Remote underwater maintenance conveying and positioning device and method

Abstract

The invention belongs to the technical field of remote underwater maintenance, aims to solve the problems that in the underwater remote maintenance process, maintenance tools are difficult to reach, the positioning precision requirement is high, and operation and adjustment are needed at any time, and discloses a remote underwater maintenance conveying and positioning device and method. A transmission part is installed on the positioning bottom plate and used for achieving X-axis movement, Y-axis movement and Z-axis movement, a conveying part is arranged on the transmission part, an external function part is connected to the conveying part, and an auxiliary clamping part is installed at one end of the positioning bottom plate. According to the method, remote underwater maintenance conveying positioning is achieved through the device. The positioning device has high positioning precision, and the function of accurately positioning all external functional parts can be achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of remote underwater maintenance, and particularly relates to a remote underwater maintenance conveying and positioning device and method. BACKGROUND

[0002] The reactor is the most critical equipment in a nuclear power plant, and each component in the reactor core works in the pressure vessel for a long time and is affected by factors such as thermal load, mechanical load, vibration load, neutron irradiation and corrosion. These factors inevitably have effects over time, and each part of the in-core component may be damaged, loose, failed or the like. Failure of a single part may also cause damage to the integrity of the entire in-core component, which brings great risk to the safe operation of the nuclear power plant.

[0003] Since the in-core component works in the irradiation environment for a long time, each part is activated and has strong radioactivity, and boric acid water is an effective irradiation shielding medium. Therefore, the maintenance of the in-core component is generally performed underwater, and the underwater parts are maintained by a remote tool. The maintenance difficulties include:

[0004] 1. The maintenance environment is underwater, and the tool has high requirements for waterproofness and corrosion resistance;

[0005] 2. Personnel are in the operation area during the specific operation, and the distance is generally more than 10 meters, which makes the operation difficult;

[0006] 3. Some maintenance positions are blocked by other parts, and the tool cannot directly reach them;

[0007] 4. For some key positions, accurate positioning is required. For the above working conditions, the maintenance is quite difficult.

[0008] At present, the remote underwater maintenance device in the industry is generally designed for a specific maintenance point, and therefore has specificity and is difficult to be applied to most remote underwater maintenance work. Moreover, for maintenance requirements with small space and high positioning accuracy, the device cannot meet the requirements. SUMMARY

[0009] The present application aims to provide a remote underwater maintenance conveying and positioning device and method, and solve the problems that the maintenance tool is difficult to reach, the positioning accuracy is high, and the operation needs to be adjusted at any time during the underwater remote maintenance.

[0010] In order to achieve the above purpose, the present application provides the following technical scheme:

[0011] The first aspect of the present application provides a remote underwater maintenance conveying positioning device, comprising a positioning base plate, a transmission component is installed on the positioning base plate to realize XYZ three-axis movement, a conveying component is installed on the transmission component, an external functional component is connected to the conveying component, and an auxiliary clamping component is installed at one end of the positioning base plate.

[0012] In some embodiments, the transmission component has a longitudinal movement mechanism, which comprises a lead screw, an X-axis guide rail, an X-axis power head, and a longitudinal movement plate, wherein the longitudinal movement plate is installed on the sliding block of the X-axis guide rail and is connected with the nut of the lead screw, and the X-axis power head is installed on the positioning base plate.

[0013] In some embodiments, the transmission component has a horizontal adjustment mechanism, which comprises a spline shaft, a Y-axis guide rail, a gear and rack, a Y-axis power head, and a transverse movement plate, wherein the transverse movement plate is installed on the Y-axis rail and is connected with the spline shaft through the gear and rack, and the Y-axis power head is installed on the positioning base plate.

[0014] In some embodiments, the transmission component has a vertical lifting mechanism for transporting the external functional component to a specified height position.

[0015] In some embodiments, the vertical lifting mechanism adopts hydraulic drive or lead screw guide rail drive.

[0016] In some embodiments, a lifting head is provided on the positioning base plate.

[0017] In some embodiments, the conveying component comprises a mounting seat, which is fixed on the vertical lifting mechanism of the transmission component.

[0018] In some embodiments, a positioning pin is installed on the mounting seat, which matches and positions with the pin hole on the external functional component.

[0019] In some embodiments, the auxiliary clamping component comprises a vertical pneumatic cylinder and a pneumatic clamping jaw, and the pneumatic clamping jaw is installed above the vertical pneumatic cylinder.

[0020] In some embodiments, the device further comprises a driving long rod, which comprises a screwing part, a connecting aluminum rod, and a connecting head, wherein the screwing part is installed at one end of the connecting aluminum rod, and the connecting head is installed at the other end of the connecting aluminum rod.

