Detection equipment and detection method of nuclear reactor control rod driving mechanism

Abstract

The invention discloses detection equipment and a detection method of a nuclear reactor control rod driving mechanism, the detection equipment comprises a mobile platform, an adjusting platform, a positioning module, a telescopic module, a detection module and a controller, the adjusting platform is arranged on the mobile platform, the positioning module and the telescopic module are arranged on the adjusting platform, and the positioning module is used for detecting the position of the adjusting platform; the detection module is arranged on the upper portion of the telescopic module, and the telescopic module is used for conveying the detection module upwards to enable the detection module to enter a hook claw assembly in the nuclear reactor control rod driving mechanism so as to achieve detection of the hook claw assembly. The detection equipment can replace manual work to enter a narrow space for detection, and the problem of obtaining detection data in an irradiation, narrow and non-illumination environment is solved.

Description

Technical Field

[0001] This application relates to the field of nuclear reactor equipment testing, and in particular to a testing device and method for a nuclear reactor control rod drive mechanism. Background Technology

[0002] During long-term operation of nuclear power plants, the claw assemblies in the control rod drive mechanism are bombarded by high-energy gamma rays and various high-energy particles, causing changes in their mechanical structure and materials, resulting in corrosion and wear, which in turn affects the operational safety of the nuclear power plant. Currently, both domestically and internationally, the condition of the control rod drive mechanism is indirectly judged by measuring the rod drop time and manually listening to the sound of the rod drop stroke, lacking advanced and reliable detection methods for the wear of the claw assemblies. Summary of the Invention

[0003] To address one of the technical problems existing in the prior art, this application provides a detection device for a nuclear reactor control rod drive mechanism, and a detection method for a nuclear reactor control rod drive mechanism based on the detection device.

[0004] A detection device for a nuclear reactor control rod drive mechanism according to a first aspect of this application includes a mobile platform; An adjustment platform is installed on the mobile platform; A positioning module is disposed on the adjustment platform. The positioning module is used to detect and position the detection device so that the adjustment platform is located below the nuclear reactor control rod drive mechanism. A telescopic module, wherein the telescopic module is disposed on the adjustment platform; A detection module is located at the end of the telescopic module away from the adjustment platform. The telescopic module is used to transport the detection module toward the drive mechanism so that the detection module enters the claw assembly in the nuclear reactor control rod drive mechanism.

[0005] According to the detection equipment for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the mobile platform includes a chassis, the detection module includes a detection camera and a cable winding device, and the detection equipment includes a controller. The controller is mounted on the chassis and is used to connect to an external industrial computer and a power supply. The controller is electrically connected to the mobile drive assembly, the positioning module, the telescopic module, the detection camera, and the cable winding device.

[0006] According to the detection device for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the adjustment platform includes an X-axis adjustment mechanism, a Y-axis adjustment mechanism and a mounting plate, the positioning module and the telescopic module are disposed on the mounting plate, the X-axis adjustment mechanism is used to control the movement of the mounting plate in the X-axis direction, and the Y-axis adjustment mechanism is used to control the movement of the mounting plate in the Y-axis direction.

[0007] According to the detection device for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the mobile platform includes a chassis and a mobile drive assembly disposed under the chassis. The mobile drive assembly includes multiple sets of independently moving drive wheels and corresponding drive motors. The drive motors drive the drive wheels to move the mobile platform.

[0008] According to the detection equipment for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the positioning module includes a laser scanner for coarse positioning and a visual positioning device for fine positioning.

[0009] According to the detection equipment for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the telescopic module includes a flipping device, a telescopic device, and a lifting device arranged sequentially from bottom to top. The flipping device is rotatably mounted on the mounting plate, and the flipping device is used to achieve a 90-degree flip of the entire telescopic module from horizontal to vertical placement. The telescopic device includes a telescopic motor and a lead screw assembly driven by the telescopic motor. The telescopic motor is connected to the controller. The lifting device is mounted on the lead screw assembly. When the lead screw assembly moves, it drives the entire lifting device to rise or fall. The lifting device includes a guide motor, guide wheels, and a guide tube. The guide motor is connected to the controller. There are two guide wheels that clamp the guide tube. The detection module is mounted on the guide tube. When the guide motor moves, it drives the two guide wheels to rotate and pushes the guide tube and the detection module upward.

