CN106524948B - UO2Pellet system for detecting verticality and its detection method - Google Patents
UO2Pellet system for detecting verticality and its detection method Download PDFInfo
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- CN106524948B CN106524948B CN201611227330.XA CN201611227330A CN106524948B CN 106524948 B CN106524948 B CN 106524948B CN 201611227330 A CN201611227330 A CN 201611227330A CN 106524948 B CN106524948 B CN 106524948B
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- pellet
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- slide unit
- guide rail
- laser scanner
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses a kind of UO2Pellet system for detecting verticality and its detection method, wherein, detecting system includes host computer and detection device, the detection device includes pedestal, a guide rail is equipped on pedestal, a slide unit is equipped on guide rail, one stepper motor is installed in one end of guide rail, a pellet positioning device is equipped in slide unit upper side；Wire type laser scanner is equipped in guide rail both sides；The host computer is connected with stepper motor and twin wire laser scanner；Its detection method includes the following steps：1）By UO to be measured2Pellet is positioned in pellet positioning device；2）It is synchronized by twin wire laser scanner to UO to be measured2The end face of pellet is scanned detection；3）Host computer carries out data processing by data processing system, obtains UO to be measured2The verticality of pellet.The present invention can be quickly to UO2Pellet is detected, and at the same time to multiple UO2Pellet is detected, so as to greatly improve UO2The detection efficiency of pellet.
Description
Technical field
The present invention relates to product testing technical field more particularly to a kind of UO of column structure2The end face and axle center of pellet
The detecting system and its detection method of the verticality of line.
Background technology
In the process of manufacture of nuclear fuel, UO2The gap of (fuel) between pellet and cladding tubes is to influence nuclear fuel
An important factor for pellet temperature.Since fuel pellet is integrally cylinder, both ends have groove and make both ends of the surface in a ring, fire
The verticality of material pellet end face and axial line directly affects the accuracy of the clearance measurement between fuel ball and cladding tubes,
Therefore, in UO2In the production process of pellet, it is particularly important that verticality accuracy detection is carried out to pellet.
Traditional detection method mainly has：Sleeve method, V-arrangement fulcrum bearing method, mandrel method etc..To realize fuel pellet verticality
The detection of quick, high-precision automatic, at present using it is most be V-arrangement fulcrum bearing method, the detection device that this method mainly uses
Including pedestal, stent, turntable, two-dimensional movement platform, tilting table, lifting platform, V-arrangement locating piece, trip bolt and pattern displacement
Sensor；During measurement, first tested fuel ball is placed on lifting platform, is fixed using trip bolt and V-arrangement locating piece,
Ensure that the measurement head of grating displacement sensor when tested pellet is turned round with turntable is tested always with certain stress contact pellet
Annular end face；Secondly, stepper motor driving turntable drives fuel pellet to turn round, and in turning course, grating displacement sensor is not
Each measuring point is passed to peripheral conversion circuit in the form of a voltage relative to the displacement of datum mark with stopping, reconvert into shift value,
Maximum and least displacement value difference is the measured value of fuel pellet verticality.
But for the lifting platform in detection device, table top flatness in itself and fuel ball and lifting platform table top
The flatness of the end face of the one end being in contact can all bring great error to measurement, so as to cause measurement accuracy relatively low；And
And in measurement process, one piece of fuel ball can only be measured every time so that measurement process is slower, and measurement efficiency is relatively low.
