Safety protection device and method for remotely controlling long-handle tool

Abstract

The invention provides a safety protection device and method for remotely controlling a long-handle tool. The safety protection device comprises an intelligent circuit breaker and a remote controller. The remote controller is connected with the intelligent circuit breaker, and the remote controller sends a signal on-off instruction to the intelligent circuit breaker. The intelligent circuit breaker is arranged in a pneumatic control box, the intelligent circuit breaker is arranged between an electromagnetic valve and a communication line of a control system, and the intelligent circuit breaker controls on-off of the communication line between the electromagnetic valve and the control system by receiving the signal on-off instruction. The intelligent circuit breaker receives a control signal sent by the control system, the intelligent circuit breaker transmits the received control signal to the electromagnetic valve, the electromagnetic valve controls stretching and retracting of the air cylinder through the received control signal, and the intelligent circuit breaker feeds back a signal on-off state to the remote controller and the control system. The remote safe locking and unlocking function of the long-handle tool is achieved.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant equipment inspection technology, specifically to a safety protection device and method for remotely controlling long-handled tools. Background Technology

[0002] The reactor pressure vessel, as a Class 1 nuclear safety structure that anchors, supports, and houses nuclear fuel and reactor internals, has a lifespan covering the entire operational life of the nuclear power plant. It is crucial for ensuring the plant maintains normal, efficient, and safe operation. Given its importance, the reactor pressure vessel requires regular inspections in accordance with inspection standards and guidelines. Since reactor pressure vessels are highly radioactive after commissioning, inspections are conducted using remotely controlled robots. Domestic nuclear power plants typically employ long-handled hoisting systems to lift and secure the inspection robot to a designated location within the reactor pressure vessel for subsequent inspection work.

[0003] The long-handled tool lifting system consists of a long-handled tool, a pneumatic control box, an air source, and a control system. The long-handled tool establishes a tight connection with the inspection robot. The pneumatic control box switches the pneumatic path by changing the position of the valve core of an internal solenoid valve, thereby controlling the movement of the cylinder inside the long-handled tool. The air source provides high-pressure gas to the cylinder inside the long-handled tool. The control system remotely controls the valve core position of the solenoid valve within the pneumatic control box. During the connection process between the long-handled tool and the inspection robot, the remote operator controls the pneumatic control box via the control system, thereby controlling the extension and retraction of the cylinder inside the long-handled tool, pushing the head's gripper to pop out and retract, achieving locking and unlocking of the long-handled tool and the inspection robot.

[0004] In actual field operations, the long-handled tool and pneumatic control box are placed inside the nuclear island, while the control system for remote control is placed in a safety island far from the reactor pressure vessel. Due to the limited location of the control system, remote operators cannot easily monitor the real-time position and status of the long-handled tool hoisting system, posing a risk of accidental disconnection between the long-handled tool and the inspection robot, potentially causing the robot to detach unexpectedly. Considering the safety of the long-handled tool hoisting operation, a safety protection device is required. The on-site operator should control the locking and unlocking of the long-handled tool during hoisting operations, while remote operators should perform remote control operations to avoid operational risks.

[0005] Currently, long-handled tools employ a mechanical safety protection device, using a pawl and a cylinder follower pin for safety locking. The pawl has a ring at its end, providing an anchor point for connection to the steel cable. During the inspection robot's hoisting process, the operator stands on a work platform above the reactor pressure vessel, holding the steel cable connected to the ring at the end of the pawl and releasing the cable synchronously with the robot's descent. After confirming the robot has reached the designated position and is secured, pulling the cable releases the long-handled tool's safety lock. The cable release speed significantly impacts operational safety. If the release speed is lower than the robot's descent speed, the operator will experience a downward dragging force from the hoisting system, potentially causing the safety lock to release unexpectedly, posing a significant safety hazard to the operator and the hoisting operation. If the release speed is higher than the robot's descent speed, the redundant release length of the cable increases the risk of scraping and snagging. Therefore, preventing the robot from accidentally falling while eliminating the safety hazards caused by cable release, and achieving safe and convenient locking and unlocking of long-handled tools, is a crucial issue that reactor pressure vessel inspection requires attention and resolution. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing mechanical safety protection devices by providing a remotely controlled safety protection device for long-handled tools. This device aims to achieve remote safety locking and unlocking of long-handled tools while avoiding the safety hazards associated with mechanical safety protection devices, thus ensuring the safe operation of lifting operations by inspection robots.

