Disassembling device for heavy water reactor seal plug

Abstract

This invention provides a disassembly and assembly device for a heavy water reactor sealing plug, comprising a base and a disassembly and assembly mechanism; one end of the base is mounted on a truss manipulator, and a rotating shaft is provided on the base, one end of which is rotatably engaged with the base to drive the disassembly and assembly mechanism to grasp the target sealing plug or to disassemble and assemble the target sealing plug; the disassembly and assembly mechanism includes an outer cylinder, a positioning cylinder, and at least two locking mechanisms, the outer cylinder being used for axial positioning with the target sealing plug, the positioning cylinder being arranged coaxially with the outer cylinder and located inside the outer cylinder, and at least two locking mechanisms being arranged along the outer circumference of the positioning cylinder; the locking mechanism includes a first driving member and a chuck rotatably engaged with the first driving member, the chuck being configured to retract toward the central axis of the positioning cylinder under the drive of the first driving member to release the target sealing plug or extend away from the central axis of the positioning cylinder and engage with the locking protrusion inside the target sealing plug to grasp the target sealing plug.

Description

Technical Field

[0001] This invention relates to the field of disassembly and assembly technology, and more specifically to a disassembly and assembly device for a heavy water reactor sealing plug. Background Technology

[0002] During the reactor's lifespan, the fuel passages of a heavy water reactor need to be completely replaced at the end of their lifespan to ensure that the reactor's lifespan meets design requirements. The sealing plug assembly, as the pressure boundary of the primary loop system of the heavy water reactor, needs to be immersed in coolant throughout the operation. The background radiation dose of the sealing plug assembly is relatively high. Moreover, due to the limited space at the end face, it is not possible to use a loading and unloading machine during fuel passage replacement and abnormal sealing plug removal. Currently, all operations are carried out manually.

[0003] The installation and removal of sealing plugs is a crucial operational step in the operation and maintenance of nuclear power plants. This process requires a high level of expertise and adherence to strict safety procedures, directly impacting the safety and reliability of the nuclear power plant.

[0004] In traditional methods, some sealing plugs are removed using long-handled tools, with the handle tightened by the nut on the tool. Each removal and installation requires tightening the nut multiple times at different locations, consuming a significant amount of time and exposing operators to prolonged exposure to high radiation, increasing the risk of exceeding regulatory limits for cumulative radiation dose.

[0005] Furthermore, traditional methods often use a ratchet wrench to directly clamp the sealing plug body for removal. Ratchet wrenches are difficult to control, and the positioning is inaccurate during clamping and insertion. They are also prone to hitting the sealing surface of the sealing disc. Once the sealing surface is damaged, a new sealing plug must be replaced, which increases costs and maintenance difficulty.

[0006] Furthermore, the sealing plug has a certain weight, requiring operators to manually lift and center it, which is not only physically demanding but also difficult to align. Additionally, manual operation carries the risk of the sealing plug falling from a height and damaging equipment, potentially leading to the spread of radioactive waste.

[0007] Based on this, the inventors of this application propose a disassembly and assembly device for a heavy water reactor sealing plug, in order to solve one or more of the above-mentioned technical problems. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to overcome the defect of low disassembly and assembly efficiency of the sealing plug in the prior art, and to provide a disassembly and assembly device for the sealing plug of heavy water reactor.

[0009] The present invention solves the above-mentioned technical problems through the following technical solution:

[0010] This invention provides a device for disassembling and assembling a sealing plug for a heavy water reactor, comprising:

[0011] Base and disassembly / reassembly mechanism;

[0012] One end of the base is mounted on the gantry robot, and the base is provided with a rotating shaft. One end of the rotating shaft is rotatably engaged with the base to drive the disassembly and assembly mechanism to grab the target sealing plug or drive the disassembly and assembly mechanism to disassemble and assemble the target sealing plug.

[0013] The disassembly and assembly mechanism includes an outer cylinder, a positioning cylinder, and at least two snap-fit ​​mechanisms. The outer cylinder is used for axial positioning with the target sealing plug. The positioning cylinder is arranged coaxially with the outer cylinder and located inside the outer cylinder. The at least two snap-fit ​​mechanisms are arranged along the outer circumference of the positioning cylinder.