[0010] According to the detection equipment for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the lifting device is provided with an elastic adaptive mechanism.

[0011] According to the detection device for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the telescopic device includes a limit switch, which is disposed at the top of the lifting device and connected to the controller. When the telescopic device drives the lifting device to rise, the controller controls the telescopic motor to stop operating after the limit switch touches the nuclear reactor control rod drive mechanism.

[0012] According to the detection equipment for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the detection module includes a detection camera, a cable and a cable winding device, the cable winding device is disposed on the mobile platform, the cable is connected below the detection camera, and at least a portion of the cable is wound around the cable winding device.

[0013] According to the detection device for the nuclear reactor control rod drive mechanism provided in the first aspect of this application, the detection camera includes a rotatably mounted camera and a camera light source, as well as an angle adjustment motor for driving the camera and the camera light source to rotate.

[0014] The detection method for the nuclear reactor control rod drive mechanism according to the second aspect of this application includes the detection equipment for the nuclear reactor control rod drive mechanism described above. The detection method includes the following steps: S10, the detection equipment is moved by a moving platform to move the detection equipment 20 from the opening of the nuclear reactor base to the inside of the nuclear reactor base. S20. After the detection device enters the nuclear reactor base, the positioning module first performs coarse positioning, and then controls the detection device to move to the area below the nuclear reactor control rod drive mechanism through the mobile platform. S30. The positioning module performs fine positioning verification. If there is a position deviation, the adjustment platform is adjusted to compensate for the position deviation, so that the adjustment platform is accurately positioned below the nuclear reactor control rod drive mechanism. S40. The telescopic module on the adjustment platform is raised to transport the detection module on the telescopic module to the claw assembly in the nuclear reactor control rod drive mechanism.

[0015] S50. Repeat steps S20 to S40 above to inspect the claw assembly in each of the nuclear reactor control rod drive mechanisms until all nuclear reactor control rod drive mechanisms have been inspected.

[0016] According to the detection method of the nuclear reactor control rod drive mechanism of the second aspect of this application, the positioning module includes a laser scanner; in step S20, the laser scanner performs laser scanning to position the positioning plate in the nuclear reactor base, so as to obtain the coordinates of the positioning plate in the coordinate system of the detection equipment, obtain the correspondence between the coordinate system of the detection equipment and the coordinate system of the nuclear reactor base, thereby obtaining the coordinates of each nuclear reactor control rod drive mechanism in the coordinate system of the detection equipment, and realizing the coarse positioning of the detection equipment.

[0017] According to the detection method of the nuclear reactor control rod drive mechanism of the second aspect of this application, the positioning module includes a visual positioning device; in step S30, after the detection device moves to below the nuclear reactor control rod drive mechanism, the visual positioning device performs visual positioning verification. If there is a position deviation, position deviation compensation is performed, and then a second visual positioning verification is performed through the visual positioning device.

[0018] According to the detection method of the nuclear reactor control rod drive mechanism of the second aspect of this application, in step S30, if the position deviation exceeds the compensation range of the adjustment platform, the detection device is repositioned by laser scanning until the compensation range of the adjustment platform is met.

[0019] This application has the following beneficial effects: The detection equipment for the nuclear reactor control rod drive mechanism of this application can replace manual entry into confined spaces to inspect the claw assembly of the nuclear reactor control rod drive mechanism. Before inspection, the detection equipment can be actively, quickly, and accurately positioned relative to the nuclear reactor control rod drive mechanism. The detection camera can be moved to the underside of the nuclear reactor control rod drive mechanism through the telescopic module for effective inspection. At the same time, it solves the problem of obtaining detection data in irradiated, confined, and dark environments.

[0020] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solution of this application, the following description will be provided in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings: Figure 1 This is a schematic diagram of the structure of the detection equipment for the nuclear reactor control rod drive mechanism provided in this application; Figure 2 This is a schematic diagram of the mobile platform structure; Figure 3 This is a schematic diagram of the adjustment platform; Figure 4 This is a structural diagram of the positioning module; Figure 5 This is a structural diagram of the telescopic module; Figure 6 This is a schematic diagram of the detection module; Figure 7 This is a schematic diagram of the operation of the detection equipment for the control rod drive mechanism of a nuclear reactor.

