Automatic coating device for nuclear power SEC pump

Abstract

The invention discloses an automatic coating device for a nuclear power SEC pump. The automatic coating device comprises a movement mechanism, a paint supply mechanism, a curved surface coating mechanism and a side wall coating mechanism. The cambered surface coating mechanism comprises a swing module, a swing rotary disc, a work platform module, a first clamping execution module, a second clamping execution module, an automatic telescopic module, a rigid coating tail end, a flexible coating tail end and the like. The swinging module is connected with the swinging turntable; the swing turntable is connected with the operation platform module; the work platform module is connected with the video detection module carrier, and the video detection module is clamped on the video detection module carrier; the work platform module is connected with the first clamping execution module and the second clamping execution module. The automatic telescopic module is located between the first clamping execution module and the second clamping execution module. The automatic telescopic module is connected with the rigid coating tail end; the distance measuring module is inserted into the interface of the rigid coating tail end; and the flexible coating tail end sleeves the rigid coating tail end and is connected through a pin. And full-coverage dead-corner-free rigid-flexible coupling coating is realized.

Description

Technical Field

[0001] This invention belongs to the field of coating equipment technology, specifically an automatic coating device for nuclear power plant SEC pumps. Background Technology

[0002] As a nuclear safety-related system, the core function of the nuclear power plant water system (SEC) is to transport the heat load collected by the equipment cooling water system (RRI) to the final seawater heat sink. The SEC pump is a key piece of equipment in the nuclear power plant water system for transporting heat loads, and it needs to treat industrial water or seawater containing pollutants such as particulate matter, sediment, and chemicals for extended periods. Chloride ions, sulfate ions, and microorganisms in seawater can also cause electrochemical and biological corrosion, resulting in thinning of the walls of components such as impellers and pump casings. Therefore, it is necessary to coat the inner wall of the SEC pump with an anti-corrosion coating.

[0003] Currently, manual blind coating is commonly used, which has drawbacks such as poor quality stability, low efficiency, high safety risks, and hidden cost increases. In addition, the narrow internal space of SEC pumps and the D-shaped or volute-shaped cross-section of the flow channel make them inaccessible to manual workers or difficult to apply. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide an automatic coating device for nuclear power plant SEC pumps. Considering the inaccessible nature of SEC pumps due to their small cross-sections (D-shaped, volute-shaped, etc.), the device incorporates automatic detection, automatic paint supply, and rigid-flexible coupling coating functions. This achieves full-coverage coating of the pipeline, offering advantages such as complete coverage without blind spots, controllable coating quality, high efficiency and precision, and good economic efficiency.

[0005] The present invention solves the aforementioned technical problem by adopting the following technical solution: An automatic coating device for nuclear power plant SEC pumps, characterized in that it includes a motion mechanism, a paint supply mechanism, a curved surface coating mechanism, and a sidewall coating mechanism; The arc-shaped coating mechanism includes a swing module, a swing module fixing component, a swing turntable, a work platform module, a first clamping execution module, a second clamping execution module, an automatic telescopic module, a rigid coating end, a ranging module, a video detection module, a video detection module carrier, a video detection module fixing component, and a flexible coating end. The swing module is fixed to the chassis, and the swing module fixing component is positioned above the swing module and connected to the chassis. The swing module is connected to the swing turntable. The swing turntable is connected to the work platform module, and the swing turntable drives the work platform module to rotate. The work platform module is connected to the video detection module carrier, and the video detection module is secured to the video detection module carrier. The video detection module fixing component holds the video detection module and is connected to the video detection module carrier. The work platform module is connected to the first and second clamping execution modules. The automatic telescopic module is located between the first and second clamping execution modules. The automatic telescopic module is connected to the rigid coating end. The ranging module is inserted into the interface of the rigid coating end. The flexible coating end fits over the rigid coating end and is connected by a pin. The facade coating mechanism includes a side wall scraping module, a first connection module, a second connection module, and an elastic reset module. The side wall scraping module is bolted to the first connection module. An elastic reset module is placed between the first connection module and the second connection module and connected by a pin. The elastic reset module generates pressure to keep the side wall scraping module in contact with the facade at all times.