[0014] The latching mechanism includes a first driving member and a latching claw that rotates with the first driving member. The latching claw is configured to retract toward the central axis of the positioning cylinder under the drive of the first driving member to release the target sealing plug, or extend away from the central axis of the positioning cylinder and latch onto the latching protrusion inside the target sealing plug to grab the target sealing plug.

[0015] According to one embodiment of the present invention, at least two of the said snap-fit ​​mechanisms are evenly distributed around the positioning cylinder in the circumferential direction.

[0016] According to one embodiment of the present invention, the disassembly and assembly mechanism further includes a second driving member and a control mechanism connected to the second driving member, wherein the output shaft of the second driving member passes through the outer cylinder and extends at least partially into the positioning cylinder, and the control mechanism is disposed in the positioning cylinder;

[0017] The control mechanism includes a snap-fit ​​sleeve, a positioning pin, and a locking ball. One end of the snap-fit ​​sleeve is connected to the second driving member, and the other end is used as a self-locking pin fitted inside the target sealing plug.

[0018] The outer circumference of the snap-fit ​​sleeve is provided with at least one limiting hole, and the snap ball is movably snapped into the limiting hole;

[0019] The locating pin is configured to press against the retaining bead and cause the retaining bead to abut against the outer end face of the self-locking post inside the target sealing plug.

[0020] According to one embodiment of the present invention, the snap-fit ​​sleeve has a receiving groove, and the positioning pin is disposed in the receiving groove and one end extends to the limiting hole;

[0021] The control mechanism is further provided with a third driving component, one end of which is connected to the positioning pin and is used to drive the positioning pin to reciprocate along the length direction of the receiving groove.

[0022] The locating pin is configured to press the retaining ball into the limiting hole and abut against the outer end face of the self-locking post inside the target sealing plug.

[0023] According to one embodiment of the present invention, at least two limiting holes are provided on the outer circumference of the snap-fit ​​sleeve, and the at least two limiting holes are evenly distributed around the circumference of the snap-fit ​​sleeve.

[0024] Each of the aforementioned limiting holes is provided with a set of the aforementioned positioning pins and the aforementioned retaining beads.

[0025] According to one embodiment of the present invention, the outer cylinder is further provided with a locking pin and a fourth driving member, wherein the axial direction of the locking pin is consistent with the radial direction of the outer cylinder and one end extends at least partially into the inner side of the outer cylinder;

[0026] The output shaft of the second driving member is provided with a stop section, and the fourth driving member is configured to drive the locking pin to move radially along the outer cylinder and engage at the stop section to restrict the axial movement of the output shaft.

[0027] According to one embodiment of the present invention, a fixing chuck is provided at one end of the outer cylinder away from the base. The fixing chuck is configured to retract toward the central axis of the outer cylinder or expand away from the central axis of the outer cylinder to clamp the outer wall of the pressure pipe outside the target sealing plug.

[0028] According to one embodiment of the present invention, a spraying mechanism is further provided on one side of the outer cylinder, the spraying mechanism including a high-pressure nozzle, a linear drive mechanism and a first camera mechanism;

[0029] One end of the linear drive mechanism is connected to the high-pressure nozzle to drive the high-pressure nozzle to extend into the target sealing plug and spray lubricant.

[0030] The first camera mechanism is used to capture the target location inside the target sealing plug that requires lubrication.

[0031] According to one embodiment of the present invention, a second camera mechanism is further provided on the rotating shaft, and the shooting end of the second camera mechanism is aligned with the gripping end of the latching mechanism.

[0032] According to one embodiment of the present invention, the second camera configuration is a binocular vision camera.

