Remote precision machining device for middle omega weld of reactor control rod drive mechanism

Abstract

The application discloses a remote precise machining device for middle omega weld of a reactor control rod drive mechanism and relates to the field of special machining machines for nuclear power equipment. The device comprises a machine body assembly, an installation auxiliary and clamping assembly, a tool holder assembly and a iron filings collecting assembly. The hoisting structure ring in the installation auxiliary and clamping assembly is connected to the top of the machine body assembly through bolts. The rotating disc in the machine body assembly is concentrically assembled with the fixed disc through a V-shaped wheel. The mounting plate in the tool holder assembly is bolted to the surface of the rotating disc. The radial feeding lever and the axial feeding lever in the tool holder assembly are fixed to the hoisting structure ring in the installation auxiliary and clamping assembly. The outer collecting box in the iron filings collecting assembly is located below the fixed disc. The device can complete the welding seam cutting, groove machining and inner and outer circle trimming at one time. The three-point hydraulic clamping, the automatic centering of the guide wheel, the closed iron filings collecting and the three-way camera real-time feedback of the machining state are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of special processing machinery for nuclear power equipment, in particular to a remote precision machining device for middle omega (Ω) weld of a reactor control rod drive mechanism. BACKGROUND

[0002] The middle omega (Ω) sealing weld of the control rod drive mechanism is cut, the groove is machined, and the weld reinforcement is cut (inner circle and outer circle finishing). Since the workpiece is located inside the nuclear island, there is a radiation risk, and the processing position space is limited, so the operator cannot perform on-site processing. Therefore, under the premise of meeting the processing accuracy and reliability, the workpiece needs to be processed by a remote control device. SUMMARY

[0003] The purpose of the present application is to provide a remote precision machining device for middle omega (Ω) weld of a reactor control rod drive mechanism, which can complete weld cutting, groove machining and inner and outer circle finishing at one time, three-point hydraulic clamping, automatic centering of guide wheels, closed iron filings collection and real-time feedback of processing state by three-way camera.

[0004] The present application provides a remote precision machining device for middle omega (Ω) weld of a reactor control rod drive mechanism, which comprises a body assembly, a mounting and clamping assembly, a tool holder assembly and an iron filings collection assembly. The lifting structure ring in the mounting and clamping assembly is connected to the upper part of the body assembly by bolts, the rotating disc in the body assembly is concentrically assembled with the fixed disc through a V-shaped wheel, a bearing or a rotary support, the mounting plate in the tool holder assembly is bolted to the surface of the rotating disc, the radial feed lever and the axial feed lever in the tool holder assembly are fixed to the lifting structure ring in the mounting and clamping assembly, and the outer collection box in the iron filings collection assembly is located below the fixed disc.

[0005] Preferably, the body assembly comprises a driving motor, a fixed disc, a V-shaped wheel and a rotating disc; the driving motor is connected to the fixed shaft vertically upward through the output shaft, and the output shaft pinion of the driving motor is engaged with the gear of the rotating disc; the V-shaped wheel is arranged on the fixed disc, and the V-shaped wheel is sleeved with the V-shaped track on the rotating disc.

[0006] Preferably, the mounting and clamping assembly comprises a lifting structure ring, a clamping power device, a movable clamp block, a fixed clamp block, a mounting auxiliary guide wheel, a lifting lug and a camera; the lifting structure ring is a ring frame structure, the clamping power device is bolted to the fixed disc, the clamping power device is connected to the movable clamp block, the movable clamp block is fixed to the side wall of the fixed disc, the fixed clamp block is assembled on the inner side of the fixed disc, the movable clamp block and the two fixed clamp blocks are symmetrically distributed at an angle of 120°, the mounting auxiliary guide wheel is hinged to the bottom of the fixed disc, the lifting lug is threadedly connected to the top of the lifting structure ring, and the cameras are evenly distributed and mounted on the upper side of the lifting structure ring.

[0007] Preferably, the tool holder assembly comprises a mounting plate, a radial movement mechanism, an axial movement mechanism, an execution terminal mechanism, a star wheel power transmission mechanism, a sensor and monitoring mechanism.

[0008] Preferably, the radial movement mechanism comprises a radial fixed tool holder, a radial sliding tool holder and a radial physical limiting block, the radial fixed tool holder is bolted to the mounting plate, the radial sliding tool holder is connected to the inner rail of the radial fixed tool holder, and the radial physical limiting block is installed on the radial sliding tool holder.