[0021] The second aspect of the present application provides a remote underwater maintenance conveying positioning method, which adopts the above device, and the method comprises:

[0022] Step 1, connect the lifting tool with the lifting head and place it to the maintenance position;

[0023] Step 2, cooperate the positioning mechanism with the corresponding hole of the maintenance position, cooperate and fix the positioning component with the maintenance component;

[0024] Step 3, install the external functional component on the mounting seat through the lifting tool, and position and fix through the positioning pin and the connecting bolt;

[0025] Step 4, connect the connecting head with the X-axis power head and the Y-axis power head through the driving long rod, and drive the screwing part to transport the external functional component on the mounting seat to the working position.

[0026] Compared with the prior art, the remote underwater maintenance transport positioning device provided by the application has the following beneficial effects:

[0027] The application can be positioned and installed in a narrow underwater maintenance channel, and realizes the delivery of the maintenance tool in the narrow underwater space.

[0028] The application has high positioning accuracy and can complete the precise positioning function of each external functional component.

[0029] Further, the application realizes the transportation task of the external functional component and the maintenance part by remotely driving the driving long rod and controlling the movement of the maintenance platform.

[0030] Further, the application realizes remote control through the driving long rod, so that the maintenance personnel are away from the maintenance hot spot and the personnel radiation dose is reduced.

[0031] Further, the application has a simple structure, all parts are made of corrosion-resistant materials, and all powers are input on the water operation platform, so that the whole is stable and reliable. DETAILED DESCRIPTION

[0032] In order to more clearly illustrate the technical solutions of the application, the following will briefly introduce the drawings needed to be used in the technical description.

[0033] Figure 1 The structural schematic diagram of the remote underwater maintenance transport positioning device provided by the application is shown in the figure.

[0034] Figure 2 The structural schematic diagram of the driving long rod provided by the application is shown in the figure.

[0035] Explanation of reference signs:

[0036] 1, positioning bottom plate; 2, positioning mechanism; 3, locking mechanism; 4, hoisting head; 5, lead screw; 6, X-axis guide rail; 7, X-axis power head; 8, spline; 9, gear rack; 10, Y-axis guide rail; 11, Y-axis power head; 12, longitudinal motion plate; 13, transverse motion plate; 14, Z-axis lifting mechanism; 15, mounting seat; 16, positioning pin; 17, vertical pneumatic cylinder; 18, pneumatic clamping jaw; 19, external functional component; 20, screwing part; 21, connecting aluminum rod; 22, connecting head;

[0037] 31, positioning component; 32, transmission component; 33, conveying component; 34, auxiliary clamping component; 35, driving long rod. DETAILED DESCRIPTION

[0038] Further details will be described in the following specific embodiments.

[0039] As shown in Figs. Figure 1 and Figure 2 The present application provides a remote underwater maintenance conveying positioning device, which comprises a positioning component 31, a transmission component 32, a conveying component 33, an auxiliary clamping component 34, and a driving long rod 35.

[0040] The positioning component 31 is a frame component of the device, which is made of high-strength aluminum alloy material to ensure lightweight, corrosion resistance, and high rigidity when the tool is used remotely underwater. The outer dimensions of the positioning component 31 are designed according to the actual use environment to ensure that the entire device does not interfere with other components in the maintenance area.

[0041] The positioning component 31 includes a positioning bottom plate 1, a positioning mechanism 2, and a locking mechanism 3. The positioning mechanism 2 is a positioning structure that can adapt to the shape of the maintenance component, which can cooperate with the positioning hole on the maintenance component to achieve precise positioning. The locking mechanism 3 is installed inside the positioning mechanism 2 and is a set of pneumatic spreading mechanism. When the positioning mechanism 2 is positioned with the maintenance component, the locking mechanism 3 is spread to firmly fix the two, ensuring the overall precision of the platform or other tools during use. One end of the positioning bottom plate 1 is provided with a hoisting head 4, which can be connected and disconnected with the remote hoisting tool to realize the hoisting and installation of the entire device.

[0042] The transmission component 32 is installed on the positioning component 31 and includes X, Y, and Z three-axis motion mechanisms. The X-axis is a longitudinal motion mechanism, which includes a lead screw 5, an X-axis guide rail 6, an X-axis power head 7, and a longitudinal motion plate 12. The longitudinal motion plate 12 is installed on the sliding block of the X-axis guide rail 6 and connected with the nut of the lead screw 5. The X-axis power head 7 is installed on the positioning bottom plate 1. When the X-axis power head 7 is manually rotated remotely, the lead screw 5 is rotated to move the longitudinal motion plate 7 forward and backward, thereby conveying the conveying component 33 from one end of the device to the other end, with a maximum stroke of 2m and a highest positioning accuracy of 0.1mm.