[0033] The positive and progressive effects of this invention are as follows:

[0034] This invention relates to a device for disassembling and assembling sealing plugs for heavy water reactors. The device connects to a truss robot via a base and uses a disassembly and assembly mechanism to grasp and disassemble the sealing plugs. This automates the disassembly and assembly of the sealing plugs, thereby avoiding the uncertainties of traditional manual operation and shortening the irradiation time for workers, thus avoiding the risks caused by human error during disassembly and assembly. Attached Figure Description

[0035] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, wherein:

[0036] Figure 1 This is an isometric view of the disassembly and assembly device for the sealing plug of a heavy water reactor according to the present invention;

[0037] Figure 2 for Figure 1 The right view;

[0038] Figure 3 for Figure 2 A sectional view at point AA;

[0039] Figure 4 for Figure 3 Enlarged schematic diagram of the middle section;

[0040] Figure 5 for Figure 4 Enlarged structural diagram at point I;

[0041] Figure 6 A schematic diagram showing the target sealing plug in a locked state;

[0042] Figure 7 This diagram shows the target sealing plug in the unlocked state.

[0043] 1. Base; 11. Rotation axis; 12. Second camera mechanism;

[0044] 2. Assembly / Disassembly Mechanism; 21. Outer Cylinder; 211. Locking Pin; 212. Fourth Drive Component; 213. Fixed Chuck; 22. Positioning Cylinder; 23. Snap-fit ​​Mechanism; 231. First Drive Component; 232. Claw; 24. Second Drive Component; 241. Output Shaft; 242. Stop Section; 25. Control Mechanism; 251. Snap-fit ​​Sleeve; 252. Positioning Pin; 253. Clamping Ball; 254. Receiving Slot; 256. Third Drive Component; 257. Limiting Hole; 26. Spraying Mechanism; 261. High-Pressure Spray Nozzle; 262. Linear Drive Mechanism; 263. First Camera Mechanism;

[0045] 3. Target sealing plug; 31. Self-locking pin; 311. Slide groove; 32. Snap-fit ​​protrusion; 321. Snap-fit ​​surface; 33. Outer shell; 34. Self-locking rod. Detailed Implementation

[0046] The present invention will be further described below with reference to specific embodiments and accompanying drawings. More details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention can obviously be implemented in many other ways different from those described herein. Those skilled in the art can make similar extensions and derivations based on actual application situations without departing from the spirit of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0048] Traditionally, sealing plugs are mostly removed manually. The removal process is inefficient and can easily damage the sealing plug, thereby increasing maintenance costs and the time workers are exposed to radiation.

[0049] Please refer to Figures 1 to 4 Based on this, the present invention proposes a disassembly and assembly device for a heavy water reactor sealing plug, including a base 1 and a disassembly and assembly mechanism 2. One end of the base 1 is mounted on a gantry robot, and a rotating shaft 11 is provided on the base 1. One end of the rotating shaft 11 is rotatably engaged with the base 1 to drive the disassembly and assembly mechanism 2 to grab the target sealing plug 3 or drive the disassembly and assembly mechanism 2 to disassemble and assemble the target sealing plug 3.

[0050] Using the spatial position of the sealing plug as a standard, the device containing the target sealing plug 3 is placed on the ground or a suspended platform. The gantry robot can drive the disassembly mechanism 2 to rotate horizontally towards the target sealing plug 3, i.e., rotate itself 90°. Thus, the disassembly mechanism 2 can complete the actions of grasping and disassembling the target sealing plug 3 under the action of the robot. This process does not require human intervention, which can significantly reduce the exposure time of workers in high-radiation environments, avoid the risk of exceeding the cumulative radiation dose limit, and mechanical control is more conducive to improving the efficiency of grasping and disassembling the target sealing plug 3 compared with manual control.

[0051] Specifically, the disassembly and assembly mechanism 2 includes an outer cylinder 21, a positioning cylinder 22, and at least two snap-fit ​​mechanisms 23. The outer cylinder 21 is used for axial positioning with the target sealing plug 3. The positioning cylinder 22 is arranged coaxially with the outer cylinder 21 and located inside the outer cylinder 21. The at least two snap-fit ​​mechanisms 23 are arranged along the outer circumference of the positioning cylinder 22. The snap-fit ​​mechanism 23 includes a first driving member 231 and a pawl 232 that rotates with the first driving member 231. The pawl 232 is configured to retract toward the central axis of the positioning cylinder 22 under the drive of the first driving member 231 to release the target sealing plug 3, or extend away from the central axis of the positioning cylinder 22 and snap onto the snap-fit ​​protrusion 32 inside the cavity of the target sealing plug 3 to grasp the target sealing plug 3.