[0006] Furthermore, the motion mechanism includes a chassis, driven wheels, drive wheels, drive modules, a first drive module carrier, a second drive module carrier, a drive carrier, and a permanent magnet; wherein, two driven wheels are located on both sides of the front section of the chassis, and the driven wheels are rotatable; the second drive module carrier is connected to the rear end of the chassis, and two first drive module carriers are connected to the second drive module carrier; two drive modules are respectively connected to their corresponding first drive module carriers, and the output shafts of the two drive modules are respectively connected to a drive wheel, and the two drive wheels are located on both sides of the rear end of the chassis; the drive carrier is connected to the chassis and is used to house the driver of the drive module; the permanent magnet is connected to the chassis.

[0007] Furthermore, the paint supply mechanism includes a paint delivery pipe, a paint flow control module, a paint flow control module carrier, and a paint flow control module fixing component. The paint delivery pipe is divided into two sections: one end of the first section is connected to an external air pump, and the other end is connected to the paint flow control module via an adapter; one end of the second section is connected to the paint flow control module via an adapter, and the other end is connected to the rigid coating end via an adapter. The paint flow control module is fixed on the paint flow control module carrier; the paint flow control module fixing component is connected to the paint flow control module carrier.

[0008] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Precise detection and adaptive coating for full coverage of complex curved surfaces: Integrating a laser ranging module and a multi-degree-of-freedom automatic telescopic module, it can scan the three-dimensional contour of the surface to be coated in real time and dynamically adjust the telescopic amount and angle of the scraping tool. Compared with the "blind coating" mode that relies on manual experience, it can accurately adapt to complex working conditions such as variable curvature and narrow gaps, avoiding problems such as missed coating and over-coating, and increasing the coating coverage to 100%. It is especially suitable for blind spots in manual operation such as the inner wall of pipes and irregularly shaped components.

[0009] 2. Rigid-flexible coupling transmission design ensures coating thickness uniformity and surface quality: An innovative composite structure combining a rigid support frame and a flexible scraper head is adopted. The rigid part ensures overall motion stability, while the flexible scraper head adaptively conforms to the surface through built-in elastic elements. Combined with constant pressure feedback control, this keeps coating thickness deviation within ±5μm. Compared to defects such as uneven thickness and edge buildup that easily occur with manual scraping, this significantly improves coating smoothness and adhesion, reducing the cost of subsequent sanding processes.

[0010] 3. Innovative quantitative paint supply box and paint flow control module for ultimate conservation of expensive paint: Due to the high cost of the paint used, we employ a custom-made paint delivery tube as the paint box. Calculating the pump's inner wall surface area, we use a specially designed integrated paint delivery tube. By pre-setting the pump's inner wall surface area parameters and the target coating thickness (e.g., 50-100μm), combined with a formula, we accurately calculate the required dosage, achieving on-demand filling and quantitative supply, thus avoiding excessive waste during manual painting. The paint flow control module controls the amount of paint dispensed each time, thereby achieving quantitative and uniform paint application. An elastic sealing plug is installed at the end of the paint delivery tube. After coating, the plug advances synchronously with the piston rod, completely squeezing out any remaining paint from the tube to the working surface. Combined with the low-adhesion characteristics of the inner Teflon coating, the residual paint in the delivery tube is reduced to below 0.5%, completely solving the material loss problem caused by "paint accumulation inside the tube" in traditional paint delivery devices.

[0011] 4. Expanded adaptability to multiple scenarios: The device is compatible with multiple media environments such as seawater and industrial wastewater. It can be adapted to different viscosity paints (5000-20000 cP) by modularly replacing the spraying components. In addition to nuclear power plant SEC pumps, it can also be used for pipeline inner wall protection in chemical, shipbuilding and other fields, and the applicable pipe diameter range is extended to 150-400mm.

