Multi-degree-of-freedom attitude adjusting device and adjusting method for nuclear power head

Abstract

The application discloses a multi-freedom degree attitude adjusting device for a nuclear power head, which comprises a moving device, which is divided into a first bearing area and a second bearing area; the first bearing area is provided with movable main support assemblies; two groups of lifting assemblies are symmetrically arranged on the main support assemblies and used for driving the nuclear power head to lift along a vertical direction; two groups of transverse translation assemblies are symmetrically arranged on the two sides of the main support assemblies and used for driving the main support assemblies and the head to translate along a horizontal direction by adopting a differential driving mode; two groups of rolling adjusting assemblies are symmetrically arranged on the first bearing area and used for driving the main support assemblies and the head to swing around a longitudinal axis to adjust a rolling angle by adopting a differential driving mode; and the device is further provided with a pitching adjusting assembly and a counterweight, which are respectively used for adjusting a pitching angle of the head and balancing a gravity generated by the head offset. The application further provides an adjusting method, which can fundamentally solve the industry pain points of the nuclear power heavy head, such as insufficient installation precision, high safety risk and low operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of nuclear power equipment packaging technology, specifically to a multi-degree-of-freedom attitude adjustment device and method for nuclear power equipment heads. Background Technology

[0002] Heavy-duty nuclear power plant heads are core components of high-end pressure-bearing equipment such as nuclear reactor pressure vessels and large petrochemical pressure vessels. The quality of their on-site installation and alignment directly determines the sealing performance, welding reliability, and long-term service safety of the entire equipment. The operation process requires precise adjustment of multiple degrees of freedom, such as the height, lateral position, and pitch angle of the head, to ensure that the head and the cylinder axis are strictly concentric and the circumferential gap is uniform. The heavy load of hundreds of tons also places stringent requirements on the safety and efficiency of the installation operation.

[0003] The current on-site installation of heavy nuclear power plant heads generally adopts the operation mode of crane lifting and positioning, relying on flexible slings to support the head and manually adjusting its posture on-site. This model has several inherent technical bottlenecks: First, overhead crane hoisting is a flexible load-bearing method, and the end cap is prone to spatial swaying. Multi-dimensional attitude adjustment relies entirely on the operator's experience, resulting in low adjustment accuracy and poor repeatability. It is difficult to achieve stable high-precision coaxial alignment between the end cap and the cylinder, which cannot meet the high-standard installation quality requirements of nuclear-grade pressure equipment. Second, heavy end caps can weigh hundreds of tons. The hoisting process has large inertia and weak alignment controllability, making it extremely easy to bump and damage the sealing surface, welding bevel, and other precision-machined surfaces of the end cap. For nuclear-grade components, such damage is not only difficult and costly to repair, but may also cause irreversible equipment quality hazards, resulting in significant operational safety risks. Third, in the traditional operation system, the end cap transportation and attitude adjustment processes are separated. The end cap must first be transported within the plant area by a mobile device, and then the end cap is hoisted by an overhead crane to a fixed attitude adjustment fixture for secondary alignment. Multiple hoisting and relocation processes further amplify safety risks, while also leading to cumbersome construction procedures, long operation cycles, and low overall installation efficiency.

[0004] Therefore, there is an urgent need for a large-scale device and adjustment method for adjusting the attitude of heavy-duty nuclear power heads that can be integrated into a transport carrier and has both large tonnage load-bearing capacity and multi-degree-of-freedom precise attitude adjustment capability, so as to meet the on-site installation requirements of heavy-duty heads in nuclear power and other fields for high precision, high safety and high efficiency.

[0005] It is understood that the above statements only provide background information related to the present invention and do not necessarily constitute prior art. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-degree-of-freedom attitude adjustment device and method for nuclear power plant heads, fundamentally solving the industry pain points of insufficient installation accuracy, high safety risks, and low operating efficiency of heavy nuclear power plant heads.