Invention content
For deficiencies of the prior art, it is an object of the invention to how solve UO in the prior art2Pellet
The problem of squareness measurement accuracy is low, and measurement efficiency is low provides a kind of UO2Pellet system for detecting verticality and its detection side
Method, can be quickly to UO2Pellet is detected, and at the same time to multiple UO2Pellet is detected, so as to greatly improve UO2Pellet
Detection efficiency.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is such：A kind of UO2Pellet verticality is examined
Examining system, including host computer and detection device, it is characterised in that：The detection device includes rectangular seat, in pedestal upper edge
Its length direction is equipped with a guide rail, and equipped with a slide unit, the upper side of the slide unit is plane for cooperation on guide rail；In one end of guide rail
One stepper motor is installed, the output shaft of the stepper motor is connected with a screw, which is located above guide rail, and its length side
To consistent with the length direction of guide rail, the slide unit corresponds to the screw and is equipped with screw hole through slide unit, and passes through the screw hole and silk
Bar is combined together, and slide unit can be driven to be moved along the length direction of screw by stepper motor；
A pellet positioning device is equipped in slide unit upper side, which includes support base and compress stent, institute
It states support base to be fixedly connected with slide unit, length direction is consistent with the length direction of slide unit, on support base along its length
Several V-arrangement locating slots for running through positioning seat both sides are provided with, the length direction of the locating slot and the length direction of support base hang down
Directly；The compression stent includes two columns and a compressor arm, wherein, two columns are installed on slide unit, and are located at support base respectively
Both ends, one end of the compressor arm is hinged with a wherein root post, and a limiting slot is equipped with above another root post, works as compression
When the free end of bar is turned to above the column, it can enter in the limiting slot；A positioning pin is equipped in limiting slot side, is being pressed
The opposite side of tight bar and limiting slot, the corresponding positioning pin is equipped with location hole, can be fixed by this after compressor arm enters limiting slot
Position pin positions compressor arm；On compressor arm, corresponding each locating slot is respectively equipped with an elastic compression column, the hold-down column from
Compressor arm is passed through up to lower, upper part is threadedly coupled with compressor arm, and lower part is stretched into locating slot；
The corresponding position of both sides in the middle part of guide rail is respectively equipped with one-line laser scanner, the wire type laser scanner
Laser head can be with locating slot face, plane where the laser beam that sends out is perpendicular, and disconnected with V-type locating slot
Face is vertical；
The host computer is connected after driver with stepper motor, the data output end of twin wire laser scanner simultaneously with
Host computer is connected.
Further, the guide groove through its both ends, the downside of the slide unit are equipped on the guide rail along its length
Face, the corresponding guide groove are equipped with matched sliding block.
Further, the hold-down column includes casing and compression leg, and the upper end of described sleeve pipe is enclosed construction, and in casing
Outer wall is equipped with screw thread；The upper end of the compression leg is stretched into from the lower end of casing in casing, in the upper end of compression leg and the upper end of casing
Between be equipped with a spring, the both ends of the spring are fixedly connected respectively with casing and compression leg.
A kind of above-mentioned UO2The detection method of pellet system for detecting verticality, it is characterised in that：Include the following steps：
1) by several UO to be measured2Pellet is positioned on the support base of pellet positioning device, and pass through compress stent will be to be measured
UO2Pellet is fixed；
2) it is rotated by PC control stepper motor, pellet positioning device is driven to be swept with the speed set from wire type laser
The side for retouching device is moved to opposite side；In pellet positioning device moving process, twin wire laser scanner is synchronized to UO to be measured2
The end face of pellet is scanned detection, and the data detected are sent to host computer；
3) it after host computer receives the data of twin wire laser scanner acquisition, is carried out at data by data processing system
Reason, obtains UO to be measured2The end face of pellet and the verticality of axial line.
Further, in step 3), data handling procedure is as follows：
A, after data processing system starts, to the data of data processing system input twin wire laser scanner acquisition；
B, judge whether the data block of input biases：If data block biases, database is biased, wherein,
The database is the UO to be measured of wire type laser scanner acquisition2The data acquisition system of one end face of pellet, the data acquisition system are
One two-dimentional data matrix；
C, to data, data in the block carry out Hough transformation removal Independent Point processing and 3 δ principles removal stray data successively
Point processing；
D, to UO to be measured2The axial line of pellet carries out adaptive calibration；
E, Bezier fitting is carried out to data；
F, it is last, the verticality between the end face of UO2 pellets to be measured and axial line is conversed according to Bezier.
Compared with prior art, the invention has the advantages that：
1st, it is easy to detect, quick, and multiple UO2 pellets can be disposably detected, so as to greatly improve detection efficiency.
2nd, measurement data, so as to substantially reduce the measurement error brought in measurement process, is improved and surveyed by ectocine smaller
Measure accuracy.
3rd, it is more preferable to the processing of data in verticality solution process, the verticality accuracy higher so as to make.