[0043] Y axis is a horizontal adjustment mechanism, including spline shaft 8, gear rack 10, Y axis guide rail 9, Y axis power head 11, transverse motion plate 13. The transverse motion plate 13 is installed on the Y axis rail 9, and is connected with the spline shaft 8 through the gear rack 10, and the Y axis power head 11 is installed on the positioning bottom plate 1. When the Y axis power head 11 is manually rotated remotely, the spline shaft 8 is driven to rotate, so that the transverse motion plate 13 moves left and right, realizing the movement of the conveying component 23 in the horizontal direction, the stroke is ±100mm, and the accuracy is 0.1mm.

[0044] Z axis is a vertical lifting mechanism 14, and the driving mode of the vertical lifting mechanism 14 can be selected according to the actual requirements of the site, and can be matched with hydraulic drive or screw guide rail drive. The vertical lifting mechanism 14 can drive the platform up and down through the hydraulic cylinder, and is used for transporting the external functional component 19 to the specified height position.

[0045] The three axes of the transmission component 32 are independent running axes, which can be operated independently or cooperatively, and can realize the three-axis movement of the conveying component 33 in space through the power input of the driving rod 35, and complete the conveying, positioning and other requirements of the external functional component 17.

[0046] The conveying component 33 is installed on the transmission component 32, and is mainly used for the installation and positioning of the external functional component 19. The conveying component 33 includes a mounting seat 15 and a positioning pin 16. The mounting seat 15 is fixed on the vertical lifting mechanism 14 of the Z axis of the transmission component 32.

[0047] Since the conveying component 33 may need to bear a large load in actual use, the mounting seat 15 is integrally machined from high-strength aluminum alloy, so as to ensure the strength and rigidity of the conveying component 33 as a whole.

[0048] Two standard positioning pins 16 are installed on the mounting seat 15, which can be matched and positioned with the pin holes on the external functional component 19, so as to ensure the installation accuracy. At the same time, the bolts on the external functional component 19 can also cooperate with the threaded holes on the mounting seat 15, so as to realize the positioning and fixing of the two pins and two bolts.

[0049] The auxiliary clamping component 34 is installed at one end of the positioning bottom plate 1, and includes a vertical cylinder 17 and a pneumatic clamping jaw 18. The pneumatic clamping jaw 18 is movably installed above the vertical cylinder 7. The vertical cylinder 17 mainly pushes the pneumatic clamping jaw 18 to move up and down. The pneumatic clamping jaw 18 is mainly used for clamping the external functional component 19 or the parts for maintenance.

[0050] As Figure 2As shown, the driving long rod 35 is a remote power transmission tool, including a screwing part 20, a connecting aluminum rod 21, and a connecting head 22. The driving long rod 35 can be connected with the power head of the transmission component 32. The screwing part 20 is installed at one end (for example, the upper end) of the connecting aluminum rod 21, and the connecting head 22 is installed at the other end (for example, the lower end) of the connecting aluminum rod 21.

[0051] The screwing part 20 mainly plays a power input role and can be screwed by manual screwing or by connecting with an electric tool. The connecting aluminum rod 21 is a standard connecting part, the length of which can be increased or decreased according to actual needs, and mainly plays a power transmission role.

[0052] The connecting head 22 is a set of internal hex sleeve mechanism, and the head has a guide conical surface, which can be remotely matched and connected with the power head (X-axis power head 7 and Y-axis power head 11) on the transmission component, so as to transmit power to the power head and control the operation of the whole device.

[0053] In addition, based on the above conveying and positioning device, the application further provides a remote underwater maintenance conveying and positioning method, which comprises the following steps:

[0054] Step 1, connect the lifting tool (special lifting tool) with the lifting head 4 of the conveying and positioning device, and place it to the maintenance position, and confirm that the stroke range of the mounting seat 15 can reach the maintenance point;

[0055] Step 2, cooperate the positioning mechanism 2 with the corresponding hole of the maintenance position, and start the locking mechanism 3, so that the whole positioning component 31 is cooperated and fixed with the maintenance component, to ensure the stability of the tool during use;

[0056] Step 3, at this time, the mounting seat 15 is located at one side of the X-axis power head 7 and the Y-axis power head 11, the external functional component 19 to be used is installed on the mounting seat 15 through the lifting tool (special lifting tool), and is positioned and fixed through the positioning pin 16 and the connecting bolt;