[0022] Explanation of icon numbers: Mobile platform 10, chassis 11, mobile drive assembly 12, adjustment platform 20, fixed base 21, X-axis adjustment mechanism 22, Y-axis adjustment mechanism 23, mounting plate 24, positioning module 30, laser scanner 31, visual positioning device 32, telescopic module 40, flipping device 41, flipping motor 411, telescopic device 42, telescopic motor 421, limit switch 422, lifting device 43, guide motor 431, guide wheel 432, guide tube 433, elastic adaptive mechanism 434, detection module 50, detection camera 51, cable 52, cable winding device 53, protective sleeve 54, controller 60; Detection equipment 1, nuclear reactor control rod drive mechanism 2, nuclear reactor top cover 3, nuclear reactor base 4. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0024] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the order of the steps or actions in the method description can be changed or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0025] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0026] The main problems with existing related technologies are that the size of the detection components is too large, making it impossible to reach the required detection area for detection operations; and the difficulty of accurately positioning a moving carrier in an unknown environment makes it impossible to meet the high-precision positioning challenge of this equipment.

[0027] The following is in conjunction with the appendix Figures 1 to 7 The provided embodiments further illustrate the detection equipment for the nuclear reactor control rod drive mechanism proposed in this application.

[0028] Reference Figure 1 In some embodiments of this application, a detection device for a nuclear reactor control rod drive mechanism is provided. The detection device 1 includes a moving platform 10, an adjusting platform 20, a positioning module 30, a telescopic module 40, a detection module 50, and a controller 60.

[0029] An adjustment platform 20 is mounted on a mobile platform 10. A positioning module 30 and a telescopic module 40 are installed on the adjustment platform 20. The positioning module 30 is used to detect and position the detection equipment, ensuring that the adjustment platform 20 is located below the nuclear reactor control rod drive mechanism 2. A detection module 50 is located at the end of the telescopic module 40 furthest from the adjustment platform 20. The telescopic module 40 is used to transport the detection module 50 towards the drive mechanism, allowing it to enter the claw assembly within the nuclear reactor control rod drive mechanism 2. Therefore, this equipment can replace manual entry into confined spaces to inspect the claw assembly of the nuclear reactor control rod drive mechanism. Before inspection, it can actively, quickly, and accurately position the detection equipment relative to the nuclear reactor control rod drive mechanism. The telescopic module moves the detection camera below the nuclear reactor control rod drive mechanism for effective inspection, while simultaneously solving the problem of acquiring detection data in irradiated, confined, and dark environments.

[0030] like Figure 2As shown, in some embodiments of this application, the mobile platform 10 includes a chassis 11 and a mobile drive assembly 12. The chassis 11 is assembled from a lower support plate, side support plates, and an upper support plate, with a cabin formed in the middle of the chassis 11, providing installation positions and overall support for other parts. The mobile drive assembly 12 is disposed under the chassis 11 and in contact with the ground. The mobile drive assembly 12 is used to drive the mobile platform 10 to move and is connected to the controller 60. In some embodiments, the mobile drive assembly 12 includes four sets of independently moving drive wheels and corresponding drive motors. The drive wheels are Mecanum wheels. Through the independent control of the four sets of Mecanum wheels, the mobile platform 10 can move in any direction, making it more flexible and adaptable in confined spaces. The mobile platform 10 constitutes the support platform and mobility function of the entire testing equipment 1. Through the mobile platform 10, the testing equipment 1 with the nuclear reactor control rod drive mechanism can autonomously move into the space where the nuclear reactor control rod drive mechanism is placed to perform operations, thereby reducing the number of times workers enter the area and reducing the time workers are exposed to radiation.