Description of the drawings
Fig. 1 is the side view of detection device of the present invention.
Fig. 2 is the vertical view of detection device of the present invention.
Fig. 3 is the structure diagram of pellet positioning device.
Fig. 4 is scanning theory figure.
Fig. 5 is the process chart of data processing system.
Fig. 6 is 3 δ handling principle figures.
Fig. 7 is matched curve figure.
In figure：1-pedestal, 2-guide rail, 3-slide unit, 4-stepper motor, 5-pellet positioning device, 51-support base,
52-column, 53-compressor arm, 54-elastic compression column, 6-wire type laser scanner, 7-UO to be measured2Pellet.
Specific embodiment
Below in conjunction with accompanying drawings and embodiments, the invention will be further described.
Embodiment：Referring to Fig. 1-Fig. 4, a kind of UO2Pellet system for detecting verticality, including host computer and detection device, institute
It states detection device and includes rectangular seat 1, be equipped with a guide rail 2 along its length on pedestal 1, coordinate on guide rail 2 and be equipped with
One slide unit 3, the upper side of the slide unit 3 is plane；When it is implemented, on the guide rail 2 along its length be equipped with through its two
The guide groove at end, the downside of the slide unit 3, the corresponding guide groove is equipped with matched sliding block, in this way, the slip of slide unit 3
Distance range bigger is influenced smaller by guide rail 2.One stepper motor 4 is installed in one end of guide rail 2, the stepper motor 4 it is defeated
Shaft is connected with a screw；The screw is located at 2 top of guide rail, and its length direction is consistent with the length direction of guide rail 2.The cunning
Platform 3 corresponds to the screw and is equipped with the screw hole for running through slide unit 3, and passes through the screw hole and be combined together with screw, passes through 4 energy of stepper motor
Enough slide unit 3 is driven to be moved along the length direction of screw.
A pellet positioning device 5 is equipped in 3 upper side of slide unit, which includes support base 51 and compress branch
Frame.The support base 51 is fixedly connected with slide unit 3, and length direction is consistent with the length direction of slide unit 3, in 51 upper edge of support base
Its length direction is provided with several V-arrangement locating slots for running through positioning seat both sides, length direction and the support base 51 of the locating slot
Length direction it is vertical.The compression stent includes two columns 52 and a compressor arm 53, wherein, two columns 52 are installed on slide unit 3
On, and it is located at the both ends of support base 51 respectively；One end of the compressor arm 53 is hinged with a wherein root post 52, vertical at another
52 top of column is equipped with a limiting slot, when the free end of compressor arm 53 turns to 52 top of column, can enter the limiting slot
It is interior；A positioning pin is equipped in limiting slot side, in compressor arm 53 and the opposite side of limiting slot, the corresponding positioning pin is equipped with positioning
Hole after compressor arm 53 enters limiting slot, can position compressor arm 53 by the positioning pin.It is right on compressor arm 53
Each locating slot is answered to be respectively equipped with an elastic compression column 54, the hold-down column passes through compressor arm 53 from top to bottom, and upper part is with compressing
Bar 53 is threadedly coupled, and lower part is stretched into locating slot；Wherein, the hold-down column includes casing and compression leg, and the upper end of described sleeve pipe is
Enclosed construction, and screw thread is equipped on the outer wall of casing；The upper end of the compression leg is stretched into from the lower end of casing in casing, in compression leg
Upper end and casing upper end between be equipped with a spring, the both ends of the spring are fixedly connected respectively with casing and compression leg.
Corresponding position in the both sides at 2 middle part of guide rail is respectively equipped with one-line laser scanner 6, the wire type laser scanning
The laser head of device 6 can be with locating slot face, and plane where the laser beam that sends out is perpendicular, and with V-type locating slot
Cross section perpendicular.
The host computer is connected after driver with stepper motor 4, and the data output end of twin wire laser scanner 6 is simultaneously
It is connected with host computer.
Referring to Fig. 5, one kind is based on above-mentioned UO2The detection method of pellet system for detecting verticality, includes the following steps：
1) by several UO to be measured2Pellet 7 is positioned on the support base 51 of pellet positioning device 5, and is passed through and compressed stent general
UO to be measured2Pellet 7 is fixed.