[0007] To achieve the above objectives, the present invention provides a multi-degree-of-freedom attitude adjustment device for a nuclear power plant head. The nuclear power plant head includes a central connecting portion and two symmetrically arranged side connecting portions. The multi-degree-of-freedom attitude adjustment device includes: a moving device, which divides the head into a first bearing area and a second bearing area along a horizontal longitudinal direction; a main support assembly, movably disposed in the first bearing area, for bearing the nuclear power plant head; wherein the central connecting portion of the nuclear power plant head faces the second bearing area; two sets of lifting assemblies, symmetrically disposed on the main support assembly, and the output end of each lifting assembly is connected to the side connecting portions of the nuclear power plant head, for driving the nuclear power plant head to move vertically to adjust its height; and two sets of lateral translation assemblies, disposed on the first bearing area, symmetrically located... The main support assembly has two sides, and the output ends of the lateral translation assembly act on the two sides of the main support assembly to drive the main support assembly to translate horizontally, thereby adjusting the lateral position of the nuclear power plant head. Two sets of roll adjustment assemblies are disposed on the first bearing area, symmetrically located below the main support assembly, and the output ends of each roll adjustment assembly act on the bottom two sides of the main support assembly to drive the main support assembly to swing around the horizontal longitudinal direction, thereby adjusting the roll angle of the nuclear power plant head. A pitch adjustment assembly is disposed at the boundary between the first bearing area and the second bearing area, and the output end of the pitch adjustment assembly is connected to the central connecting part of the nuclear power plant head to drive the nuclear power plant head to swing horizontally and adjust the pitch angle.

[0008] Preferably, the output end of the lifting assembly is provided with a hinge seat, and the hinge seat is hinged to the side connecting part.

[0009] Preferably, the output end of the pitch adjustment component is provided with a hinge seat, and the hinge seat is hinged to the central connecting part.

[0010] Preferably, the lifting assembly, the lateral translation assembly, the roll adjustment assembly, and the pitch adjustment assembly are all hydraulic jack structures.

[0011] Preferably, the lifting assembly is a heavy-duty hydraulic jack with a rated load of 200 tons or more; the pitch adjustment assembly is a bidirectional hydraulic jack with a rated load of 100 tons or more.

[0012] Preferably, the multi-degree-of-freedom attitude adjustment device further includes a counterweight disposed in the second bearing area to balance the unilateral gravity generated by the offset arrangement of the nuclear power plant head.

[0013] Preferably, the multi-degree-of-freedom attitude adjustment device further includes a detection and control system; the detection and control system includes a displacement sensor and a dual-axis tilt sensor mounted on the main support assembly, and a hydraulic control unit electrically connected to the lifting assembly, the lateral translation assembly, the roll adjustment assembly, and the pitch adjustment assembly, respectively, to achieve multi-degree-of-freedom linkage adjustment based on the collected attitude data of the nuclear power plant head.

[0014] Preferably, the mobile device is a flatbed vehicle.

[0015] This invention also provides a method for adjusting the attitude of a nuclear power plant head using the aforementioned multi-degree-of-freedom attitude adjustment device, comprising the following steps: S1, hoisting the nuclear power plant head onto the main support assembly, connecting the output ends of the two lifting components to the two side connecting parts of the nuclear power plant head respectively, and connecting the output end of the pitch adjustment component to the center connecting part of the nuclear power plant head; S2, transferring the nuclear power plant head to the cylinder installation and docking position using a moving device; S3, synchronously driving the two lifting components to extend and retract, adjusting the installation height of the nuclear power plant head in the vertical direction; S4, driving the pitch adjustment component to extend and retract. S5. Using a differential method of one side extending and the other side retracting synchronously, drive two sets of lateral translation components to push the main support component to move horizontally and adjust the horizontal position of the nuclear power head; S6. Using a differential method of one side extending and the other side retracting synchronously, drive two sets of roll adjustment components to drive the main support component to swing horizontally and adjust the roll angle of the nuclear power head; S7. When the central axis of the nuclear power head is completely aligned with the central axis of the cylinder, all degrees of freedom are adjusted in place, and the attitude adjustment and docking of the nuclear power head are completed.

[0016] Preferably, in S7, S3-S6 can be executed repeatedly.

[0017] In summary, compared with the prior art, the multi-degree-of-freedom attitude adjustment device and method for nuclear power plant heads provided by the present invention have at least the following beneficial effects: (1) The device provided by the present invention can simultaneously realize four degrees of freedom adjustment of the head: vertical lifting, horizontal translation, pitch angle swing, and roll angle fine adjustment. It can accurately correct the head's height deviation, radial coaxiality deviation, and end face parallelism deviation, ensuring that the head and the cylinder axis are concentric and the circumferential gap is uniform. It completely solves the defects of traditional crane hoisting that relies on manual command, has low adjustment accuracy, and large alignment error, and fully meets the stringent requirements of high-precision installation of nuclear power head. (2) The device provided by the present invention uses the main support component as the force transfer carrier. All attitude adjustment forces are transmitted through the original connection part of the head. No external force acts directly on the surface of the head cylinder, which can effectively protect the key processing surfaces such as the sealing surface and bevel of the head and the base material structure, and avoid collision damage during attitude adjustment. At the same time, all attitude adjustment mechanisms are integrated on the mobile device to realize the integrated operation of head transportation and attitude adjustment, saving multiple hoisting and transfer procedures, and greatly improving the safety and construction efficiency of the installation operation. Attached Figure Description