[0007] To achieve the above objectives, the present invention proposes a safety protection device for a remotely controlled long-handled tool. The long-handled tool is equipped with a cylinder, which is controlled by a solenoid valve inside a pneumatic control box. The solenoid valve is remotely controlled by a control system. The safety protection device includes an intelligent circuit breaker and a remote controller.

[0008] The remote controller is connected to the smart circuit breaker, and the remote controller sends signal on / off commands to the smart circuit breaker, the signal on / off commands including signal on commands and signal off commands;

[0009] The intelligent circuit breaker is installed inside the pneumatic control box and between the solenoid valve and the communication line of the control system. The intelligent circuit breaker controls the opening and closing of the communication line between the solenoid valve and the control system by receiving the signal on / off command. The intelligent circuit breaker receives the control signal sent by the control system and feeds back the signal on / off status to the remote controller and the control system.

[0010] When the communication line between the solenoid valve and the control system is connected, the intelligent circuit breaker transmits the received control signal to the solenoid valve, and the solenoid valve controls the extension and retraction of the cylinder through the received control signal.

[0011] In one embodiment, the intelligent circuit breaker is equipped with a power semiconductor switch, which controls the opening and closing of the communication line between the solenoid valve and the control system by receiving signal on / off commands.

[0012] In one embodiment, the solenoid valve employs a dual-electric control method.

[0013] In one embodiment, the remote controller communicates with the smart circuit breaker via wired or wireless signals.

[0014] In one embodiment, the cylinder inside the long-handled tool is supplied with high-pressure gas via a gas source.

[0015] In one embodiment, the high-pressure gas supplied by the gas source enters the cylinder of the long-handled tool through the flow channel of the solenoid valve.

[0016] In one embodiment, the gas source and the control system are located within the safety island, while the gas control box, the remote controller, and the long-handled tool are located within the nuclear island.

[0017] In one embodiment, the reactor pressure vessel is located inside the nuclear island, the long-handled tool is located inside the reactor pressure vessel, a working platform is located above the reactor pressure vessel, and the remote controller is fixed to the working platform.

[0018] In one embodiment, the remote controller is detachably fixed to the work platform.

[0019] This invention also proposes a safety protection method for remotely controlled long-handled tools, applied to the safety protection device for remotely controlled long-handled tools as described above, the safety protection method comprising:

[0020] The intelligent circuit breaker remains connected, and the control system sends a control signal to the solenoid valve. The solenoid valve controls the cylinder to extend, and the long-handled tool is connected to the inspection robot.

[0021] The remote controller sends a disconnect signal command, the intelligent circuit breaker receives the disconnect signal command and cuts off the communication line between the control system and the solenoid valve, opens the safety lock of the long-handled tool, and the intelligent circuit breaker feeds back the on / off status signal to the remote controller and the control system.

[0022] After the inspection robot reaches the designated position and completes its fixation, the remote controller sends a signal connection command. The intelligent circuit breaker receives the signal connection command, closes the communication line between the control system and the solenoid valve, releases the safety lock of the long-handled tool, and the intelligent circuit breaker feeds back the on / off status signal to the remote controller and the control system. The control system sends a control signal to the solenoid valve, and the solenoid valve controls the cylinder to retract, disconnecting the long-handled tool from the inspection robot.

[0023] The beneficial effects of the remote-controlled long-handled tool safety protection device and method of the present invention are as follows:

[0024] 1. The safety protection device described in this invention allows the operator to control the communication line between the solenoid valve in the pneumatic control box and the control system via a remote controller, thereby achieving the safe locking and unlocking of the long-handled tool and reducing the risk of the inspection robot accidentally falling due to misoperation by remote control personnel. Compared with mechanical safety protection devices, the remote safety protection device for long-handled tools described in this invention eliminates the need for the operator to hold the steel cable to release it simultaneously and pull the steel cable to release the safety lock of the long-handled tool during the lifting of the inspection robot. This effectively reduces the operator's workload and difficulty, avoids safety hazards caused by changes in the release speed of the steel cable during release, and enhances the safety and stability of the inspection robot lifting operation.

[0025] 2. The intelligent circuit breaker described in this invention can record and store the connection and disconnection status of the communication line between the remote controller and the control system and transmit it to the remote controller and the control system. The remote controller and the control system can then feed back the status information of the communication line to the operator and remote control personnel, which can effectively reduce the risk of operator and remote control personnel misoperation and improve the safety and accuracy of hoisting operations.