[0052] When gripping the target sealing plug 3, the outer cylinder 21 can achieve axial positioning of the target sealing plug 3, preventing the target sealing plug 3 from shifting during disassembly and assembly. The locking mechanism 23 drives the claw 232 to extend and retract through the first driving component 231, thereby accurately locking the locking protrusion 32 in the inner cavity of the target sealing plug 3 or releasing the target sealing plug 3, solving the problem of inaccurate positioning of traditional ratchet wrenches, thereby reducing the damage and replacement cost of the target sealing plug 3.

[0053] Specifically, the first driving component 231 can be a drive motor, which can drive the claw 232 to rotate to engage the engaging protrusion 32 of the target sealing plug 3.

[0054] Optionally, the outer cylinder 21 is provided with a fixed chuck 213 at one end away from the base 1. The fixed chuck 213 is configured to retract toward the central axis of the outer cylinder 21 or expand away from the central axis of the outer cylinder 21 to clamp the pressure pipe outside the target sealing plug 3.

[0055] like Figure 1 As shown, the fixed chuck 213 can be a claw-type structure composed of multiple locking parts. Figure 1 Taking four as an example), the spaced-apart locking parts have a certain degree of elasticity, which facilitates the automatic gripping and releasing of the pressure pipeline.

[0056] Alternatively, it can be set to automatic mode, for example, by driving the snap-fit ​​part to retract via a drive component, thereby gripping or releasing the pressure pipe; the specific form of the fixed chuck 213 is only an example here and is not limited.

[0057] Optionally, at least two locking mechanisms 23 are evenly distributed around the positioning cylinder 22. Thus, the locking mechanisms 23 ensure circumferential force balance on the target sealing plug 3 during gripping and disassembly, preventing excessive local force that could deform the target sealing plug 3 or cause it to tilt during movement or rotation. This ensures the alignment of the target sealing plug 3 with the outer tube axis in conjunction with the locking mechanisms 23, ultimately reducing disassembly resistance and improving disassembly efficiency.

[0058] Please refer to Figure 6 and Figure 7 The target sealing plug 3 includes an outer shell 33, a self-locking pin 31 disposed inside the outer shell 33, and a self-locking rod 34 rotatably engaged with the self-locking pin 31. When the self-locking pin 31 moves axially along the outer shell 33, it can pull the self-locking rod 34 to extend at least partially out of the outer shell 33 to abut against the pressure pipe wall outside the target sealing plug 3, or cause the self-locking rod 34 to retract to the inner side of the outer shell 33.

[0059] Specific reference Figure 6 , Figure 6 The target sealing plug 3 is in a locked state. At this time, the self-locking pin 31 drives the self-locking rod 34 to straighten and drive its end to extend at least to the outside of the outer end face of the housing 33. The extended end can form an abutment with the inner wall of the pressure pipe, thereby locking the target sealing plug 3.

[0060] Please refer to Figure 7 The target sealing plug 3 is in the unlocked state. At this time, the self-locking rod 31 drives the self-locking rod 34 to bend and drive the end of the self-locking rod 34 to retract to the inside of the pressure pipe. At this time, the target sealing plug 3 is in the unlocked state and is suitable for disassembly.

[0061] That is, the target sealing plug 3 achieves its locking and unlocking through the cooperation of the self-locking pin 31 and the self-locking rod 34.

[0062] Furthermore, the outer casing 33 has an annular locking protrusion 32 circumferentially arranged on its inner periphery. The claw 232 of this application, driven by the first driving member 231, can rotate to the side of the locking protrusion 32 and abut against it, thereby locking the locking protrusion 32. (Side view...) Figure 7 The shown is the snap-fit ​​surface 321.