[0009] Preferably, the axial movement mechanism comprises an axial fixed tool holder, an axial sliding tool holder and an axial physical limiting block, the axial fixed tool holder is located on one side of the radial sliding tool holder, the axial sliding tool holder is located on the inner rail of the axial fixed tool holder, and the axial physical limiting block is installed on the axial sliding tool holder.

[0010] Preferably, the execution terminal mechanism comprises a tool holder and a tool, the tool holder is connected to the end of the axial sliding tool holder, and the tool is connected to the tool holder.

[0011] Preferably, the star wheel power transmission mechanism comprises a star wheel, a clutch elastic top bead, a clutch disc, a ball head spring top wire, a feeding screw, a sliding block fixing seat and a feeding sliding block, the clutch elastic top bead is located in the groove of the clutch disc, the clutch disc is connected to the feeding screw, the ball head spring top wire is connected to the adjusting hole of the clutch disc, the feeding screw is connected to the radial sliding tool holder and the axial sliding tool holder, the sliding block fixing seat is connected to the radial fixed tool holder and the axial fixed tool holder, and the feeding sliding block is connected to the bottom of the sliding tool holder.

[0012] Preferably, the sensor and monitoring mechanism comprises a radial feeding lever, an axial feeding lever, a radial position sensor and an axial position sensor, the axial feeding lever is located outside the hoisting structure ring, the radial feeding lever is located on the side wall of the machine body assembly, the radial position sensor is located on the side wall of the radial fixed tool holder, and the axial position sensor is located on the side wall of the axial fixed tool holder.

[0013] Preferably, the iron filings collection assembly comprises an outer collection box, an inner collection device and an iron filings protective cover, the outer collection box is connected to the bottom of the fixed disc through a sliding rail mechanism, the inner collection device is fixed to the center pipe opening of the fixed disc, and the iron filings protective cover is installed on the upper side of the rotating disc.

[0014] Therefore, the present application adopts the above-mentioned remote precision machining device for middle Ω weld of reactor control rod drive mechanism, which can complete weld cutting, groove machining and inner and outer circle finishing at one time, three-point hydraulic clamping, automatic centering of guide wheels, closed iron filings collection and real-time feedback of processing state by three-way camera. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a whole structure schematic diagram of the remote precision machining device for middle Ω weld of reactor control rod drive mechanism.

[0016] Figure 2 Figure 1 is a structural schematic diagram of a machine body assembly of a remote precision machining device for a middle Ω weld of a control rod drive mechanism of a reactor according to the present application;

[0017] Figure 3 Figure 2 is a structural schematic diagram of an installation assisting and clamping assembly of a remote precision machining device for a middle Ω weld of a control rod drive mechanism of a reactor according to the present application;

[0018] Figure 4 Figure 3 is a structural schematic diagram of a sensor and monitoring mechanism of a remote precision machining device for a middle Ω weld of a control rod drive mechanism of a reactor according to the present application;

[0019] Figure 5 Figure 4 is a structural schematic diagram of a radial movement mechanism, an axial movement mechanism and an execution terminal mechanism of a remote precision machining device for a middle Ω weld of a control rod drive mechanism of a reactor according to the present application;

[0020] Figure 6 Figure 5 is a structural schematic diagram of a star wheel power transmission mechanism of a remote precision machining device for a middle Ω weld of a control rod drive mechanism of a reactor according to the present application.

[0021] Reference signs

[0022] 1, machine body assembly; 2, installation assisting and clamping assembly; 3, tool holder assembly; 4, iron filings collecting assembly; 11, driving motor; 12, fixed disc; 13, V-shaped wheel; 14, rotating disc; 21, hoisting structure ring; 22, clamping power device; 23, movable clamping block; 24, fixed clamping block; 25, installation assisting guide wheel; 26, lifting lug; 27, camera; 31, mounting plate; 32, radial movement mechanism; 33, axial movement mechanism; 34, execution terminal mechanism; 35, star wheel power transmission mechanism; 36, sensor and monitoring mechanism; 321, radial fixed tool holder; 322, radial sliding tool holder; 323, radial physical limiting block; 331, axial fixed tool holder; 332, axial sliding tool holder; 333, axial physical limiting block; 341, tool shank; 342, tool; 351, star wheel; 352, clutch elastic top bead; 353, clutch disc; 354, ball head spring top wire; 355, feeding screw; 356, sliding block fixing seat; 357, feeding sliding block; 361, radial feeding lever; 362, axial feeding lever; 363, radial position sensor; 364, axial position sensor. DETAILED DESCRIPTION

[0023] The technical solutions of the present application are further described below by means of the accompanying drawings and examples.