[0012] 5. Through the six-axis linkage control logic of "movement-rotation-distance measurement-force application-painting-homogenization", seamless coating of the inner arc surface and the vertical surface of narrow variable curvature flow channel (diameter <300mm) is achieved for the first time. The coating flatness is improved to Ra≤1.6μm, and the construction yield rate jumps from 75% of traditional manual methods to 99.2%, providing an intelligent solution for long-term corrosion protection of nuclear safety grade equipment. Attached Figure Description

[0013] Figure 1 This is an isometric schematic diagram of the overall structure of the present invention; Figure 2 This is an isometric schematic diagram of the overall structure of the present invention from another angle; Figure 3 This is a schematic diagram of the overall structure of the present invention; Figure 4 This is a schematic diagram of the motion mechanism of the present invention; Figure 5 This is a side view of the structure of the motion mechanism of the present invention; Figure 6 This is a top view of the motion mechanism of the present invention; Figure 7 This is a schematic diagram of the paint supply mechanism of the present invention; Figure 8 This is a schematic diagram of the curved surface coating mechanism of the present invention; Figure 9 This is a side view of the curved surface coating mechanism of the present invention; Figure 10 This is a schematic diagram of the sidewall coating mechanism of the present invention; In the diagram: 1. Motion mechanism; 2. Paint supply mechanism; 3. Curved surface painting mechanism; 4. Vertical surface painting mechanism; 11. Chassis; 12. Driven wheel; 13. Drive wheel; 14. Drive module; 15. Carrier of drive module 1; 16. Carrier of drive module 2; 17. Drive carrier; 18. Permanent magnet; 21. Paint supply pipe; 22. Paint flow control module; 23. Paint flow control carrier; 24. Paint flow control fixing component; 31. Swing module; 32. Swing module fixture; 33. Swing turntable; 34. Working platform module; 35. No. 1 clamping execution module; 36. No. 2 clamping execution module; 37. Automatic telescopic module; 38. Rigid coating end; 39. Distance measuring module; 310. Video detection module; 311. Video detection module carrier; 312. Video detection module fixture; 313. Flexible coating end; 41. Side wall scraping module; 42. No. 1 connection module; 43. No. 2 connection module; 44. Elastic reset module. Detailed Implementation

[0014] Specific embodiments are given below with reference to the accompanying drawings. These specific embodiments are only used to further describe the technical solution of the present invention in detail, and are not intended to limit the scope of protection of this application.

[0015] This invention provides an automatic coating device for nuclear power plant SEC pumps (hereinafter referred to as the device, see [link]). Figure 1-10 It includes a motion mechanism 1, a paint supply mechanism 2, a curved surface coating mechanism 3, and a vertical surface coating mechanism 4; The motion mechanism 1 includes a chassis 11, driven wheels 12, drive wheels 13, drive modules 14, a first drive module carrier 15, a second drive module carrier 16, a drive carrier 17, and a permanent magnet 18. Two driven wheels 12 are located on either side of the front section of the chassis 11 and can rotate around their own bearings. The second drive module carrier 16 is connected to the rear end of the chassis 11, and two first drive module carriers 15 are bolted to the second drive module carrier 16. Two drive modules 14 are bolted to their corresponding first drive module carriers 15, and the output shafts of the two drive modules 14 are each connected to a drive wheel 13. The two drive wheels 13 are located on either side of the rear end of the chassis 11. The drive carrier 17 is bolted to the chassis 11 and is used to house the drivers of the drive modules 14. The permanent magnet 18 is bolted to the chassis 11 and is used for the robot to stably adhere to the vertical surface of the pipe. The paint supply mechanism 2 includes a paint supply pipe 21, a paint flow control module 22, a paint flow control module carrier 23, and a paint flow control module fixing component 24. The paint supply pipe 21 has two sections: one end of the first section is connected to an external air pump, and the other end is connected to the paint flow control module 22 via an adapter; the other end of the second section is connected to the paint flow control module 22 via an adapter, and the other end is connected to the rigid coating end 38 via an adapter, used for supplying high-viscosity paint to the coating head. The paint flow control module 22 is fixed to the paint flow control module carrier 23. The paint flow control module fixing component 24 and the paint flow control module carrier 23 are bolted together to ensure the fixation of the paint flow control module 22. The arc-shaped coating mechanism 3 includes a swing module 31, a swing module fixing component 32, a swing turntable 33, a work platform module 34, a first clamping execution module 35, a second clamping execution module 36, an automatic telescopic module 37, a rigid coating end 38, a ranging module 39, a video detection module 310, a video detection module carrier 311, a video detection module fixing component 312, and a flexible coating end 313. The swing module 31 is bolted to the chassis 11; the swing module fixing component 32 is bolted to the chassis 11 above the swing module 31; the swing module 31 is bolted to the swing turntable 33; the swing turntable 33 is bolted to the work platform module 34, and the swing turntable 33 drives the work platform module 34 to rotate; the work platform module 34 is bolted to the video detection module carrier 311; the video detection module 310 is clamped onto the video detection module carrier 311; and the video detection module fixing component 312 clamps the video detection module 310 and the video detection module carrier 311. The block carrier 311 is threaded; the video detection module 310 is used for lighting and monitoring the working status during operation; the work platform module 34 is bolted to the first clamping execution module 35 and the second clamping execution module 36; the automatic telescopic module 37 is placed between the first clamping execution module 35 and the second clamping execution module 36; the first clamping execution module 35 and the second clamping execution module 36 are bolted together for limiting the automatic telescopic module 37; the automatic telescopic module 37 is bolted to the rigid coating end 38; the distance measuring module 39 is inserted into a specific interface of the rigid coating end 38; the flexible coating end 313 is fitted over the rigid coating end 38 and connected by a pin; the automatic telescopic module 37, the rigid coating end 38, the distance measuring module 39 and the flexible coating end 313 are used for arc surface coating, the distance measuring module 39 measures the distance between itself and the arc surface, the automatic telescopic module 37 extends and retracts a specific length, rotates with the swing module 31, and the flexible coating end 313 is always in contact with the arc surface to complete the arc surface coating; The facade painting mechanism 4 includes a side wall scraping module 41, a first connection module 42, a second connection module 43, and an elastic reset module 44. The side wall scraping module 41 is bolted to the first connection module 42. The elastic reset module 44 is placed between the first connection module 42 and the second connection module 43 and connected by a pin. The elastic reset module 44 generates pressure to keep the side wall scraping module 41 in contact with the facade at all times.