[0063] The engagement process between the claw 232 and the locking protrusion 32 facilitates the disassembly and assembly mechanism 2 to grab the target sealing plug 3 and transport it to the installation position. However, when the target sealing plug 3 is a self-locking structure, it cannot directly meet its disassembly and assembly requirements.

[0064] Based on this, please refer to Figure 3 and Figure 4The disassembly and assembly mechanism 2 proposed in this application is further provided with a second driving member 24 and a control mechanism 25 connected to the second driving member 24. The output shaft 241 of the second driving member 24 passes through the outer cylinder 21 and extends at least partially into the positioning cylinder 22. The control mechanism 25 is located in the positioning cylinder 22. The control mechanism 25 includes a snap-fit ​​sleeve 251, a positioning pin 252, and a locking ball 253. One end of the snap-fit ​​sleeve 251 is connected to the second driving member 24, and the other end is used to fit the self-locking post 31 inside the target sealing plug 3. The snap-fit ​​sleeve 251 has at least one limiting hole 257 on its outer circumference, and the locking ball 253 is movably snapped into the limiting hole 257. The positioning pin 252 is configured to press against the locking ball 253 and make the locking ball 253 abut against the outer end face of the self-locking post 31 inside the target sealing plug 3.

[0065] That is, by driving the control mechanism 25 through the second driving component 24 to fit the self-locking pin 31 of the target sealing plug 3, the target sealing plug 3 can be automatically unlocked (driven self-locking rod 34 to retract) or locked (driven self-locking rod 34 to extend) by the abutting cooperation between the locking ball 253 and the self-locking pin 31. No manual intervention is required in the unlocking and locking process, which solves the problems of low efficiency and easy damage to the self-locking structure of traditional manual unlocking.

[0066] Optionally, the second driving component 24 can be a motor that drives a lead screw to drive the locking sleeve 251 to perform linear motion; or, the second driving component 24 can also be a cylinder or other linear drive mechanism, which is not limited here.

[0067] Specifically, please continue to refer to Figures 5 to 7 The target sealing plug 3 has an annular groove 311 on its outer circumference, and one end of the groove 311 has an inclined surface.

[0068] Furthermore, the snap-fit ​​sleeve 251 has a receiving groove 254, and the positioning pin 252 is located in the receiving groove 254 with one end extending to the limiting hole 257; the control mechanism 25 also has a third driving member 256, one end of which is connected to the positioning pin 252 and is used to drive the positioning pin 252 to reciprocate along the length of the receiving groove 254; the positioning pin 252 is configured to press the snap-fit ​​ball 253 to be held in the limiting hole 257 and to form an abutment with the inner wall of the sliding groove 311 on the outer end face of the self-locking post 31 in the target sealing plug 3.

[0069] The third drive component 256 is a linear drive mechanism, such as a cylinder or other optional device, which is not limited here.

[0070] The following describes the grasping process of target sealing plug 3:

[0071] During the grasping process of the target sealing plug 3, the rotating shaft 11 moves the disassembly and assembly mechanism 2 to the position where the snap-fit ​​sleeve 251 contacts the target sealing plug 3. Then, the first driving member 231 drives the claw 232 to snap the snap-fit ​​protrusion 32 of the target sealing plug 3, and the second driving member 24 drives the snap-fit ​​sleeve 251 to be fitted onto the outside of the self-locking post 31 of the target sealing plug 3. At this time, when the self-locking post 31 of the target sealing plug 3 gradually extends into the inside of the snap-fit ​​sleeve 251 and the limiting hole 257 corresponds to the position of the sliding groove 311 on the self-locking post 31, the third driving member 256 can be driven to push the positioning pin 252 to press the snap bead 253 into the limiting hole 257 and press the target sealing plug 3 tightly. When the target sealing plug 3 is pressed tightly, a tight connection is formed between it and the snap-fit ​​sleeve 251. At this time, the target sealing plug 3 is in a position where Figure 6 In this state, the second driving member 24 can continue to apply a pushing force to the self-locking pin 31, causing the self-locking pin 31 to act on the self-locking rod 34, thereby unlocking the target sealing plug 3, i.e., reaching the target. Figure 7 The target sealing plug 3 can then be retracted into the outer cylinder 21 using the second drive component 24.