[0026] 3. The remote controller described in this invention adopts a portable design and can be detached from the fixed support located on the working platform above the reactor pressure vessel, making it convenient for operators to carry and issue correct operating instructions in real time, thereby improving work efficiency. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0028] Figure 1 This is a flowchart illustrating the operation of the safety protection device in an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the installation of the safety protection device in an embodiment of the present invention.

[0030] Figure Labels

[0031] 1-Air source; 2-Control system; 3-First air pipe; 4-Second air pipe; 5-First signal line; 6-Air control box; 61-Solenoid valve; 62-Intelligent circuit breaker; 63-Second signal line; 7-Third air pipe; 8-Fourth air pipe; 9-Third signal line; 10-Remote controller; 11-Long-handled tool; 111-Cylinder. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention.

[0033] As described above, the long-handled tool 11 is equipped with a cylinder 111, which is controlled by a solenoid valve 61 inside the pneumatic control box 6. The solenoid valve 61 is remotely controlled by the control system 2. This invention proposes a safety protection device for remotely controlling a long-handled tool, which includes an intelligent circuit breaker 62 and a remote controller 10. For example... Figure 1 As shown, the remote controller 10 is connected to the intelligent circuit breaker 62, and the remote controller 10 sends signal on / off commands to the intelligent circuit breaker 62. The intelligent circuit breaker 62 is located inside the pneumatic control box 6, and is positioned between the solenoid valve 61 and the control system 2 communication line. The intelligent circuit breaker 62 controls the on / off state of the communication line between the solenoid valve 61 and the control system 2 by receiving signal on / off commands. When the communication line between the solenoid valve 61 and the control system 2 is connected, the intelligent circuit breaker 62 receives the control signal from the control system 2 and transmits the received control signal to the solenoid valve 61. The solenoid valve 61 controls the extension and retraction of the cylinder 111 based on the received control signal. The signal on / off commands include signal connection commands and signal disconnection commands. If the remote controller 10 sends a signal connection command to the intelligent circuit breaker 62, the communication line between the solenoid valve 61 and the control system 2 is connected. If the remote controller 10 sends a signal disconnection command to the intelligent circuit breaker 62, the communication line between the solenoid valve 61 and the control system 2 is disconnected. Furthermore, the intelligent circuit breaker 62 can provide feedback on its signal on / off status to the remote controller 10 and the control system 2. Specifically, the intelligent circuit breaker 62 can record and store the signal on / off status between the remote controller 10 and the control system 2, and transmit this status to both. This helps the control system to understand the status and security of the communication lines in real time. The intelligent circuit breaker 62 can also store the connection status of the communication lines, which provides useful information during fault diagnosis or system maintenance.

[0034] Furthermore, the intelligent circuit breaker 62 is equipped with a power semiconductor switch, which controls the opening and closing of the communication line between the solenoid valve 61 and the control system 2 based on received signal on / off commands. This means that the power semiconductor switch can control whether the solenoid valve receives control signals from the control system.

[0035] Furthermore, the solenoid valve 61 adopts a dual-electric control method, allowing independent control of the two channels. After power loss, the valve core position remains unchanged, and the gas flow path inside the solenoid valve maintains the state before power loss.

[0036] Furthermore, the remote controller 10 and the smart circuit breaker 62 can communicate via both wired and wireless signals to control the opening and closing of the communication line between the solenoid valve 61 and the control system 2. This depends on the specific application scenario and requirements. In this preferred embodiment, one end of the signal port of the smart circuit breaker 62 is connected to the control system 2 via the first signal line 5, and the other end is connected to the solenoid valve 61 via the second signal line 63. The remote controller 10 is connected to the smart circuit breaker 62 via the third signal line 9.

[0037] The cylinder 111 inside the long-handled tool 11 is supplied with high-pressure gas via the air source 1. In this embodiment, the high-pressure gas supplied by the air source 1 flows through the channel of the solenoid valve 61 (see...). Figure 2 The first air pipe 3, the second air pipe 4, the third air pipe 7, and the fourth air pipe 8 enter the cylinder 111 of the long-handled tool 11. For example... Figure 2 As shown, the gas source 1 and control system 2 are located within the safety island, while the gas control box 6, remote controller 10, and long-handled tool 11 are located within the nuclear island. Furthermore, the reactor pressure vessel is located within the nuclear island, the long-handled tool 11 is located within the reactor pressure vessel, and a work platform is located above the reactor pressure vessel. The remote controller 10 is fixed to the work platform. Preferably, in this embodiment, the remote controller 10 is detachably fixed to the work platform. The remote controller 10 is designed for portability, allowing it to be detached from its fixed position on the work platform above the reactor pressure vessel, facilitating operator carrying and operation.

