Automatic packaging equipment for nuclear fuel rod bundle

Abstract

The invention belongs to the technical field of nuclear fuel electricity, and particularly relates to automatic packaging equipment for nuclear fuel rod bundles. The application of advanced visual inspection technology is adopted for the fixing equipment, and the reliability of the key process technology of the production line is improved. Omnibearing, full-period and full-process product quality monitoring and tracing are realized through application of an online detection technology and an online quality analysis technology. Through the design of a safe multi-redundancy clamping mechanism, clamping in-place detection, mechanical self-locking and power-off and gas-off protection are designed, and the clamping reliability is guaranteed. Through the application of an automatic hot melting packaging technology and a full-automatic strapping machine, automatic packaging of the rod bundles is achieved. Through the PE packaging film hot melting technology, automatic operation of nuclear fuel rod bundle packaging is achieved, and a traditional manual film wrapping mode is successfully replaced. According to the technology, the foreign matter prevention level in the packaging process is greatly improved, the leakproofness and integrity of packaging are further ensured through the excellent hot melting sealing effect, and therefore the product protection quality is remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of nuclear fuel technology, specifically relating to an automated packaging device for nuclear fuel rod bundles. Background Technology

[0002] Heavy water reactor nuclear fuel bundles are nuclear fuel assemblies with a four-ring structure. Due to the long processing flow and complex processes, there are numerous quality control points for the finished fuel bundles. Foreign matter can be introduced at multiple stages of processing and storage. The macroscopic inspection and packaging of the fuel bundles are entirely manual, resulting in repetitive manual labor and low automation. Even the manual macroscopic inspection of the fuel bundles is prone to omissions. Furthermore, the cleaning and packaging of the nuclear fuel bundles suffers from repetitive manual labor, low automation, quality problems caused by operational errors, and the introduction of foreign matter. Currently, material transfer between these processes is all done manually using trolleys. Therefore, there is an urgent need to improve the quality and efficiency of nuclear fuel rod inspection and packaging. Summary of the Invention

[0003] To overcome the problems existing in related technologies, an automated packaging device for nuclear fuel rod bundles is provided, characterized in that the device comprises:

[0004] A rod bundle feeding device is used to receive and position a rod bundle tray that carries rod bundles;

[0005] A rod bundle transfer mechanism is located downstream of the rod bundle feeding device and is used to grab and transfer the rod bundle;

[0006] A macroscopic inspection device for rod bundles is installed on the transfer path of the rod bundle transfer mechanism and is used to inspect the end face and cylindrical surface appearance of the rod bundles.

[0007] A rod bundle coating device is located downstream of the rod bundle macroscopic inspection device and is used to coat, heat-seal, and tie the qualified rod bundles with cable ties.

[0008] A rod bundle packing device is located downstream of the rod bundle wrapping device for receiving the wrapped rod bundles and packing the wrapped rod bundles into a rod bundle box.

[0009] A foam board feeding device is used to supply foam boards to the rod bundle packing device;

[0010] The rod bundle transfer mechanism sequentially transfers the rod bundle from the rod bundle feeding device to the rod bundle macroscopic inspection device, from the rod bundle macroscopic inspection device to the rod bundle wrapping device, and from the rod bundle wrapping device to the rod bundle boxing device.

[0011] In one possible implementation, the rod bundle feeding device includes a frame, a bearing surface for placing a rod bundle tray, a tray positioning mechanism, and a rod bundle positioning mechanism.

[0012] The pallet positioning mechanism and the bar bundle positioning mechanism are mounted on the frame;

[0013] The pallet positioning mechanism is configured to push the rod bundle pallet placed on the bearing surface to a predetermined position;

[0014] The rod bundle positioning mechanism is configured to axially position the rod bundles on the rod bundle tray.

[0015] In one possible implementation, the rod bundle macroscopic inspection device includes a frame, a macroscopic inspection bracket, an end face inspection unit, a cylindrical surface inspection unit, and a rod bundle rotation drive unit.