[0018] Figure 1 This is a structural diagram of the multi-degree-of-freedom attitude adjustment device for nuclear power plant heads in this invention; Figure 2 This is a schematic diagram of the forces acting on the lateral translation component during adjustment in this invention. Figure 3 This is a schematic diagram of the forces acting on the roll adjustment component during adjustment in this invention. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and by providing a detailed description of a preferred embodiment.

[0020] It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions. They are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationship, or adjustments to the size should still fall within the scope of the technical content disclosed in the present invention, provided that they do not affect the effects and objectives that the present invention can produce.

[0021] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only the expressly listed elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0022] like Figure 1 As shown, the present invention provides a multi-degree-of-freedom attitude adjustment device for a nuclear power plant head. The nuclear power plant head 8 includes a central connecting part 81 and two symmetrically arranged side connecting parts 82. The multi-degree-of-freedom attitude adjustment device includes: Mobile device 1 is an integral load-bearing and transport structure. The mobile device 1 is located along the horizontal longitudinal direction (i.e., along...). Figure 1 The area along the Y-axis is divided into a first load-bearing zone 11 and a second load-bearing zone 12. The main support component 2 is movably disposed in the first bearing area 11 for bearing the nuclear power head 8, and the central connecting part 81 of the nuclear power head 8 is disposed towards the second bearing area 12; Two sets of lifting components 3 are symmetrically arranged on the main support component 2, and the output end of each set of lifting components 3 is connected to the side connection part 82 of the nuclear power plant head 8, for driving the nuclear power plant head 8 in the vertical direction (i.e., along the direction of the main support component 2). Figure 1 The height position can be adjusted by raising or lowering the device along the Z-axis. Two sets of lateral translation components 4 are disposed on the first bearing area 11, symmetrically located on both sides of the main support component 2, and the output ends of the lateral translation components 4 act on the two sides of the main support component 2 respectively. During operation, a differential drive method is adopted, in which one side extends and the other side retracts synchronously, to drive the main support component 2 along the horizontal lateral direction (i.e., along...). Figure 1 The nuclear power plant head 8 is moved laterally (in the X-axis direction) and thus its position is adjusted. Two sets of roll adjustment components 5 are disposed on the first bearing area 11, symmetrically located below the main support component 2, and the output ends of the roll adjustment components 5 act on the bottom sides of the main support component 2 respectively. During operation, a differential drive method is adopted in which one side extends and the other side retracts synchronously to drive the main support component 2 to swing around the horizontal longitudinal direction (i.e. around the Y-axis), thereby driving the nuclear power head 8 to adjust the roll angle. The pitch adjustment component 6 is located at the boundary between the first bearing area 11 and the second bearing area 12, and the output end of the pitch adjustment component 6 is connected to the central connection part 81 of the nuclear power head 8, which is used to drive the nuclear power head 8 to pitch and swing around the horizontal (i.e. around the X-axis) to adjust the pitch angle. The counterweight 7 is located in the second bearing area 12 to balance the unilateral gravity generated by the offset arrangement of the nuclear power plant head 8 and prevent the nuclear power plant head 8 from tipping over.

[0023] It should be noted that, in the preferred embodiment of the present invention, for ease of understanding, a spatial rectangular coordinate system XYZ is established in the initial attitude adjustment state, wherein: the X-axis is the horizontal lateral movement direction (i.e., left and right movement direction) of the corresponding nuclear power head 8; the Y-axis is the horizontal longitudinal movement direction (i.e., front and back movement direction) of the corresponding nuclear power head 8; and the Z-axis is the vertical movement direction (i.e., height movement direction) of the corresponding nuclear power head 8.

[0024] Furthermore, in a preferred embodiment of the present invention, the mobile device 1 is a flatbed vehicle.