[0057] Step 4, connect the connecting head 22 with the X-axis power head 7 and the Y-axis power head 11 on the conveying and positioning device by using the driving long rod 35 (as shown in Figure 2 Step 5, use the external functional component 19 to complete the maintenance work I;

[0058] Step 6, start the auxiliary clamping component, and fix the tool or mounting part in the existing position by using the vertical air cylinder 17 and the pneumatic clamping jaw 18;

[0059] Step 6, start the auxiliary clamping component, and fix the tool or mounting part in the existing position by using the vertical air cylinder 17 and the pneumatic clamping jaw 18;

[0060] Step 7, use the driving long rod 35 to transport the external functional components 19 on the mounting seat 15 to the external hoisting position, and use the lifting tool (special hoisting tool) to remove the external functional components 19;

[0061] Step 8, use the lifting tool (special hoisting tool) to install the second set of external functional components 19 on the mounting seat 15;

[0062] Step 9, use the driving long rod 35 to transport the second set of external functional components 19 on the mounting seat 15 to the working position;

[0063] Step 10, loosen the auxiliary clamping components, and complete the second maintenance work by using tools;

[0064] Step 11, complete all maintenance work by reciprocating, and remove the functional components;

[0065] Step 12, loosen the locking mechanism 3, and separate the transport positioning device from the maintenance components;

[0066] Step 13, use the lifting tool (special hoisting tool) to connect with the lifting head 4 of the transport positioning device, take out the transport positioning device, and put the clean transport positioning device into the storage box.

[0067] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application.

Claims

1. A remote underwater service delivery positioning device, characterized by, The device comprises a positioning base plate (1) on which a transmission component (32) is installed to realize XYZ three-axis movement, a conveying component (33) is installed on the transmission component (32), and an external functional component (19) is connected to the conveying component (33), and an auxiliary clamping component (34) is installed at one end of the positioning base plate (1).

2. The remote underwater servicing delivery positioning device of claim 1, wherein, The transmission component (32) has a longitudinal movement mechanism, which comprises a lead screw (5), an X-axis guide rail (6), an X-axis power head (7), and a longitudinal movement plate (12) installed on the sliding block of the X-axis guide rail (6) and connected with the nut of the lead screw (5), and the X-axis power head (7) is installed on the positioning base plate (1).

3. The remote underwater servicing delivery positioning device of claim 1, wherein, The transmission component (32) has a horizontal adjustment mechanism, which comprises a spline shaft (8), a Y-axis guide rail (9), a gear and rack (10), a Y-axis power head (11), and a transverse movement plate (13) installed on the Y-axis guide rail (9) and connected with the spline shaft (8) through the gear and rack (10), and the Y-axis power head (11) is installed on the positioning base plate (1).

4. The remote underwater servicing delivery positioning device of claim 1, wherein, The transmission component (32) has a vertical lifting mechanism (14) for transporting the external functional component (19) to a specified height position.

5. The remote underwater servicing delivery positioning device of claim 1, wherein, The positioning base plate (1) is provided with a lifting head (4).

6. The remote underwater servicing delivery positioning device of claim 1, wherein, The conveying component (33) comprises a mounting seat (15) fixed on the vertical lifting mechanism (14) of the transmission component (32).

7. The remote underwater servicing delivery positioning device of claim 6, wherein, The mounting seat (15) is provided with a positioning pin (16) matched and positioned with the pin hole on the external functional component (19).

8. The remote underwater servicing delivery positioning device of claim 1, wherein, The auxiliary clamping component (34) comprises a vertical pneumatic cylinder (17) and a pneumatic clamping jaw (18) installed above the vertical pneumatic cylinder (7).

9. The remote underwater servicing delivery positioning device of claim 1, wherein, The device further comprises a driving long rod (35) comprising a screwing part (20), a connecting aluminum rod (21), and a connecting head (22), wherein the screwing part (20) is installed at one end of the connecting aluminum rod (21), and the connecting head (22) is installed at the other end of the connecting aluminum rod (21).

10. A method of remotely underwater servicing delivery positioning, characterized by, The device is used in the method comprising: Step 1: connecting the lifting tool with the lifting head (4) and placing it to the maintenance position; Step 2: matching the positioning mechanism (2) with the corresponding hole of the maintenance position, and matching and fixing the positioning component (31) with the maintenance component; Step 3: installing the external functional component (19) on the mounting seat (15) through the lifting tool, and positioning and fixing it through the positioning pin (16) and the connecting bolt; Step 4: connecting the connecting head (22) with the X-axis power head (7) and the Y-axis power head (11) using the driving long rod (35), and driving the screwing part (20) to convey the external functional component (19) on the mounting seat (15) to the working position.

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