[0016] All the aforementioned holes must be threaded and tightened with an Allen wrench. The drive module 14, paint on / off control module 22, swing module 31, automatic telescopic module 37, infrared rangefinder 38, and video detection module 310 are connected to the circuit board and powered externally. The paint on / off control module 22 is preferably an energized switch valve.

[0017] The working principle and workflow of this invention are as follows: 1. High-viscosity paint (5000-20000 cP) homogenized by mechanical stirring (30-60 minutes) is injected into a pressure-resistant and sealed paint delivery pipeline (working pressure ≤1.2MPa). A stable air pressure difference is established through a high-precision pneumatic drive system (air pump pressure 0.2-0.6MPa) to push the paint to the inlet of the electromagnetic proportional paint on / off control module 22 (response time ≤50ms). The valve group outlet forms a closed loop with the end rigid coating end 38 through a quick-connect pneumatic adapter. At this time, the paint on / off control module 22 remains in a normally closed state to ensure that there is no leakage or pre-spraying of paint during the delivery stage.

[0018] 2. Robot Placement: Place the robot at the entrance of a narrow, inaccessible, variable-curvature pipe, allowing it to adhere to the center of the pipe's vertical surface. Position the robot body at the entrance of the narrow, variable-curvature pipe, using a permanent magnet adsorption module (adsorption force ≥250N) to achieve a stable fit in the center of the pipe's vertical surface, laying the foundation for subsequent dynamic coating.