[0031] like Figure 3 As shown, in some embodiments of this application, the adjustment platform 20 includes a fixed base 21, an X-axis adjustment mechanism 22, a Y-axis adjustment mechanism 23, and a mounting plate 24. The adjustment platform 20 is mounted on the chassis 11 via the fixed base 21 and secured with bolts to ensure its stability. Both the X-axis adjustment mechanism 22 and the Y-axis adjustment mechanism 23 are mounted on the fixed base 21, and the mounting plate 24 is positioned above them. The positioning module 30 and the telescopic module 40 are both mounted on the mounting plate 24. In some embodiments, the X-axis adjustment mechanism 22 includes a servo motor, a coupling, and a ball screw assembly. The ball screw assembly of the X-axis adjustment mechanism 22 can move laterally along the X-axis to drive the mounting plate 24 to move along the X-axis. Similarly, the Y-axis adjustment mechanism 23 also includes a servo motor, a coupling, and a ball screw assembly. The ball screw assembly of the Y-axis adjustment mechanism 23 can move along the Y-axis to drive the mounting plate 24 to move along the Y-axis. The servo motors of the X-axis adjustment mechanism 22 and the Y-axis adjustment mechanism 23 are respectively connected to the controller 60. Through the cooperation of the X-axis adjustment mechanism 22 and the Y-axis adjustment mechanism 23, fine adjustment of the position of the mounting plate 24 can be achieved. Furthermore, in some embodiments, the Y-axis adjustment mechanism 23 can also be positioned above the X-axis adjustment mechanism 22, and the mounting plate 24 can be positioned above the Y-axis adjustment mechanism 23. The X-axis adjustment mechanism 22 drives the Y-axis adjustment mechanism 23 and the mounting plate 24 to move along the X-axis direction, and the Y-axis adjustment mechanism 23 drives the mounting plate 24 to move along the Y-axis direction.

[0032] like Figure 4As shown, in some embodiments of this application, the positioning module 30 includes a laser scanner 31 and a visual positioning device 32. Preferably, there are two or more laser scanners 31. The laser scanners 31 and the visual positioning devices 32 are respectively connected to the controller 60. The laser scanner 31 emits laser light into a plane, and the approximate position of the detection device 1 in an unknown environment is calculated based on the data returned by the laser. In some embodiments, to locate the position of the detection device 1 more quickly, a light-emitting plate is typically fixedly installed in the space where the nuclear reactor control rod drive mechanism is placed. When the laser emitted by the laser scanner 31 shines on the light-emitting plate and is reflected, the position of the detection device 1 can be quickly calculated based on the position of the reflector and the data returned by the laser. Furthermore, to improve the efficiency of laser positioning, in addition to setting multiple laser scanners 31, the laser emission angle of each laser scanner 31 can be adjusted within a range of 270 degrees to scan the entire space more quickly. In some embodiments, a laser scanner 31 is used for coarse positioning, achieving a positioning accuracy of ±10mm and a directional accuracy of ±1°. It should be understood that the coarse positioning of the laser scanner 31 is primarily used to locate the position of the moving platform 10. Therefore, the laser scanner 31 can be mounted on the chassis 11 or the mounting plate 24 to perform its positioning function. The visual positioning device 32 is used for fine positioning of the mounting plate 24 to ensure that the detection camera 51 in the detection module 50 can be smoothly aligned with the claw assembly of the nuclear reactor control rod drive mechanism. Therefore, the visual positioning device 32 must be fixedly mounted on the mounting plate 24 and move with it. The visual positioning device 32 includes a high-definition camera. The visual positioning device 32 feeds back the image of the nuclear reactor control rod drive mechanism captured by the high-definition camera to the controller 60 for analysis and comparison. Simultaneously, it feeds back to control and adjust the X-axis adjustment mechanism 22 and Y-axis adjustment mechanism 23 on the platform 20, thereby enabling the mounting plate 24 to accurately reach the required detection position. As explained above, the operation of the positioning module 30 includes two stages. First, while the mobile platform 10 is moving, the laser scanner 31 assists in positioning. After the mobile platform 10 reaches the designated position, the visual positioning device 32 identifies the features of the nuclear reactor control rod drive mechanism and calculates the deviation distance. Then, the controller 60 provides feedback control to the movement of the adjustment platform 20, enabling the X-axis adjustment mechanism 22 and the Y-axis adjustment mechanism 23 to work together to finally adjust the mounting plate 24 to the required detection position. This application employs a dual positioning method of laser scanning and visual positioning. After coarse positioning is achieved by the laser scanner 31, fine positioning is performed by the visual positioning device 32 to compensate for deviations, thus achieving active, rapid, and accurate positioning in unknown environments.

[0033] like Figure 5As shown, in some embodiments of this application, the telescopic module 40 is disposed on the mounting plate 24 and can move with the mounting plate 24. The telescopic module 40 is used to transport the detection camera 51 upward so that the detection camera 51 reaches below the nuclear reactor control rod drive mechanism. Specifically, the telescopic module 40 includes a flipping device 41, a telescopic device 42, and a lifting device 43 arranged sequentially from bottom to top.