[0016] The macroscopic inspection bracket is used to support the inspection bar bundle;

[0017] The end face detection unit includes an end face detection camera and an end face detection light source, used to capture images of the end face of the rod bundle;

[0018] The cylindrical surface detection unit includes a movable cylindrical surface detection camera and a cylindrical surface detection light source;

[0019] The rod bundle rotation drive unit includes a rod bundle rotation motor and a clamping cylinder connected thereto, used to clamp and drive the rod bundle to rotate around its axis, so that the cylindrical surface detection camera can scan and obtain the cylindrical surface unfolded image of the rod bundle.

[0020] In one possible implementation, the rod bundle macroscopic detection device further includes a C-type caliper for detecting the interlocking state of the rod bundle. The C-type caliper includes two semi-circular grooves that can approach each other to clamp the rod bundle and is configured to detect the interlocking state by measuring the amount of displacement when clamped to a set force.

[0021] In one possible implementation, the rod bundle wrapping device includes a rod bundle support, a packaging film supply and winding unit, a film processing unit, and a cable tie machine.

[0022] The packaging film supply and winding unit includes an unwinding motor and a winding motor;

[0023] The film processing unit includes a heat-conducting plate that can move in opposite directions to clamp the packaging film and a cutting device for cutting the packaging film. The heat-conducting plate is capable of heating to heat-seal the packaging film.

[0024] The cable tie machine is used to tie cable ties around the heat-sealed rod bundles after they have been wrapped in film.

[0025] In one possible implementation, the heat-conducting plate and the cutting device are driven by a cylinder.

[0026] In one possible implementation, the rod bundle transfer mechanism includes a three-dimensional moving platform and rod bundle grippers mounted thereon;

[0027] The three-dimensional moving platform includes an X-axis moving servo, a Y-axis moving servo, and a Z-axis moving servo, which are used to drive the bar bundle gripper to move in three-dimensional space;

[0028] The bar bundle grippers are configured to hold the bar bundle from both ends.

[0029] In one possible implementation, the rod bundle packing device includes a rod bundle positioning cylinder for positioning the rod bundle box, and a foam box feeding device for conveying foam boxes into the rod bundle box.

[0030] The beneficial effects of this disclosure are as follows: The application of advanced visual inspection technology in fixed equipment improves the reliability of key process technologies in the production line. Through the application of online inspection and online quality analysis technologies, comprehensive, full-cycle, and full-process product quality monitoring and traceability are achieved. The design of a safe, multi-redundant clamping mechanism, incorporating clamping position detection, mechanical self-locking, and power / gas failure protection, ensures clamping reliability. The application of automatic hot-melt packaging technology and a fully automatic cable tie machine enables automatic packaging of rod bundles, reducing packaging efficiency from 5 minutes / bundle to 2 minutes / bundle. The use of PE packaging film hot-melt technology automates nuclear fuel rod bundle packaging, successfully replacing the traditional manual wrapping method. This technology not only significantly improves the level of foreign object protection during the packaging process, but its excellent hot-melt sealing effect also ensures the tightness and integrity of the packaging, thereby significantly enhancing product protection quality. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of an automated packaging device for nuclear fuel rod bundles, as shown in an embodiment of this disclosure.

[0032] Figure 2 This is a schematic diagram of a rod bundle feeding device shown in an embodiment of this disclosure.

[0033] Figure 3 This is a schematic diagram of a rod bundle transfer mechanism shown in an embodiment of this disclosure.

[0034] Figure 4 This is a schematic diagram of a detection camera shown in an embodiment of this disclosure.

[0035] Figure 5 This is a schematic diagram of a coating device shown in an embodiment of the present disclosure.

[0036] Figure 6 This is a schematic diagram of a rod bundle packing device shown in an embodiment of this disclosure.

[0037] In the picture:

[0038] 1: Rod bundle feeding device; 2: Rod bundle transfer mechanism; 3: Rod bundle inspection device; 4: Rod bundle wrapping device; 5: Rod bundle boxing device; 11: Rod bundle positioning mechanism; 12: Rod bundle tray; 13: Frame.

[0039] 14: Rod bundle; 15: Pallet positioning mechanism; 21: Z-axis motion servo; 22: Moving platform.

[0040] 23: X-axis movement servo; 24: Bar bundle gripper; 25: Y-axis movement servo; 31: Camera lateral movement mechanism; 32: C-type caliper; 33: Frame; 34: Cylindrical surface inspection light source; 35: Cylindrical surface inspection camera.

