 is installed on the base plate 202 and fixed with screws. When the screws are loosened, the positioning slider 207 can move on the base plate 202 to adjust the measurement distance. The contact circuit board mounting base 206 is fixed to the positioning slider 207 with screws, and the measurement module is installed above the positioning slider 207 during use.

[0050] The adapter plate 201 is a thin plate structure, positioned with the triangular rib 203 and the base plate 202 by positioning pins and fastened with screws. The triangular rib 203 has a triangular hollow structure, and the base plate 202 has a hollow structure, which can reduce its own weight.

[0051] The reinforcing rib 204 is an aluminum alloy right-angle profile that connects to the base plate 202 while ensuring its own lightweight nature, thereby enhancing the bending resistance of the base plate 202.

[0052] The third outgoing module 205 is axially fixed to the contact circuit board mounting base 206. The contact circuit board is installed inside the contact circuit board mounting base 206 and sealed in the field by potting. The upper end of the contact circuit board mounting base 206 is machined with a sealing groove, which is sealed with an O-ring when connected to the measuring probe 208. The third outgoing module 205 is installed below the contact circuit board mounting base 206. The function of the third outgoing module 205 is to allow the cable to pass through and to seal it.

[0053] The positioning slider 207 is installed in the hollowed-out groove of the base plate 202, and its position can be adjusted along the groove and fastened with screws. The measuring probe 208 is fixed to the positioning slider 207 through the threaded hole on its bottom and remains relatively fixed to the positioning slider 207.

[0054] like Figure 5As shown, the lower tube seat module 4 includes a main mounting plate 401, a locking pin 402, a locking pin nut 403, a spring 404, and a positioning pad 405. The positioning pad 405 is located below the main mounting plate 401 and is connected to the lower part of the main mounting plate 401 via the locking pin 402. The locking pin nut 403 is fitted onto the locking pin 402, and the upper part of the locking pin 402 is also fitted with the locking pin nut 403 for limiting its position.

[0055] The main mounting plate 401 is a plate-shaped structure with a gear seat 117 mounting position machined in the center and threaded holes machined therein. It is fastened to the gear seat 117 with screws. The main mounting plate 401 has 8 through holes for drainage, which also reduces its own weight.

[0056] The positioning pad 405 is a block structure with a boss. A through hole is machined at the center of the boss. The positioning pad 405 is installed at the four corners of the main mounting plate 401. Its boss is used to position itself with the water flow hole of the lower plate of the nuclear reactor core, and the through hole structure is used to avoid the positioning pins of the lower plate of the nuclear reactor core.

[0057] After the positioning pad 405 is installed and fixed to the main mounting plate 401, it is machined with a threaded stepped hole for installing the locking pin 402. The upper part of the locking pin 402 is a six-sided cone, the middle part is a smooth shaft, and the lower part is a screw, which can be used with long pole tools on site.

[0058] The locking pin nut 403 is a rotating body with internal threads. It can be screwed into the middle optical shaft through the lower screw of the locking pin 402. The spring 404 is coaxially installed with the locking pin 402. Its upper end is limited by the locking pin nut 403, and its lower end is positioned by the main mounting plate 401.

[0059] Furthermore, based on the aforementioned apparatus, this application also provides a multi-coordinate system superposition calculation method as follows: At the nuclear power plant site, a gantry crane is connected to lifting ring 101 to hoist the entire device (multi-coordinate system superposition calculation device 1000) into the designated position, so that the lower tube seat module 4 is aligned with the lower grid plate of the reactor core. Figure 1 The lower grid plate assembly 2000 forms a positioning relationship with the water flow holes. The locking pin 402 is pressed down by a long rod tool and fixed by threads. The multi-coordinate system superposition calculation device 1000 is powered on, and the first motor 109 and the lifting motion control second motor 307 move simultaneously to perform a zero return operation. After reaching the zero position, the measurement process begins.

[0060] First, the lifting motion control second motor 307 drives the linear module 314 to move up and down. The linear module 314 drives the measuring probe 208 to move up and down. While moving, it scans the enclosure and generates point cloud data. After completing one cycle of scanning in the vertical direction, the rotational motion control first motor 109 drives the rotating column 104 to rotate by a corresponding angle. Then, the lifting motion control second motor 307 drives the linear module 314 to move up and down to perform the next cycle of scanning.

[0061] Repeating the above steps will complete the scanning of the entire enclosure assembly 3000. The multi-coordinate system superposition computing device 1000 will transmit the acquired point cloud data back to the ground control center via cable. The ground control center will then perform 3D modeling on the point cloud data. By measuring the model, the relevant dimensional parameters of the enclosure assembly can be accurately determined.