[0072] Please refer to Figure 4 and Figure 5 The limiting hole 257 can be an arc-shaped hole. When the retaining bead 253 is located inside the limiting hole 257, at least a portion of the retaining bead 253 can extend into the inner cavity of the retaining sleeve 251. It can be seen that the axial dimension of the limiting hole 257 is smaller than the diameter of the retaining bead 253.

[0073] In the initial state, the positioning pin 252 only applies pre-pressure to the locking ball 253, and the locking sleeve 251 and the self-locking pin 31 can cooperate smoothly. When the limiting hole 257 reaches the position corresponding to the slide groove 311, as the locking ball 253 gradually moves towards the bottom of the slide groove 311, the positioning pin 252 also gradually moves to directly above the locking ball 253, thereby locking the locking ball 253 in the position of the slide groove 311 by the positioning pin 252.

[0074] Once the target sealing plug 3 is grasped, it is in the unlocked state. Its circumferential dimension is smaller than the inner diameter of the pressure pipe, so it can be successfully assembled into the pressure pipe.

[0075] Specifically, the target sealing plug 3 is first moved to the pressure pipeline by rotating shaft 11. Then, the outer cylinder 21 is axially engaged with the pressure pipeline for positioning. After engagement, the target sealing plug 3 is inserted into the target installation position of the pressure pipeline by the second driving member 24. Then, the self-locking pin 31 is pulled outward by the second driving member 24, so that the self-locking pin 31 drives the end of the self-locking rod 34 to extend outward and drive the end of the self-locking rod 34 to extend to the outside of the outer shell 33 and abut against the pressure pipeline for locking. Afterward, the third driving rod drives the positioning pin 252 to disengage from the locking ball 253. Then, the first driving member 231 is driven to unlock the lock on the target sealing plug 3. After removing the disassembly and assembly mechanism 2, the installation of the target sealing plug 3 is completed.

[0076] The process for removing the target sealing plug 3 is the reverse of the process for installing it. That is, the target sealing plug 3 is unlocked first, and then it is removed.

[0077] Specifically, after the outer cylinder 21 is engaged with the pressure pipeline, the first driving member 231 drives the claw 232 to engage with the engagement protrusion 32 of the target sealing plug 3. Then, when the target sealing plug 3 is engaged, the second driving member 24 drives the engagement sleeve 251 to move toward the self-locking pin 31 of the target sealing plug 3 and drives the self-locking pin 31 to drive the self-locking rod 34 to unlock the target sealing plug 3. At this time, the locking ball 253 has fallen into the limiting hole 257. Then, the third driving member 256 drives the positioning pin 252 to lock the locking ball 253. Finally, the first driving member 231 drives the disassembly and assembly mechanism 2 and the unlocked target sealing plug 3 to be removed.

[0078] Please continue to refer to Figure 5 The snap-fit ​​sleeve 251 has at least two limiting holes 257 on its outer circumference, and the at least two limiting holes 257 are evenly distributed around the circumference of the snap-fit ​​sleeve 251; a set of positioning pins 252 and locking beads 253 are provided at each limiting hole 257.

[0079] At least two limiting holes 257 are evenly distributed around the circumference. Each set of positioning pins 252 and locking balls 253 act synchronously on the self-locking post 31, which can make the self-locking post 31 be subjected to uniform force around the circumference. This avoids problems such as deformation of the self-locking post 31, damage to the slide groove 311, or tilting of the locking sleeve 251 caused by unilateral force, thus ensuring the normal expansion and contraction of the self-locking post 31 and the structural integrity of the sealing plug.