[0041] 36: Rod bundle rotary motor; 37: End face inspection light source; 38: End face inspection camera.

[0042] 39: Macroscopic inspection bracket; 361: Rod bundle clamping cylinder; 41: Cable tie machine; 42: Heat conduction plate.

[0043] 43: Cutting device; 44: Rewinding motor; 45: Unwinding motor; 46: Rod bundle support; 47: Cylinder; 51: Foam box feeding device; 52: Foam box; 53: Rod bundle box; 54: Rod bundle box positioning cylinder. Detailed Implementation

[0044] The present disclosure will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0045] Unless otherwise defined, the technical and scientific terms used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains; the terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure; the term "comprising" and any variations thereof in this disclosure are intended to cover non-exclusive inclusion. Clearly, the embodiments described in this disclosure are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0046] In this disclosure, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0047] like Figures 1 to 6As shown, the automatic packaging equipment for nuclear fuel rod bundles provided in this disclosure includes a rod bundle feeding device 1, a rod bundle transfer mechanism 2, a rod bundle macroscopic inspection device 3, a rod bundle wrapping device 4, a rod bundle boxing device 5, and a foam board feeding device 6.

[0048] like Figure 2 As shown, the rod bundle feeding device 1 includes a rod bundle positioning mechanism 11, a rod bundle tray 12, a frame 13, rod bundles 14, and a tray positioning mechanism 15. The rod bundle positioning mechanism 11 and the tray positioning mechanism 15 are bolted to the frame 13. The rod bundle tray 12 is placed on top of the frame 13, and each rod bundle 14 is placed in a rod bundle slot in the rod bundle tray 12. The stacker crane places the rod bundle tray 12 containing the rod bundles 14 onto the frame 13. Under air pressure, the tray positioning mechanism 15 extends towards the tray 12, pushing the tray 12 containing multiple rod bundles 14 to the limit position of the frame 13. Subsequently, the rod bundle positioning mechanism 11 extends towards the rod bundles 14 under air pressure, completing the axial positioning of the rod bundles 14. The rod bundle 14 feeding is complete, and the device awaits the rod bundle transfer mechanism 2 to pick up the rod bundles 14.

[0049] Figure 3 The rod bundle transfer mechanism shown includes a Z-axis motion servo 21, a moving platform 22, an X-axis motion servo 23, a rod bundle gripper 24, and a Y-axis motion servo 25. The moving platform 22 is mounted on the X-axis motion servo 23 via a slider, the Y-axis motion servo 25 is mounted on the moving platform 22 via a guide rail and lead screw, the Z-axis motion servo 21 is mounted on the Y-axis motion servo 25 via a lead screw and slide rail, the rod bundle gripper 24 clamps both ends of the rod bundle 14, and the Z-axis motion servo 21, X-axis motion servo 23, and Y-axis motion servo 25 enable multi-directional movement of the rod bundle.

[0050] Figure 4The macroscopic inspection device 3 for bar bundles shown includes a camera traversing mechanism 31, a C-gauge 32, a frame 33, a cylindrical surface inspection light source 34, a cylindrical surface inspection camera 35, a bar bundle rotation motor 36, an end face inspection light source 37, and an end face inspection camera 38. The camera traversing mechanism 31, C-gauge 32, bar bundle rotation motor 36, end face inspection light source 37, and end face inspection camera 38 are bolted to the frame 33. The cylindrical surface inspection light source 34 and cylindrical surface inspection camera 35 are bolted to the camera traversing mechanism 31. The bar bundle gripper 24 transfers the bar bundle onto the macroscopic inspection bracket 39 of the macroscopic inspection device 3. The end face inspection light source 37 illuminates the inspection area, and the end face inspection camera 38 captures end face photographs. The macroscopic inspection bracket 39 moves to the cylindrical surface inspection position, and the rod bundle clamping cylinder 361 extends towards the rod bundle 14 to clamp it. The rod bundle rotation motor 36 rotates, causing the rod bundle 14 to rotate. The cylindrical surface inspection light source is turned on, and the cylindrical surface inspection camera scans the surface of the rod bundle to obtain the cylindrical surface unfolded diagram of the rod bundle. The rod bundle transfer jaws transfer the rod bundle onto the interlocking inspection bracket. Under the drive of the motor, the two semi-circular arc grooves of the C-type caliper gauge move towards the rod bundle. When the clamping force reaches the limit value, the displacement of the C-type caliper gauge is measured.