[0062] The above description is only a specific embodiment of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A multi-coordinate system superposition calculation device, characterized in that, include: A rotary motion system (1) has a spindle (103), a rotating column (104), and a first motor (109). The spindle (103) is mounted on a gear seat (117), and the rotating column (104) is mounted outside the spindle (103). The first motor (109) is connected to a central gear shaft (116) for transmission. A central gear (115) is provided on the central gear shaft (116), and a side gear (113) is provided on the side gear shaft (114). The central gear (115) meshes with the side gear (113). The measuring probe mounting bracket (2) has an adapter plate (201), a base plate (202), and a measuring probe (208). The adapter plate (201) is connected to the lifting motion system (3), and the measuring probe (208) is mounted on the base plate (202). The lifting motion system (3) has a second motor (307) and a linear module (314), the linear module (314) being connected to the adapter plate (201), and the second motor (307) providing power to the linear module (314) to make it lift and move. The lower tube seat module (4) is installed at the bottom of the rotary motion system (1).

2. The multi-coordinate system superposition calculation device according to claim 1, characterized in that, The mandrel (103) is fitted with an upper end bushing (105), and the top of the mandrel (103) is provided with a top bearing end cap (102).

3. The multi-coordinate system superposition calculation device according to claim 1, characterized in that, The gear seat (117) is provided with a motor sealing cavity mounting seat (118), the motor sealing cavity mounting seat (118) is provided with a motor sealing cavity (108), the first motor (109) is disposed in the motor sealing cavity (108), and the first motor (109) is threadedly connected to the first motor seat (110).

4. The multi-coordinate system superposition calculation device according to claim 3, characterized in that, The top of the motor sealing cavity (108) is provided with a first motor sealing cavity cover (107), and the first motor sealing cavity cover (107) is provided with a first outgoing module (106).

5. The multi-coordinate system superposition calculation device according to claim 1, characterized in that, The central gear shaft (116) is connected to the first coupling (112), which connects the motor shaft and the gear shaft below. The gear seat (117) is connected to the lower tube seat module (4) by a thread. The lower part of the rotating column (104) is connected to the thrust ball bearing.

6. The multi-coordinate system superposition calculation device according to claim 1, characterized in that, The base plate (202) is provided with a positioning slider (207). The measuring probe (208) is connected to the positioning slider (207) through a threaded hole at its bottom. The positioning slider (207) is connected to the contact circuit board mounting base (206). A third outgoing module (205) is installed below the contact circuit board mounting base (206).

7. The multi-coordinate system superposition calculation device according to claim 1, characterized in that, The lifting motion system (3) has a second motor sealing chamber cover (303), above which is a watertight connector (301) and a second cable outlet module (302), and below which is an electrical mounting plate (304). Below the electrical mounting plate (304) is an electrical module (305). The second motor (307) is mounted on a second motor base (308). A motor adapter shaft (312) is connected to the motor shaft of the second motor (307). The motor adapter shaft (312) is connected to a second coupling (313). The second coupling (313) is axially connected to the linear module (314).

8. The multi-coordinate system superposition calculation device according to claim 7, characterized in that, The outer diameter of the motor adapter shaft (312) and the inner diameter of the second brake (309) form an interference fit. The second motor base (308) and the brake mounting base (310) are fixed axially. The second brake (309) and the brake mounting base (310) are fixed axially.

9. The multi-coordinate system superposition calculation device according to claim 1, characterized in that, The lower tube seat module (4) includes a main mounting plate (401), a locking pin (402), a locking pin nut (403), a spring (404), and a positioning pad (405). The positioning pad (405) is connected to the lower part of the main mounting plate (401) through the locking pin (402). The upper part of the locking pin (402) is provided with the locking pin nut (403) for limiting. The spring (404) is coaxially installed with the locking pin (402), and its upper end is limited by the locking pin nut (403), and its lower end is positioned by the main mounting plate (401).

10. A multi-coordinate system superposition calculation method, characterized in that, The multi-coordinate system superposition computing device according to any one of claims 1 to 9 includes: The multi-coordinate system superposition calculation device is hoisted into the designated position, so that the lower tube seat module (4) and the water flow hole of the lower grid plate assembly (2000) are positioned and fixed; power is turned on, and the first motor (109) and the second motor (307) are controlled to move simultaneously to perform a zero return operation; The second motor (307) is controlled to drive the linear module (314) to move up and down. The linear module (314) drives the measuring probe (208) to move up and down. During the movement, the enclosure is scanned and point cloud data is generated. After one cycle of scanning is completed in the vertical direction, the first motor (109) is controlled to drive the rotating column (104) to rotate by a corresponding angle. The second motor (307) is controlled to drive the linear module (314) to move up and down to perform the next cycle of scanning. Repeat the above steps to complete the scanning of the entire enclosure assembly (3000). The acquired point cloud data is transmitted back to the ground control center via cable. The bottom control center performs 3D modeling on the point cloud data and obtains the relevant dimensional parameters of the enclosure assembly (3000) by measuring the model.

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