[0024] Unless otherwise defined, technical or scientific terms used in the present application shall have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0025] The terms "first," "second," and similar words used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] Example 1

[0027] like Figures 1-6 As shown, the present invention discloses a remote precision machining device for the Ω-shaped weld seam in the middle of a reactor control rod drive mechanism, comprising a body assembly 1, an installation auxiliary and clamping assembly 2, a tool holder assembly 3, and a scrap collection assembly 4. The lifting structure ring 21 in the installation auxiliary and clamping assembly 2 is bolted to the upper part of the body assembly 1. The rotating disk 14 in the body assembly 1 is concentrically assembled with the fixed disk 12 via a V-shaped wheel 13, bearing, or slewing support. The mounting plate 31 in the tool holder assembly 3 is bolted to the surface of the rotating disk 14. The radial feed lever 361 and the axial feed lever 362 in the tool holder assembly 3 are fixed to the lifting structure ring 21 in the installation auxiliary and clamping assembly 2. The outer collection box in the scrap collection assembly 4 is located below the fixed disk 12.

[0028] The main body assembly 1 includes a drive motor 11, a fixed disk 12, a V-shaped wheel 13, and a rotating disk 14. The drive motor 11 is vertically connected to the fixed disk 12 via its output shaft, directly applying power to the fixed disk 12 to reduce rotational vibration. The pinion gear on the output shaft of the drive motor 11 meshes with the gear on the rotating disk 14, achieving speed reduction and torque increase from the pinion gear to the gear. This isolates the drive motor 11 from the rotating disk 14, reducing heat conduction and preventing radiant heat from affecting the motor's lifespan. The fixed disk 12 is equipped with a V-shaped wheel 13, which engages with the V-shaped track on the rotating disk 14 to eliminate radial runout. This boltless connection accommodates thermal deformation. The V-shaped wheel 13 features an eccentric adjustment structure, eliminating the need for disassembly for correction and facilitating rapid maintenance in high-radiation environments, with an eccentricity of ±0.5mm.

[0029] The installation auxiliary and clamping assembly 2 comprises a hoisting structure ring 21, a clamping power device 22, a moving clamp block 23, a fixed clamp block 24, an installation auxiliary guide wheel 25, an lifting lug 26 and a camera 27. The hoisting structure ring 21 is a ring-shaped frame structure, which disperses the radial stress. The clamping power device 22 is bolted to the fixed disc 12 and rigidly connected to the fixed disc 12 to avoid oil leakage caused by vibration of the hoisting ring. The clamping power device 22 is connected to the moving clamp block 23, which is fixed to the side wall of the fixed disc 12. The fixed clamp block 24 is assembled on the inner side of the fixed disc 12. The moving clamp block 23 is installed on the side wall to shorten the force arm. The outer edge of the fixed clamp block 24 is welded to directly transmit the reaction force to the fuselage. The moving clamp block 23 and the two fixed clamp blocks 24 are symmetrically distributed at an angle of 120°, so that the Ω sealing ring is uniformly stressed and installation deviation is adapted. The installation auxiliary guide wheel 25 is hinged to the bottom of the fixed disc 12. The lifting lug 26 is threadedly connected to the top of the hoisting structure ring 21. The camera 27 is bolted and uniformly distributed on the upper side of the hoisting structure ring 21. The clamping power device 22 outputs a pushing force of 30 KN to drive the moving clamp block 23.

[0030] The tool holder assembly 3 comprises a mounting plate 31, a radial movement mechanism 32, an axial movement mechanism 33, an execution terminal mechanism 34, a star wheel power transmission mechanism 35 and a sensor and monitoring mechanism 36.

[0031] The radial movement mechanism 32 comprises a radial fixed tool holder 321, a radial sliding tool holder 322 and a radial physical limiting block 323. The radial fixed tool holder 321 is bolted to the mounting plate 31 to establish a detachable rigid connection. The radial sliding tool holder 322 is connected to the inner rail of the radial fixed tool holder 321 to prevent radioactive dust from entering and resist strong magnetic field interference. The radial physical limiting block 323 is installed on the radial sliding tool holder 322 for nuclear safety double insurance and anti-radiation design.