[0038] This safety protection device for remote-controlled long-handled tools ensures the reliability and security of the communication lines between the solenoid valve and the control system through the coordinated operation of an intelligent circuit breaker and a remote controller. The intelligent circuit breaker's recording, storage, and feedback functions provide strong support for system maintenance and troubleshooting. Meanwhile, the remote controller's portability and flexible communication methods increase operator convenience and system flexibility. The entire device is designed to improve the safety and reliability of remote-controlled long-handled tools.

[0039] This invention also proposes a safety protection method for remotely controlled long-handled tools, applicable to the safety protection device for remotely controlled long-handled tools as described above. In one embodiment, the safety protection method includes the following steps:

[0040] As the inspection robot is about to begin hoisting, the intelligent circuit breaker 62 does not receive a signal from the remote controller 10 and remains connected. The remote controller uses the control system 2 to issue a command to the solenoid valve 61, controlling the valve core to move according to a predetermined procedure. This allows high-pressure gas supplied by the air source 1 to enter the cylinder 111 inside the long-handled tool 11 through the flow channel of the solenoid valve 61. The high-pressure gas pushes the push rod of the cylinder 111 to extend, causing the head's chuck to pop out, thus locking the long-handled tool 11 and the inspection robot.

[0041] After the long-handled tool and the inspection robot are connected, the operator sends a disconnect command via the remote controller 10, controlling the internal circuit of the intelligent circuit breaker 62 to disconnect, cutting off the signal transmission between the control system 2 and the solenoid valve 61. The solenoid valve 61 is de-energized, and its internal valve core remains in the position it was in before the power outage and stops all other movements. The intelligent circuit breaker 62 feeds back the signal on / off status to the remote controller 10 and the control system 2, informing the operator and remote control personnel of the actual working status of the current communication line, and the long-handled tool 11 completes safety locking. If the remote control personnel make a mistake, the control signal sent through the control system 2 cannot be transmitted to the solenoid valve 61, its internal valve core remains stationary, and the cylinder 111 inside the long-handled tool 11 remains in the working state before the communication line was disconnected, avoiding the risk of connection failure of the long-handled tool 11.

[0042] During the hoisting process of the inspection robot, the operator observes the actual position of the long-handled tool hoisting system from the work platform above the reactor pressure vessel. Once the inspection robot reaches the designated position and is secured, the operator sends a signal connection command to the intelligent circuit breaker 62 via the remote controller 10, controlling the intelligent circuit breaker 62 to close and release the safety lock of the long-handled tool 11. The intelligent circuit breaker 62 then relays the communication line connection information back to the operator and remote control personnel via the remote controller 10 and control system 2. The remote control personnel can then transmit commands to the solenoid valve 61 via the control system 2, controlling the valve core to move and thus changing the gas flow path inside the solenoid valve 61, causing the push rod of the cylinder 111 to retract. Simultaneously, the jaws at the head of the long-handled tool 11 retract, disconnecting from the inspection robot, completing the hoisting operation.

[0043] The beneficial effects of the remote-controlled long-handled tool safety protection device and method of the present invention are as follows:

[0044] 1. The safety protection device described in this invention allows the operator to control the communication line between the solenoid valve in the pneumatic control box and the control system via a remote controller, thereby achieving the safe locking and unlocking of the long-handled tool and reducing the risk of the inspection robot accidentally falling due to misoperation by remote control personnel. Compared with mechanical safety protection devices, the remote safety protection device for long-handled tools described in this invention eliminates the need for the operator to hold the steel cable to release it simultaneously and pull the steel cable to release the safety lock of the long-handled tool during the lifting of the inspection robot. This effectively reduces the operator's workload and difficulty, avoids safety hazards caused by changes in the release speed of the steel cable during release, and enhances the safety and stability of the inspection robot lifting operation.

[0045] 2. The intelligent circuit breaker described in this invention can record and store the connection and disconnection status of the communication line between the remote controller and the control system and transmit it to the remote controller and the control system. The remote controller and the control system can then feed back the status information of the communication line to the operator and remote control personnel, which can effectively reduce the risk of operator and remote control personnel misoperation and improve the safety and accuracy of hoisting operations.