[0034] Specifically, such as Figure 5 As shown, in some embodiments of this application, the flipping device 41 is rotatably mounted on the mounting plate 24. The flipping device 41 includes a flipping motor 411 and a flipping shaft. The flipping motor 411 is connected to the controller 60, and the flipping device 41 is driven by the flipping motor 411 to rotate around the flipping shaft, realizing a 90-degree flip of the entire telescopic module 40 from horizontal to vertical placement. The flipping device 41 can control the entire flipping stroke through precise control of the flipping motor 411. The flipping device 41 can also control the flipping stroke by setting a flipping limit switch to ensure the accuracy of the stroke when the telescopic module 40 switches between horizontal and vertical placement. By setting the flipping device 41, the telescopic module 40 can be placed horizontally in the non-working state, thereby reducing the overall height of the detection device 1 and making it easier for the detection device 1 to pass through some low doorways.

[0035] Specifically, such as Figure 5 As shown, in some embodiments of this application, the telescopic device 42 includes a telescopic motor 421 and a lead screw assembly driven by the telescopic motor 421. The telescopic motor 421 is connected to the controller 60, and the lifting device 43 is mounted on the lead screw assembly. When the telescopic module 40 is placed vertically, the telescopic motor 421 drives the lead screw assembly to move, causing the lifting device 43 to rise or fall as a whole. The telescopic device 42 may also include a limit switch 422, which is mounted on the top of the lifting device 43 and connected to the controller 60. When the telescopic device 42 drives the lifting device 43 to rise, the controller 60 controls the telescopic motor 421 to stop operating after the limit switch 422 touches the nuclear reactor control rod drive mechanism.

[0036] Specifically, such as Figure 5As shown, in some embodiments of this application, the lifting device 43 includes a guide motor 431, guide wheels 432, and a guide tube 433. The guide motor 431 is connected to the controller 60. Two guide wheels 432 are provided, which clamp the guide tube 433. The detection camera 51 is mounted on the guide tube 433. When the guide motor 431 moves, it drives the two guide wheels 432 to rotate and pushes the guide tube 433 and the detection camera 51 upward. The lifting device 43 is provided with an elastic adaptive mechanism 434. The elastic adaptive mechanism 434 can buffer the kinetic energy when the lifting device 43 touches the nuclear reactor control rod drive mechanism, so that the contact between the lifting device 43 and the nuclear reactor control rod drive mechanism is elastic, effectively protecting the lifting device 43 and the nuclear reactor control rod drive mechanism. Furthermore, in some embodiments of this application, the lower part of the nuclear reactor control rod drive mechanism is a tubular structure with a diameter of approximately 47 mm. The diameters of the guide tube 433 and the detection camera 51 are both smaller than the diameter of the nuclear reactor control rod drive mechanism, allowing the guide tube 433 and the detection camera 51 to extend into the interior of the nuclear reactor control rod drive mechanism for detection, thus solving the problem of wear detection in the confined space of the nuclear reactor control rod drive mechanism.

[0037] like Figure 6 As shown, in some embodiments of this application, the detection module 50 includes a detection camera 51, a cable 52, and a cable reel 53. The detection camera 51 is disposed on the upper part of the telescopic module 40. Specifically, the detection camera 51 is disposed inside the guide tube 433 of the lifting device 43 and rises and falls together with the guide tube 433. The detection camera 51 is connected to the controller 60 via the cable 52. The detection camera 51 includes a rotatably mounted camera and a camera light source, as well as an angle adjustment motor for driving the camera and camera light source to rotate. By adjusting the angle, the rotation of the camera and camera light source can be controlled, thereby changing the shooting angle to obtain a larger detection range. It can acquire a three-dimensional cloud image of the device under test in irradiated, confined, or dark environments, and the visualization operation is convenient, fast, and highly accurate. One end of the cable 52 is connected to the detection camera 51 via a connector, and the other end of the cable 52 extends downward through the telescopic module 40 and is finally connected to the controller 60. In some embodiments, the cable 52 is wrapped with a shielding layer on the outside and is a sixteen-core cable inside, which includes power supply lines and signal lines. A cable winding device 53 is mounted on the chassis 11, and at least a portion of the cable 52 is wound around the cable winding device 53. The cable winding device 53 can control the winding and unwinding of the cable 52 to coordinate with the movement of the telescopic module 40, preventing the cable 52 from becoming overly taut or falling off after the position of the detection camera 51 is raised. Furthermore, in some embodiments, the detection module 50 also includes a protective sleeve 54, through which at least a portion of the cable 52 passes. The protective sleeve 54 has the effect of fixing, guiding, and protecting the cable 52.