[0019] 3. Robot Movement: By manipulating the external remote control, the drive module 14 rotates, driving the polyurethane synchronous wheel 13 to rotate, thus moving the entire robot forward a short distance. Precision Displacement-Coating Integrated Collaborative Execution: Motion commands are sent via the external remote control, and the drive module 14 (servo accuracy ±0.1°) drives the synchronous wheel 13 (friction coefficient ≥0.85) to achieve step-like movement of the robot (single feed amount 5-10mm, speed 5mm / s); during the movement, the system monitors the encoder feedback signal in real time, and when the preset displacement threshold is triggered, it automatically switches to the coating operation mode, completing the millisecond-level "movement-stop-operation" condition transition. The intelligent coating process, incorporating multiple sensors, is then initiated: End-effector posture adjustment: The swing module 31 (angular displacement resolution 0.05°) drives the swing turntable 33, work platform module 34, and load module (automatic telescopic module 37, rigid coating end 38, ranging module 39, video detection module 310, and flexible coating module 313) to rotate continuously from 0-270°, achieving omnidirectional coverage of the working angle; Curved surface adaptive scraping: The ranging module 39 (sampling frequency 100Hz, ranging accuracy ±1mm) collects curved surface contour data in real time and adjusts the telescopic amount of the automatic telescopic module 37 through PID closed-loop control, ensuring that the flexible coating end 313 always maintains an 8-12° angle. The N-direction force closely adheres to the curved surface (curvature radius 50-500mm) to achieve bubble-free scraping; special working condition compensation for the facade: when the video detection module 310 (field of view 120°) identifies the contact of the scraper head with the facade, the automatic extension module 37 triggers the limit contraction command (stroke error ≤ ±0.2mm), and the paint supply system simultaneously starts the flow pulse compensation algorithm, which extrudes excess paint to the facade through instantaneous pressure increase (0.3MPa) (30% more than the amount sprayed on the curved surface); the side wall scraping mechanism moves forward with the robot, and the side wall coating module 41 (hardness Shore A85±3) horizontally homogenizes the accumulated paint on the facade, ultimately achieving high-precision construction with a coating thickness of ±5μm and a flatness Ra≤1.6μm.

[0020] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. An automatic coating device for nuclear power plant SEC pumps, characterized in that, This includes a motion mechanism, a paint supply mechanism, a curved surface coating mechanism, and a sidewall coating mechanism; The arc-shaped coating mechanism includes a swing module, a swing module fixing component, a swing turntable, a work platform module, a first clamping execution module, a second clamping execution module, an automatic telescopic module, a rigid coating end, a ranging module, a video detection module, a video detection module carrier, a video detection module fixing component, and a flexible coating end. The swing module is fixed to the chassis, and the swing module fixing component is positioned above the swing module and connected to the chassis. The swing module is connected to the swing turntable. The swing turntable is connected to the work platform module, and the swing turntable drives the work platform module to rotate. The work platform module is connected to the video detection module carrier, and the video detection module is secured to the video detection module carrier. The video detection module fixing component holds the video detection module and is connected to the video detection module carrier. The work platform module is connected to the first and second clamping execution modules. The automatic telescopic module is located between the first and second clamping execution modules. The automatic telescopic module is connected to the rigid coating end. The ranging module is inserted into the interface of the rigid coating end. The flexible coating end fits over the rigid coating end and is connected by a pin. The facade coating mechanism includes a side wall scraping module, a first connection module, a second connection module, and an elastic reset module. The side wall scraping module is bolted to the first connection module. An elastic reset module is placed between the first connection module and the second connection module and connected by a pin. The elastic reset module generates pressure to keep the side wall scraping module in contact with the facade at all times.

2. The automatic coating device for nuclear power plant SEC pumps according to claim 1, characterized in that, The motion mechanism includes a chassis, driven wheels, drive wheels, drive modules, a first drive module carrier, a second drive module carrier, a drive carrier, and a permanent magnet. Two driven wheels are located on either side of the front section of the chassis and are rotatable. The second drive module carrier is connected to the rear end of the chassis, and two first drive module carriers are connected to the second drive module carrier. Two drive modules are each connected to their corresponding first drive module carriers, and the output shafts of the two drive modules are each connected to a drive wheel. The two drive wheels are located on either side of the rear end of the chassis. The drive carrier is connected to the chassis and houses the drivers of the drive modules. The permanent magnet is connected to the chassis.

3. The automatic coating device for nuclear power plant SEC pumps according to claim 1, characterized in that, The paint supply mechanism includes a paint delivery pipe, a paint flow control module, a paint flow control module carrier, and a paint flow control module fixing component. The paint delivery pipe is divided into two sections: one end of the first section is connected to an external air pump, and the other end is connected to the paint flow control module via an adapter; the other end of the second section is connected to the paint flow control module via an adapter, and the other end is connected to the rigid coating end via an adapter. The paint flow control module is fixed on the paint flow control module carrier; the paint flow control module fixing component is connected to the paint flow control module carrier.

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