[0046] 3. The remote controller described in this invention adopts a portable design and can be detached from the fixed support located on the working platform above the reactor pressure vessel, making it convenient for operators to carry and issue correct operating instructions in real time, thereby improving work efficiency.

[0047] It should be noted that, unless otherwise explicitly specified and limited, terms such as “set,” “connected,” and “linked” used in the description of this application should be interpreted broadly. For example, a link can be a fixed link, a detachable link, or an integral link; it can be a mechanical link or an electrical link; it can be a direct link or an indirect link through an intermediate medium; or it can be a connection between two components. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0048] The terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] The embodiments described above are merely further illustrations of the present invention and are not intended to limit the present invention in any other way. The present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding modifications and changes based on the present invention, but all such modifications and changes should fall within the protection scope of the present invention.

Claims

1. A safety protection device for a remotely controlled long-handled tool, wherein the long-handled tool is equipped with a cylinder, the cylinder is controlled by a solenoid valve inside a pneumatic control box, and the solenoid valve is remotely controlled by a control system, characterized in that... The safety protection device includes an intelligent circuit breaker and a remote controller; The remote controller is connected to the smart circuit breaker, and the remote controller sends signal on / off commands to the smart circuit breaker, the signal on / off commands including signal on commands and signal off commands; The intelligent circuit breaker is installed inside the pneumatic control box and between the solenoid valve and the communication line of the control system. The intelligent circuit breaker controls the opening and closing of the communication line between the solenoid valve and the control system by receiving the signal on / off command. The intelligent circuit breaker receives the control signal sent by the control system and feeds back the signal on / off status to the remote controller and the control system. When the communication line between the solenoid valve and the control system is connected, the intelligent circuit breaker transmits the received control signal to the solenoid valve, and the solenoid valve controls the extension and retraction of the cylinder through the received control signal.

2. The safety protection device for remote-controlled long-handled tools according to claim 1, characterized in that, The intelligent circuit breaker is equipped with a power semiconductor switch, which controls the opening and closing of the communication line between the solenoid valve and the control system by receiving signal on / off commands.

3. The safety protection device for remote-controlled long-handled tools according to claim 1, characterized in that, The solenoid valve adopts a dual-electric control method.

4. The safety protection device for remote-controlled long-handled tools according to claim 1, characterized in that, The remote controller communicates with the smart circuit breaker via wired or wireless signals.

5. The safety protection device for remote-controlled long-handled tools according to claim 1, characterized in that, The cylinder inside the long-handled tool is supplied with high-pressure gas via an air source.

6. The safety protection device for remote-controlled long-handled tools according to claim 5, characterized in that, The high-pressure gas supplied by the gas source enters the cylinder of the long-handled tool through the flow channel of the solenoid valve.

7. The safety protection device for remote-controlled long-handled tools according to claim 5, characterized in that, The gas source and the control system are located within the safety island, while the gas control box, the remote controller, and the long-handled tool are located within the nuclear island.

8. The safety protection device for remotely controlled long-handled tools according to claim 7, characterized in that, The reactor pressure vessel is located inside the nuclear island, the long-handled tool is located inside the reactor pressure vessel, a working platform is located above the reactor pressure vessel, and the remote controller is fixed to the working platform.

9. The safety protection device for remote-controlled long-handled tools according to claim 8, characterized in that, The remote controller is detachably fixed to the work platform.

10. A safety protection method for a remotely controlled long-handled tool, applied to a safety protection device for a remotely controlled long-handled tool as described in any one of claims 1 to 9, characterized in that, The security protection method includes: The intelligent circuit breaker remains connected, and the control system sends a control signal to the solenoid valve. The solenoid valve controls the cylinder to extend, and the long-handled tool is connected to the inspection robot. The remote controller sends a disconnect signal command, the intelligent circuit breaker receives the disconnect signal command and cuts off the communication line between the control system and the solenoid valve, opens the safety lock of the long-handled tool, and the intelligent circuit breaker feeds back the on / off status signal to the remote controller and the control system. After the inspection robot reaches the designated position and completes its fixation, the remote controller sends a signal connection command. The intelligent circuit breaker receives the signal connection command, closes the communication line between the control system and the solenoid valve, releases the safety lock of the long-handled tool, and the intelligent circuit breaker feeds back the on / off status signal to the remote controller and the control system. The control system sends a control signal to the solenoid valve, and the solenoid valve controls the cylinder to retract, disconnecting the long-handled tool from the inspection robot.

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