[0038] like Figure 1 and Figure 6 As shown, in some embodiments of this application, the controller 60 may be mounted on the chassis 11. The controller 60 is connected to various electrical components on the testing equipment 1. The controller 60 is also connected to an external industrial control computer and power supply via wired or wireless means to receive external power supply and external control commands, and to effectively control various electrical components on the testing equipment 1 according to the external control commands.

[0039] like Figure 7 As shown, the testing equipment 1 for the nuclear reactor control rod drive mechanism provided in this application targets the claw assembly inside the nuclear reactor control rod drive mechanism 2. During a nuclear power plant overhaul, the nuclear reactor top cover 3 is placed on the nuclear reactor base 4 via positioning pins, and a reflector is affixed to a specific location inside the nuclear reactor base 4. The specific testing process includes the following steps: S10, the detection device 1 is driven to move by the mobile platform 10, so as to move the detection device from the opening of the nuclear reactor base 4 to the inside of the nuclear reactor base 4. S20. After the detection device 1 enters the nuclear reactor base 4, the controller 60 performs coarse positioning through the positioning module 30 and controls the detection device 1 to move to the underside of the nuclear reactor control rod drive mechanism 2 through the moving platform 10. S30 and controller 60 perform fine positioning verification through positioning module 30. If there is a position deviation, the adjustment platform 20 is adjusted to compensate for the position deviation, so that the adjustment platform 20 is accurately positioned below the nuclear reactor control rod drive mechanism 2. S40, the telescopic module 40 on the adjustment platform 20 is raised to transport the detection module 50 on the telescopic module 40 to the claw assembly in the nuclear reactor control rod drive mechanism 2.

[0040] S50. Repeat steps S20 to S40 above to inspect the claw assembly in each nuclear reactor control rod drive mechanism 2 until all nuclear reactor control rod drive mechanisms 2 have been inspected.

[0041] Specifically, in S10, the mobile platform 10 drives the detection device 1 to move from the opening of the nuclear reactor base 4 to the inside of the nuclear reactor base 4; in S20, after the detection device 1 enters the nuclear reactor base 4, the laser scanner 31 of the positioning module 30 performs laser scanning to locate the positioning plate inside the nuclear reactor base 4, obtaining the coordinates of the positioning plate in the coordinate system of the detection device 1. The operator selects a reflector with a specific position mark and obtains the correspondence between the coordinate system of the detection device 1 and the coordinate system of the nuclear reactor base 4. At the same time, the coordinates of each nuclear reactor control rod drive mechanism 2 on the nuclear reactor top cover 3 in the coordinate system of the detection device 1 are obtained, and the detection device 1 is controlled to move below the nuclear reactor control rod drive mechanism 2; in S30, the controller 60 performs fine positioning verification through the positioning module 30. If there is a positional deviation, the X-axis adjustment mechanism 22 and the Y-axis adjustment mechanism 60 are used to adjust the position. The shaft adjustment mechanism 23 adjusts the mounting plate 24 to compensate for positional deviations, ensuring that the mounting plate 24 is precisely positioned below the nuclear reactor control rod drive mechanism 2; S40, the telescopic module 40 on the mounting plate 24 is raised to deliver the detection module 50 on the telescopic module 40 to the claw assembly inside the nuclear reactor control rod drive mechanism 2; S50, the above steps S20 to S40 are repeated to detect the claw assembly inside each nuclear reactor control rod drive mechanism 2 until all nuclear reactor control rod drive mechanisms 2 have been inspected.

[0042] In some embodiments of this application, the positioning module 30 includes a laser scanner 31; in S20, the laser scanner 31 performs laser scanning to locate the positioning plate inside the nuclear reactor base 4, so as to obtain the coordinates of the positioning plate in the coordinate system of the detection device 1, and obtain the correspondence between the coordinate system of the detection device 1 and the coordinate system of the nuclear reactor base 4, thereby obtaining the coordinates of each nuclear reactor control rod drive mechanism 2 in the coordinate system of the detection device 1, and realizing the coarse positioning of the detection device 1; the positioning module 30 includes a visual positioning device 32; in S30, after the detection device 1 moves to below the nuclear reactor control rod drive mechanism 2, the visual positioning device 32 performs visual positioning verification. If there is a position deviation, position deviation compensation is performed, and then a second visual positioning verification is performed by the visual positioning device 32; in S30, if the position deviation exceeds the compensation range of the adjustment platform 20, the detection device 1 is re-scanned and positioned until the compensation range of the adjustment platform 20 is met.