[0051] Figure 5 The rod bundle wrapping device 4 shown includes a cable tie machine 41, a heat-conducting plate 42, a cutting device 43, a winding motor 44, and an unwinding motor 45. The rod bundle transfer grippers transfer the rod bundle onto the rod bundle support 46 of the wrapping device 4. The heat-conducting plate 42 clamps the packaging film under the action of a cylinder 47. The cutting device 43 extends towards the packaging film under the action of the cylinder 47 to cut the packaging film. The heat-conducting plate 42 heats and thermoforms the packaging film together. Finally, the cable tie machine 41 binds the cable ties to the wrapped rod bundle 14.

[0052] Figure 6 The rod bundle packing device 5 shown includes a foam box feeding device 51, a foam box 52, a rod bundle box 53, and a rod bundle box positioning cylinder 54. The foam box feeding device 51 drives the foam box 52 to move back and forth to realize the feeding of the foam box. The rod bundle box 53 is used to carry the rod bundles. The rod bundle transfer mechanism 2 transfers the wrapped rod bundles 14 into the rod bundle box to complete the rod bundle packing.

[0053] In one application example, the process flow implemented by the device disclosed herein is as follows:

[0054] The rod bundle feeding device uses 2-axis servo motion to transfer a tray containing 9 rod bundles between the rod bundle inspection device and the rod bundle packaging module.

[0055] The foam box feeding device is designed with a retractable feeding platform. During packaging, the feeding platform is first extended, and an operator uses a forklift to place the empty wooden crates onto the platform. Then, the foam box feeding device retracts the platform, sending the empty wooden crates into the packaging station (below the foreign object detection module inside the crate). Simultaneously, the operator places the foam boxes into the feeding buffer area in a specific order.

[0056] The rod bundle wrapping device uses 3-axis servo motion, and the end-effector is designed with vacuum adsorption to place two foam base plates into the wooden packaging box.

[0057] The rod bundle transfer mechanism employs 3-axis servo motion. The end rod bundle clamp is designed with end plates, referencing the rod bundle handling clamps currently used in nuclear power plants. The thickness of the end plates on both sides is approximately 12mm to ensure that the clamp does not collide with the inner wall of the wooden packaging box after it is opened inside the box. The rod bundle transfer module picks up the rod bundle from the washing basket of the rod bundle transfer cart and places it onto the rod bundle packaging and inspection module.

[0058] The rod bundle inspection device is designed with two stations. The first station completes the identification of the end plate number of the rod bundle to be packaged, macroscopic inspection of the end, and inspection of the interlocking of the intermediate support pad of the rod bundle. The second station completes the inspection of the entire cylindrical surface of the rod bundle. The inspection method uses a camera to scan the cylindrical surface of the rod bundle, while the rod bundles at both ends are rotated 360 degrees for inspection and positioning.

[0059] After macroscopic inspection, the rod bundle is transferred to the rod bundle packaging station, where it is wrapped with a high-pressure mold and automatically tied with straps to complete the packaging. Then, the rod bundle transfer mechanism transfers the rod bundle into a wooden packaging box.

[0060] After packaging and boxing multiple rod bundles at each layer, the foreign object detection module inside the box takes pictures to identify any foreign objects. (The rod bundle transfer cart is automatically replaced after all rod bundles on it have been moved.)

[0061] The rod bundle packing device then uses vacuum adsorption to place multiple foam grids and multiple foam base plates from the box into the wooden packaging box in sequence, and then takes pictures of the wooden packaging box to identify foreign objects.

[0062] After the entire packaging box is completed, it is transferred to the loading position. A forklift will then move the wooden box out, and manual labor will cover the box, strap it with packing tape, and seal it.