[0032] The axial movement mechanism 33 comprises an axial fixed tool holder 331, an axial sliding tool holder 332 and an axial physical limiting block 333. The axial fixed tool holder 331 is located on one side of the radial sliding tool holder 322. The axial sliding tool holder 332 is located on the inner rail of the axial fixed tool holder 331. The axial physical limiting block 333 is installed on the axial sliding tool holder 332.

[0033] The execution terminal mechanism 34 comprises a tool shank 341 and a tool 342. The tool shank 341 is connected to the end of the axial sliding tool holder 332. The tool 342 is connected to the tool shank 341.

[0034] Star wheel power transmission mechanism 35 includes star wheel 351, clutch elastic top bead 352, clutch disc 353, ball head spring top silk 354, feed screw 355, slider fixed seat 356 and feed slider 357. Clutch elastic top bead 352 is located in the groove of clutch disc 353, clutch disc 353 is connected to feed screw 355, ball head spring top silk 354 is connected to the adjusting hole of clutch disc 353, feed screw 355 is connected to radial sliding tool holder 322 and axial sliding tool holder 332, slider fixed seat 356 is connected to radial fixed tool holder 321 and axial fixed tool holder 331, and feed slider 357 is connected to the bottom of the sliding tool holder.

[0035] Sensor and monitoring mechanism 36 includes radial feed lever 361, axial feed lever 362, radial position sensor 363 and axial position sensor 364, and axial feed lever 362 is located outside the hoisting structure ring 21. Radial feed lever 361 is located on the side wall of the fuselage assembly 1, radial position sensor 363 is located on the side wall of the radial fixed tool holder 321, and axial position sensor 364 is located on the side wall of the axial fixed tool holder 331.

[0036] Scrap collecting assembly 4 includes an outer collecting box, an inner collecting device, and a scrap protective cover. The outer collecting box is connected to the bottom of the fixed disc 12 through a slide rail mechanism, and the inner collecting device is fixed to the center pipe opening of the fixed disc 12. The scrap protective cover is installed on the upper side of the rotating disc 14.

[0037] Corresponding processing flow:

[0038] Equipment installation; weld cutting, groove and outer circle finishing; disassembly of equipment; dismounting of rod stroke sleeve; replacement of tool holder, secondary installation of equipment; groove processing, realization of inner circle finishing (which can also process groove at the same time); completion of processing, disassembly of equipment;

[0039] Equipment installation: through the lifting appliance and the equipment guide wheel, the equipment is installed in place; there are sensors at the bottom of the three clamps, which can provide the basis for the flatness of the equipment; if the flatness exceeds the set value, it is feedback that the clamping conditions are not met; if the three sensors of the equipment normally feedback, the equipment is clamped; after clamping, the outer scrap collecting device is extended, and the equipment has cutting conditions.

[0040] Weld cutting, groove and outer circle finishing: start the equipment, rotate the cutter head, pop out the feed lever, and start the feed; cutting, groove and outer circle finishing are completed in one processing; the cutter is a shaped cutter;

[0041] Axial feed processing; feed to the preset position of the tool holder, processing is completed; cutting reserves 0.5mm for subsequent finishing; cutting+outer circle finishing theoretical time: 16min;

[0042] Disassembly of equipment: cutting and outer circle finishing processing is completed; the outer scrap collecting device is retracted; the moving clamp is loosened; the equipment is dismounted.

[0043] The groove processing, inner circle finishing and equipment installation are completed, and the machining operation can be performed; the groove processing and inner circle finishing use a combined cutter; the machining operation is performed in a radial feed; the machining is performed to a preset position, the machining is completed, and the theoretical time is 14 minutes; and the cutter is returned to the initial position.

[0044] Therefore, the application adopts the above-mentioned remote precise machining device for the middle Ω weld of the reactor control rod drive mechanism, which can complete the weld cutting, groove processing and inner and outer circle finishing at one time, three hydraulic clamps, automatic centering of the guide wheel, closed iron scrap collection and three-way camera real-time feedback of the machining state.

[0045] The above embodiments are only used to illustrate the technical solutions of the present application but not to limit it, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can still be modified or replaced equivalently, and these modifications or equivalent replacements should not make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present application.