[0043] The detection device 1 for the nuclear reactor control rod drive mechanism of this application can replace manual entry into confined spaces to inspect the claw assembly of the nuclear reactor control rod drive mechanism 2. Before inspection, the device 1 can be actively, quickly, and accurately positioned relative to the nuclear reactor control rod drive mechanism 2. The inspection camera 51 is moved under the nuclear reactor control rod drive mechanism 2 via the telescopic module 40 for effective inspection, while simultaneously solving the problem of acquiring inspection data in irradiated, confined, and dark environments. In addition, the detection device 1 for the nuclear reactor control rod drive mechanism of this application adopts a modular structure and lightweight design, facilitating installation and transportation.

[0044] It is understood that the above embodiments only illustrate preferred embodiments of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that, for those skilled in the art, without departing from the concept of this application, the above technical features can be freely combined, and several modifications and improvements can be made, all of which fall within the protection scope of this application. Therefore, all equivalent transformations and modifications made within the scope of the claims of this application should fall within the coverage of the claims of this application.

Claims

1. A detection device for a nuclear reactor control rod drive mechanism, characterized in that, include: Mobile platform (10); An adjustment platform (20) is installed on the mobile platform (10); Positioning module (30), the positioning module (30) is disposed on the adjustment platform (20), the positioning module (30) is used to detect and position the detection device so that the adjustment platform (20) is located below the nuclear reactor control rod drive mechanism (2); Telescopic module (40), the telescopic module (40) is disposed on the adjustment platform (20); The detection module (50) is located at one end of the telescopic module (40) away from the adjustment platform (20). The telescopic module (40) is used to transport the detection module (50) towards the drive mechanism so that the detection module (50) enters the claw assembly in the nuclear reactor control rod drive mechanism (2).

2. The detection device for a nuclear reactor control rod drive mechanism as described in claim 1, characterized in that, The mobile platform (10) includes a chassis (11), the detection module (50) includes a detection camera (51) and a cable reel device (53), and the detection equipment includes a controller (60). The controller (60) is mounted on the chassis (11). The controller (60) is used to connect to an external industrial computer and power supply. The controller (60) is electrically connected to the mobile drive assembly (12), the positioning module (30), the telescopic module (40), the detection camera (51), and the cable reel device (53).

3. The detection device for a nuclear reactor control rod drive mechanism as described in claim 1, characterized in that, The adjustment platform (20) includes an X-axis adjustment mechanism (22), a Y-axis adjustment mechanism (23), and a mounting plate (24). The positioning module (30) and the telescopic module (40) are mounted on the mounting plate (24). The X-axis adjustment mechanism (22) is used to control the mounting plate (24) to move in the X-axis direction, and the Y-axis adjustment mechanism (23) is used to control the mounting plate (24) to move in the Y-axis direction.

4. The detection device for a nuclear reactor control rod drive mechanism as described in claim 1, characterized in that, The mobile platform (10) includes a chassis (11) and a mobile drive assembly (12) disposed under the chassis (11). The mobile drive assembly (12) includes multiple sets of independently moving drive wheels and corresponding drive motors. The drive motors drive the drive wheels to move the mobile platform (10).

5. The detection device for a nuclear reactor control rod drive mechanism as described in claim 1, characterized in that, The positioning module (30) includes a laser scanner (31) for coarse positioning and a visual positioning device (32) for fine positioning.