[0080] Please continue to refer to Figure 3 and Figure 4The outer cylinder 21 is also provided with a locking pin 211 and a fourth driving member 212. The axial direction of the locking pin 211 is consistent with the radial direction of the outer cylinder 21, and one end extends at least partially to the inner side of the outer cylinder 21. The output shaft 241 of the second driving member 24 is provided with a stop section 242. The fourth driving member 212 is configured to drive the locking pin 211 to move radially along the outer cylinder 21 and lock it at the stop section 242 to limit the axial movement of the output shaft 241.

[0081] That is, by driving the locking pin 211 to lock onto the stop section 242 of the output shaft 241 of the second driving member 24 through the fourth driving member 212, the axial movement of the output shaft 241 can be restricted, so as to prevent the output shaft 241 from moving due to accidental force during the gripping, disassembly or transportation of the sealing plug, which would lead to failure of unlocking or locking, or the sealing plug falling off or being damaged, thus providing double safety protection for the operation of the disassembly and assembly device.

[0082] Optionally, the fourth drive component 212 can be a cylinder or other linear drive mechanism, which is not limited here.

[0083] Please refer to Figure 1 and Figure 2 The outer cylinder 21 is also provided with a spraying mechanism 26. The spraying mechanism 26 includes a high-pressure nozzle 261, a linear drive mechanism 262 and a first camera mechanism 263. One end of the linear drive mechanism 262 is connected to the high-pressure nozzle 261 to drive the high-pressure nozzle 261 to extend into the target sealing plug 3 and spray lubricant. The first camera mechanism 263 is used to collect the position of the target sealing plug 3.

[0084] That is, by using the first camera 263 to collect the target location information inside the target sealing plug 3 that needs lubrication in real time, the high-pressure nozzle 261 can be guided to align with the lubrication target location, which can avoid lubricant waste or spraying position deviation. At the same time, no manual spraying is required, which further reduces the risk of personnel irradiation and extends the service life of the sealing plug and pressure pipeline.

[0085] Please continue to refer to Figure 1 The rotating shaft 11 is also equipped with a second camera mechanism 12, and the shooting end of the second camera mechanism 12 is aligned with the gripping end of the clamping mechanism 23.

[0086] The second camera mechanism 12 can be a binocular vision camera, which is used to generate spatial position information of the target sealing plug 3, so as to facilitate the adjustment of the spatial coordinate position of the rotating axis 11.

[0087] In other words, the binocular vision camera can acquire the three-dimensional spatial coordinates and attitude information of the target sealing plug 3. Its positioning accuracy is much higher than that of the monocular camera. Even in the complex environment of insufficient light and confined space inside the reactor, it can accurately identify the position of the target sealing plug 3, the orientation of the locking protrusion 32, and the position of the self-locking post 31, thereby avoiding mechanism collisions or operational failures caused by positioning deviations.

[0088] Moreover, the stereoscopic imaging technology of binocular vision can effectively avoid the risk of misjudgment of planar vision, ensure the precise docking of the locking mechanism 23, the control mechanism 25 and the sealing plug, further reduce the probability of damage to the target sealing plug 3, and ensure the stable and efficient disassembly and assembly of the target sealing plug 3.

[0089] In summary, this invention connects the truss robot to the base 1 and uses the disassembly and assembly mechanism 2 to grasp and disassemble the sealing plug, thereby automating the disassembly and assembly of the sealing plug. This avoids the uncertainty of traditional manual operation, shortens the irradiation time for workers, and avoids the risks caused by human error during disassembly and assembly.

[0090] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation", "connection", "joining", and "fixing" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can also refer to mechanical connections. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0091] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0092] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any variations and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the invention, fall within the protection scope defined by the claims of the present invention.