[0063] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An automatic nuclear fuel bundle packaging apparatus, characterized by, The device comprises: a rod bundle loading device (01) for receiving and positioning a rod bundle tray (12) carrying a rod bundle (14); a rod bundle transfer mechanism (02) arranged downstream of the rod bundle loading device (01) for grabbing and transferring the rod bundle (14); a rod bundle macroscopic detection device (03) arranged on the transfer path of the rod bundle transfer mechanism (02) for end face and cylindrical surface appearance detection of the rod bundle (14); a rod bundle film wrapping device (04) arranged downstream of the rod bundle macroscopic detection device (03) for film covering, heat sealing and bundling of the rod bundle (14) that passes the detection; a rod bundle boxing device (05) arranged downstream of the rod bundle film wrapping device (04) for receiving the wrapped rod bundle (14) and boxing the wrapped rod bundle (14) into a rod bundle box (53); a foam plate loading device (06) for supplying foam plates to the rod bundle boxing device (05); wherein the rod bundle transfer mechanism (02) sequentially transfers the rod bundle (14) from the rod bundle loading device (01) to the rod bundle macroscopic detection device (03), from the rod bundle macroscopic detection device (03) to the rod bundle film wrapping device (04), and from the rod bundle film wrapping device (04) to the rod bundle boxing device (05).

2. The apparatus of claim 1, wherein, The rod bundle loading device (01) comprises a rack (13), a bearing surface for placing the rod bundle tray (12), a tray positioning mechanism (15) and a rod bundle positioning mechanism (11); The tray positioning mechanism (15) and the rod bundle positioning mechanism (11) are installed on the rack (13); The tray positioning mechanism (15) is configured to push the rod bundle tray (12) placed on the bearing surface to a predetermined position; The rod bundle positioning mechanism (11) is configured to axially position the rod bundle (14) on the rod bundle tray (12).

3. The apparatus of claim 1, wherein, The rod bundle macroscopic detection device (03) comprises a rack (33), a macroscopic inspection bracket (39), an end face detection unit, a cylindrical surface detection unit and a rod bundle rotation driving unit; The macroscopic inspection bracket (39) is used to receive the rod bundle (14) to be detected; The end face detection unit comprises an end face detection camera (38) and an end face detection light source (37) for shooting the rod bundle end face image; The cylindrical surface detection unit comprises a movable cylindrical surface detection camera (35) and a cylindrical surface detection light source (34); The rod bundle rotation driving unit comprises a rod bundle rotation motor (36) and a clamping air cylinder (361) connected thereto, which is used to clamp and drive the rod bundle (14) to rotate around its axis, so that the cylindrical surface detection camera (35) can scan and obtain the rod bundle cylindrical surface development image.

4. The apparatus of claim 3, wherein, The rod bundle macroscopic detection device (03) further comprises a C-shaped caliper (32) for detecting the interlocking state of the rod bundle, which comprises two semicircular grooves that can be moved towards each other to clamp the rod bundle (14), and is configured to detect the interlocking state by measuring the displacement amount when clamped to a set force.

5. The apparatus of claim 1, wherein, The rod bundle film wrapping device (04) comprises a rod bundle bracket (46), a packaging film supply and winding unit, a film processing unit and a bundling machine (41); The packaging film supply unit comprises a unwinding motor (45) and a winding motor (44); The film processing unit comprises a heat conduction plate (42) that can move towards each other to clamp the packaging film, and a cutting device (43) for cutting the packaging film, the heat conduction plate (42) can be heated to heat seal the packaging film; The ribbon machine (41) is used for bundling the ribbon outside the rod bundle film after heat sealing.

6. The apparatus of claim 5, wherein, The heat conduction plate (42) and the cutting device (43) are driven by a pneumatic cylinder (47).

7. The apparatus of claim 1, wherein, The rod bundle transfer mechanism (02) comprises a three-dimensional moving platform and a rod bundle clamping jaw (24) mounted thereon; The three-dimensional moving platform comprises an X-axis moving servo (23), a Y-axis moving servo (25) and a Z-axis moving servo (21) for driving the rod bundle clamping jaw (24) to move in three-dimensional space; The rod bundle clamping jaw (24) is configured to clamp the rod bundle (14) from both ends.

8. The apparatus of claim 1, wherein, The rod bundle boxing device (05) comprises a rod bundle box positioning pneumatic cylinder (54) for positioning the rod bundle box (53), and a foam box feeding device (51) for feeding the foam box (52) into the rod bundle box (53).

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