[0025] Furthermore, in a preferred embodiment of the present invention, the lifting assembly 3, the lateral translation assembly 4, the roll adjustment assembly 5, and the pitch adjustment assembly 6 are all hydraulic jack structures; wherein, the lifting assembly 3 is a heavy-duty hydraulic jack with a rated load greater than or equal to 200 tons; and the pitch adjustment assembly 6 is a bidirectional hydraulic jack with a rated load greater than or equal to 100 tons.

[0026] Furthermore, the output end of the lifting assembly 3 is provided with a hinge seat, and is hinged to the side connecting part 82 through the hinge seat; the output end of the pitch adjustment assembly 6 is also provided with a hinge seat, and is hinged to the center connecting part 81 through the hinge seat.

[0027] Furthermore, the multi-degree-of-freedom attitude adjustment device also includes a detection and control system; in a preferred embodiment of the present invention, the detection and control system includes a displacement sensor and a dual-axis tilt sensor disposed on the main support component 2, and a hydraulic control unit electrically connected to each lifting component 3, lateral translation component 4, roll adjustment component 5, and pitch adjustment component 6, for controlling each component to achieve multi-degree-of-freedom linkage adjustment according to the attitude data of the nuclear power plant head 8 collected in real time.

[0028] This invention also provides a method for adjusting the attitude of a nuclear power plant head using a multi-degree-of-freedom attitude adjustment device, specifically including the following steps: S1. Hoist the nuclear power plant head 8 onto the main support assembly 2, connect the output ends of the two lifting assemblies 3 to the two side connecting parts 82 of the nuclear power plant head 8 respectively, and connect the output end of the pitch adjustment assembly 6 to the center connecting part 81 of the nuclear power plant head 8. S2. The nuclear power plant head 8 is transferred to the cylinder installation and docking station using the mobile device 1; S3. Synchronously drive the two lifting components 3 to extend and retract, adjust the overall installation height of the nuclear power plant head 8 in the vertical direction, and align the nuclear power plant head 8 with the axial height reference of the cylinder. S4, such as Figure 2 As shown, the two sets of transverse translation components 4 are driven by a differential method in which one side extends and the other side retracts synchronously, which pushes the main support component 2 to move horizontally and adjusts the horizontal position of the nuclear power head 8 so that the central axis of the nuclear power head 8 is basically radially aligned with the central axis of the cylinder. S5. Drive the pitch adjustment component 6 to extend and retract, adjust the pitch angle of the nuclear power head 8 around the horizontal direction, so that the central axis of the nuclear power head 8 is parallel to the central axis of the cylinder. S6, such as Figure 3As shown, the two sets of rolling adjustment components 5 are driven by a differential method in which one side extends and the other side retracts synchronously, which drives the main support component 2 to swing around the horizontal longitudinal direction, adjusts the rolling angle of the nuclear power head 8, and makes the nuclear power head 8 cylinder aligned with the cylinder with a uniform circumferential gap. S7. If necessary, S3-S6 can be repeated for fine-tuning until all degrees of freedom are adjusted in place, so that the central axis of the nuclear power head 8 is completely aligned with the central axis of the cylinder, forming a coaxial structure, thus completing the attitude adjustment and docking of the nuclear power head 8.

[0029] In summary, this invention provides a multi-degree-of-freedom attitude adjustment device and method for nuclear power plant head. It achieves full-degree-of-freedom adjustment by using the main support component as a force transmission hub, with no external force directly acting on the head shell surface throughout the process. This effectively protects the sealing surface, bevel, and other key machined surfaces of the nuclear power plant head, as well as the base material structure. Simultaneously, it covers four adjustment dimensions: height adjustment, lateral translation, pitch swing, and roll deflection. This enables high-precision coaxial alignment of the head and shell, ensuring uniform circumferential clearance. It also integrates transport and fine-tuning functions, significantly improving the efficiency, accuracy, and operational safety of nuclear power plant head installation.