Claims

1. A device for disassembling and assembling a sealing plug for a heavy water reactor, characterized in that, include: Base and disassembly / reassembly mechanism; One end of the base is mounted on the gantry robot, and the base is provided with a rotating shaft. One end of the rotating shaft is rotatably engaged with the base to drive the disassembly and assembly mechanism to grab the target sealing plug or drive the disassembly and assembly mechanism to disassemble and assemble the target sealing plug. The disassembly and assembly mechanism includes an outer cylinder, a positioning cylinder, and at least two snap-fit ​​mechanisms. The outer cylinder is used for axial positioning with the target sealing plug. The positioning cylinder is arranged coaxially with the outer cylinder and located inside the outer cylinder. The at least two snap-fit ​​mechanisms are arranged along the outer circumference of the positioning cylinder. The snap-fit ​​mechanism includes a first driving member and a snap-fit ​​claw that rotates with the first driving member. The snap-fit ​​claw is configured to retract toward the central axis of the positioning cylinder under the drive of the first driving member to release the target sealing plug, or extend away from the central axis of the positioning cylinder and snap-fit ​​to the snap-fit ​​protrusion inside the target sealing plug to grab the target sealing plug. The disassembly and assembly mechanism further includes a second driving component and a control mechanism connected to the second driving component. The output shaft of the second driving component passes through the outer cylinder and extends at least partially into the positioning cylinder. The control mechanism is located inside the positioning cylinder. The control mechanism includes a snap-fit ​​sleeve, a positioning pin, and a locking ball. One end of the snap-fit ​​sleeve is connected to the second driving member, and the other end is used as a self-locking pin fitted inside the target sealing plug. The outer circumference of the snap-fit ​​sleeve is provided with at least one limiting hole, and the snap ball is movably snapped into the limiting hole; The positioning pin is configured to press against the retaining bead and cause the retaining bead to abut against the outer end face of the self-locking post inside the target sealing plug; The snap-fit ​​sleeve has a receiving groove, and the positioning pin is located in the receiving groove with one end extending to the limiting hole; The control mechanism is further provided with a third driving component, one end of which is connected to the positioning pin and is used to drive the positioning pin to reciprocate along the length direction of the receiving groove. The positioning pin is configured to press the retaining ball into the limiting hole and form contact with the outer end face of the self-locking post in the target sealing plug; The outer cylinder is also provided with a locking pin and a fourth driving member. The axial direction of the locking pin is consistent with the radial direction of the outer cylinder, and one end extends at least partially into the inner side of the outer cylinder. The output shaft of the second driving member is provided with a stop section, and the fourth driving member is configured to drive the locking pin to move radially along the outer cylinder and engage at the stop section to restrict the axial movement of the output shaft.

2. The disassembly and assembly device for a heavy water reactor sealing plug according to claim 1, characterized in that, At least two of the aforementioned locking mechanisms are evenly distributed around the positioning cylinder in the circumferential direction.

3. The disassembly and assembly device for a heavy water reactor sealing plug according to claim 1, characterized in that, The snap-fit ​​sleeve has at least two limiting holes on its outer circumference, and the at least two limiting holes are evenly distributed around the circumference of the snap-fit ​​sleeve. Each of the aforementioned limiting holes is provided with a set of the aforementioned positioning pins and the aforementioned retaining beads.

4. The disassembly and assembly device for a heavy water reactor sealing plug according to claim 1, characterized in that, The outer cylinder is also provided with a fixed chuck at one end away from the base. The fixed chuck is configured to retract toward the central axis of the outer cylinder or expand away from the central axis of the outer cylinder to clamp the outer wall of the pressure pipe outside the target sealing plug.

5. The disassembly and assembly device for a heavy water reactor sealing plug according to claim 1, characterized in that, A spraying mechanism is also provided on one side of the outer cylinder. The spraying mechanism includes a high-pressure nozzle, a linear drive mechanism, and a first camera mechanism. One end of the linear drive mechanism is connected to the high-pressure nozzle to drive the high-pressure nozzle to extend into the target sealing plug and spray lubricant. The first camera mechanism is used to capture the target location inside the target sealing plug that requires lubrication.

6. The disassembly and assembly device for a heavy water reactor sealing plug according to claim 1, characterized in that, The rotating shaft is also equipped with a second camera mechanism, the shooting end of the second camera mechanism and the gripping end of the clamping mechanism are aligned.

7. The disassembly and assembly device for a heavy water reactor sealing plug according to claim 6, characterized in that, The second camera device is a binocular vision camera.

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