6. The detection device for a nuclear reactor control rod drive mechanism as described in claim 3, characterized in that, The telescopic module (40) includes a flipping device (41), a telescopic device (42), and a lifting device (43) arranged sequentially from the mobile platform (10) toward the drive mechanism. The flipping device (41) is rotatably mounted on the mounting plate (24). The flipping device (41) is used to achieve a 90-degree flip of the entire telescopic module (40) from horizontal to vertical. The telescopic device (42) includes a telescopic motor (421) and a lead screw assembly driven by the telescopic motor (421). The telescopic motor (421) is connected to the controller (60). The lifting device (43) is mounted on the lead screw assembly. When the lead screw assembly moves, it drives the lifting device (43) to rise or fall as a whole. The lifting device (43) includes a guide motor (431), guide wheels (432) and a guide tube (433). The guide motor (431) is connected to the controller (60). There are two guide wheels (432), which clamp the guide tube (433). The detection module (50) is mounted on the guide tube (433). When the guide motor (431) moves, it drives the two guide wheels (432) to rotate and pushes the guide tube (433) and the detection module (50) upward.

7. The detection device for a nuclear reactor control rod drive mechanism as described in claim 6, characterized in that, The lifting device (43) is provided with an elastic adaptive mechanism (434).

8. A detection device for a nuclear reactor control rod drive mechanism as described in claim 6 or 7, characterized in that, The telescopic device (42) includes a limit switch (422), which is located on the top of the lifting device (43). The limit switch (422) is connected to the controller (60). When the telescopic device (42) drives the lifting device (43) to rise, the controller (60) controls the telescopic motor (421) to stop operating after the limit switch (422) touches the nuclear reactor control rod drive mechanism.

9. The detection device for a nuclear reactor control rod drive mechanism as described in claim 1, characterized in that, The detection module (50) includes a detection camera (51), a cable (52) and a cable winding device (53). The cable winding device (53) is mounted on the mobile platform (10). The cable (52) is connected below the detection camera (51), and at least a portion of the cable (52) is wound around the cable winding device (53).

10. The detection device for a nuclear reactor control rod drive mechanism as described in claim 9, characterized in that, The detection camera (51) includes a rotatably mounted camera and a camera light source, as well as an angle adjustment motor for driving the camera and the camera light source to rotate.

11. A method for detecting a nuclear reactor control rod drive mechanism, characterized in that, The detection device includes a nuclear reactor control rod drive mechanism according to any one of claims 1 to 10, and the detection method includes the following steps: S10. The detection device (1) is driven to move by the mobile platform (10) so as to move the detection device (1) from the opening of the nuclear reactor base (4) to the inside of the nuclear reactor base (4); S20. After the detection device (1) enters the nuclear reactor base (4), the positioning module (30) first performs coarse positioning, and then controls the detection device (1) to move to below the nuclear reactor control rod drive mechanism (2) through the moving platform (10). S30, the positioning module (30) performs fine positioning verification. If there is a position deviation, the adjustment platform (20) is adjusted to compensate for the position deviation of the adjustment platform (20) so that the adjustment platform (20) is accurately located below the nuclear reactor control rod drive mechanism (2). S40, the telescopic module (40) on the adjustment platform (20) is raised to transport the detection module (50) on the telescopic module (40) to the claw assembly in the nuclear reactor control rod drive mechanism (2); S50. Repeat steps S20 to S40 above to inspect the claw assembly in each of the nuclear reactor control rod drive mechanisms (2) until all nuclear reactor control rod drive mechanisms (2) have been inspected.

12. The detection method for a nuclear reactor control rod drive mechanism as described in claim 11, characterized in that, The positioning module (30) includes a laser scanner (31); in S20, the laser scanner (31) performs laser scanning to position the positioning plate inside the nuclear reactor base (4) to obtain the coordinates of the positioning plate in the coordinate system of the detection device (1), and obtain the correspondence between the coordinate system of the detection device (1) and the coordinate system of the nuclear reactor base (4), thereby obtaining the coordinates of each nuclear reactor control rod drive mechanism (2) in the coordinate system of the detection device (1) and realizing the coarse positioning of the detection device (1).

13. The detection method for a nuclear reactor control rod drive mechanism as described in claim 12, characterized in that, The positioning module (30) includes a visual positioning device (32); In S30, after the detection device (1) moves to below the nuclear reactor control rod drive mechanism (2), the visual positioning device (32) performs visual positioning verification. If there is a positional deviation, positional deviation compensation is performed, and then a second visual positioning verification is performed through the visual positioning device (32).

14. The detection method for a nuclear reactor control rod drive mechanism as described in claim 13, characterized in that, In step S30, if the position deviation exceeds the compensation range of the adjustment platform (20), the detection device (1) is repositioned by laser scanning until the compensation range of the adjustment platform (20) is met.

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