[0030] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A multi-degree-of-freedom attitude adjustment device for a nuclear power plant head, wherein the nuclear power plant head includes a central connecting portion and two symmetrically arranged side connecting portions, characterized in that, The multi-degree-of-freedom attitude adjustment device includes: The mobile device is divided into a first load-bearing area and a second load-bearing area along the horizontal longitudinal direction; The main support assembly is movably disposed in the first bearing area and is used to support the nuclear power plant head; wherein the central connecting portion of the nuclear power plant head is disposed facing the second bearing area; Two sets of lifting components are symmetrically arranged on the main support component, and the output end of each set of lifting components is connected to the side connection part of the nuclear power plant head, which is used to drive the nuclear power plant head to move up and down in the vertical direction to adjust the height position. Two sets of lateral translation components are disposed on the first bearing area, symmetrically located on both sides of the main support component, and the output ends of the lateral translation components act on the two sides of the main support component respectively, for driving the main support component to translate horizontally, so as to drive the nuclear power head to adjust its lateral position. Two sets of roll adjustment components are disposed on the first bearing area, symmetrically located below the main support component, and the output end of each roll adjustment component acts on both sides of the bottom of the main support component to drive the main support component to swing around the horizontal longitudinal direction, so as to drive the nuclear power head to adjust the roll angle. The pitch adjustment component is located at the boundary between the first bearing area and the second bearing area, and the output end of the pitch adjustment component is connected to the central connection part of the nuclear power head, for driving the nuclear power head to swing horizontally to adjust the pitch angle.

2. The multi-degree-of-freedom attitude adjustment device as described in claim 1, characterized in that, The output end of the lifting assembly is provided with a hinge seat, and the hinge seat is hinged to the side connecting part.

3. The multi-degree-of-freedom attitude adjustment device as described in claim 1, characterized in that, The output end of the pitch adjustment component is provided with a hinge seat, and the hinge seat is hinged to the central connecting part.

4. The multi-degree-of-freedom attitude adjustment device as described in claim 1, characterized in that, The lifting assembly, lateral translation assembly, roll adjustment assembly, and pitch adjustment assembly are all hydraulic jack structures.

5. The multi-degree-of-freedom attitude adjustment device as described in claim 4, characterized in that, The lifting assembly is a heavy-duty hydraulic jack with a rated load of 200 tons or more; the pitch adjustment assembly is a bidirectional hydraulic jack with a rated load of 100 tons or more.

6. The multi-degree-of-freedom attitude adjustment device as described in claim 1, characterized in that, The multi-degree-of-freedom attitude adjustment device also includes a counterweight, which is located in the second bearing area to balance the unilateral gravity generated by the offset arrangement of the nuclear power plant head.

7. The multi-degree-of-freedom attitude adjustment device as described in claim 1, characterized in that, The multi-degree-of-freedom attitude adjustment device also includes a detection and control system; The detection and control system includes a displacement sensor and a dual-axis tilt sensor mounted on the main support assembly, as well as a hydraulic control unit electrically connected to the lifting assembly, the lateral translation assembly, the roll adjustment assembly, and the pitch adjustment assembly, respectively, to achieve multi-degree-of-freedom linkage adjustment based on the collected attitude data of the nuclear power plant head.

8. The multi-degree-of-freedom attitude adjustment device as described in claim 1, characterized in that, The mobile device is a flatbed vehicle.

9. A method for adjusting the attitude of a nuclear power plant head using a multi-degree-of-freedom attitude adjustment device as described in any one of claims 1-8, characterized in that... Includes the following steps: S1. Hoist the nuclear power plant head onto the main support assembly, connect the output ends of the two lifting assemblies to the two side connection parts of the nuclear power plant head respectively, and connect the output end of the pitch adjustment assembly to the center connection part of the nuclear power plant head. S2. The nuclear power plant head is transferred to the shell installation and docking station using a mobile device; S3. Synchronously drive the extension and retraction of the two lifting components to adjust the installation height of the nuclear power plant head in the vertical direction; S4. Drive the pitch adjustment assembly to extend and retract, adjusting the pitch angle of the nuclear power plant head around the horizontal direction; S5. Two sets of lateral translation components are driven by a differential method in which one side extends and the other side retracts synchronously, which pushes the main support component to move horizontally and adjusts the horizontal position of the nuclear power plant head. S6. Two sets of roll adjustment components are driven by a differential method in which one side extends and the other side retracts synchronously, which drives the main support component to swing around the horizontal longitudinal direction and adjust the roll angle of the nuclear power plant head. S7. When the central axis of the nuclear power head is completely aligned with the central axis of the cylinder, all degrees of freedom are adjusted to the correct position, completing the attitude adjustment and docking of the nuclear power head.

10. The multi-degree-of-freedom attitude adjustment method for nuclear power plant heads as described in claim 9, characterized in that, In S7, S3-S6 can be executed repeatedly.

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