Claims

1. A remote precision machining device for a middle omega weld of a reactor control rod drive mechanism, characterized in that, The machine body assembly, the installation auxiliary and clamping assembly, the tool holder assembly and the iron filings collection assembly; the hoisting structure ring in the installation auxiliary and clamping assembly is bolted to the top of the machine body assembly, the rotating disc in the machine body assembly is concentrically assembled with the fixed disc through a V-shaped wheel, a bearing or a rotary support, the mounting plate in the tool holder assembly is bolted to the surface of the rotating disc, the radial feeding lever and the axial feeding lever in the tool holder assembly are fixed to the hoisting structure ring in the installation auxiliary and clamping assembly, and the outer collecting box in the iron filings collection assembly is located below the fixed disc; the tool holder assembly comprises a mounting plate, a radial movement mechanism, an axial movement mechanism, an execution terminal mechanism, a star wheel power transmission mechanism and a sensor and monitoring mechanism. The radial movement mechanism comprises a radial fixed tool holder, a radial sliding tool holder and a radial physical limiting block, the radial fixed tool holder is bolted to the mounting plate, the radial sliding tool holder is connected to the inner rail of the radial fixed tool holder, and the radial physical limiting block is mounted on the radial sliding tool holder. The axial movement mechanism comprises an axial fixed tool holder, an axial sliding tool holder and an axial physical limiting block, the axial fixed tool holder is located on one side of the radial sliding tool holder, the axial sliding tool holder is located on the inner rail of the axial fixed tool holder, and the axial physical limiting block is mounted on the axial sliding tool holder. The execution terminal mechanism comprises a tool holder and a tool, the tool holder is connected to the end of the axial sliding tool holder, and the tool is connected to the tool holder. The star wheel power transmission mechanism comprises a star wheel, a clutch elastic top bead, a clutch disc, a ball head spring top wire, a feeding screw, a sliding block fixing seat and a feeding sliding block, the clutch elastic top bead is located in the groove of the clutch disc, the clutch disc is connected to the feeding screw, the ball head spring top wire is connected to the adjusting hole of the clutch disc, the feeding screw is connected to the radial sliding tool holder and the axial sliding tool holder, the sliding block fixing seat is connected to the radial fixed tool holder and the axial fixed tool holder, and the feeding sliding block is connected to the bottom of the sliding tool holder. The sensor and monitoring mechanism comprises a radial feeding lever, an axial feeding lever, a radial position sensor and an axial position sensor, the axial feeding lever is located outside the hoisting structure ring, the radial feeding lever is located on the side wall of the machine body assembly, the radial position sensor is located on the side wall of the radial fixed tool holder, and the axial position sensor is located on the side wall of the axial fixed tool holder.

2. The remote precision machining device for the middle Ω weld of the reactor control rod drive mechanism according to claim 1, characterized in that, The machine body assembly comprises a driving motor, a fixed disc, a V-shaped wheel and a rotating disc; the driving motor is vertically connected to a fixed shaft through an output shaft, and the output shaft gear of the driving motor is engaged with the gear of the rotating disc; the fixed disc is provided with the V-shaped wheel, and the V-shaped wheel is sleeved with the V-shaped track on the rotating disc.

3. The remote precision machining device for the middle Ω weld of a reactor control rod drive mechanism according to claim 1, characterized in that, The installation auxiliary and clamping assembly comprises a hoisting structure ring, a clamping power device, a movable clamping block, a fixed clamping block, an installation auxiliary guide wheel, an eye ring and a camera; the hoisting structure ring is a ring frame structure, the clamping power device is bolted to the fixed disc, the clamping power device is connected to the movable clamping block, the movable clamping block is fixed to the side wall of the fixed disc, the fixed clamping block is assembled on the inner side of the fixed disc, the movable clamping block and the two fixed clamping blocks are symmetrically distributed at an angle of 120°, the installation auxiliary guide wheel is hinged to the bottom of the fixed disc, the eye ring is threadedly connected to the top of the hoisting structure ring, and the cameras are evenly distributed and installed on the upper side of the hoisting structure ring.

4. The remote precision machining device for the middle Ω weld of the reactor control rod drive mechanism according to claim 1, characterized in that, The iron filings collecting assembly comprises an outer collecting box, an inner collecting device and an iron filings protection cover, the outer collecting box is connected with the bottom of the fixing disc through a slide rail mechanism, the inner collecting device is fixed to the center pipe opening of the fixing disc, and the iron filings protection cover is installed on the upper side of the rotating disc.

Images