2) it is rotated by PC control stepper motor 4, drives pellet positioning device 5 with the speed of setting from wire type laser
The side of scanner 6 is moved to opposite side；In 5 moving process of pellet positioning device, twin wire laser scanner 6, which synchronizes, to be treated
Survey UO2The end face of pellet 7 is scanned detection, and the data detected are sent to host computer.
3) it after host computer receives the data of twin wire laser scanner acquisition, is carried out at data by data processing system
Reason, obtains UO to be measured2The end face of pellet 7 and the verticality of axial line.
In step 3), data handling procedure is as follows：
A, after data processing system starts, to the data of data processing system input twin wire laser scanner acquisition.
B, judge whether the data block of input biases：If data block biases, data block is biased, wherein,
The database is the UO to be measured of wire type laser scanner acquisition2The data acquisition system of one end face of pellet, the data acquisition system are
(transverse and longitudinal coordinate is respectively UO to one two-dimentional data matrix2Pellet end face data are in X-direction and the corresponding index value of Y-direction).
During bias treatment because end face data (useful data, referred to as data block) in entire data (including
Useful data and hash) in the range of, so asking for the average longitudinal direction index of end face data (data block) firstThen really
It is fixedIn entire longitudinal index range (Ymin,Ymax) position, the inclined of data block can be judged according to relationship therebetween
Put situation.If that is,It is then inclined (data block is in the lower section of all data areas) under data block；
IfIt is inclined (data block is in the top of all data areas) in data block；According to above-mentioned biasing feelings
Condition biases data block, final to ensure
C, to data, data in the block carry out Hough transformation removal Independent Point processing and 3 δ principles removal stray data successively
Point processing.
During Hough transformation removal Independent Point：
In x-y space, for point (x0,y0), the straight line by this point must meet y0=k*x0+ b, wherein k are straight lines
Slope, b is the intercept of straight line；
Above formula can be melted into b=y0-k*x0, regard as with-x0For slope, with y0For intercept, in one of k-b spatially
Linear equation (k, b are variable).
As it can be seen that the straight lines of k-b spatially, all straight lines that x-y space passes through specified point are represented, and x-y space
On particular line then represented by k-b specified points spatially.
Each data point in the block to data, straight line is drawn in k-b spaces；In the intersection point of each straight line, we
The method for taking " ballot " (vote), i.e., it is cumulative；In other words, if n straight line is met at a bit, the value of the point is n；Traverse k-
B spaces search out the point (namely local maxima n values) of existing local maximum (extreme value), and the coordinate (k, b) of these points is exactly to count
According to the slope and intercept of the straight line being likely to occur in block；It, can be in the hope of three local maxima n values, each n according to Hough transformation
The corresponding straight line of value.
Three straight lines (left chamfering straight line, end face straight line and right chamfering straight line) according to being obtained further reduce end face number
According to range (x_left, x_right), so as to find out the data of annular end face.
In 3 δ principles removal stray data point process：
Referring to Fig. 6, to the data point in determining range (x_left, x_right), with the method for mathematical statistics, carry out
The rejecting of the miscellaneous point in end face.3 δ principles, i.e. 3 standard deviation principles carry out the corresponding data point of (x_left, x_right) range
Normal distribution statistical, and its standard deviation and average value are calculated, the data other than removal (u-3 δ, u+3 δ) (wherein u is average value)
It is miscellaneous, it is further ensured that the reliability of data.
D, to UO to be measured2The axial line of pellet carries out adaptively correcting：
Although detecting system tentatively ensure that UO to be measured2Axial line " vertical " after pellet placement is in the laser of two sensors
Head；But without absolute vertical presence, i.e., UO to be measured2The axial line of pellet and the angle of laser head are (or smaller slightly larger than 90 degree
In 90 degree), which can be superimposed in verticality to the end.
Above-mentioned angular deviation is caused by the machining accuracy of V-groove and the assembly precision superposition of sensor, the angular deviation band
The data for influencing to export from sensor reflect, this, which also gives, we provides a kind of searching inclined think of in central axes
Road：It is pushed away by sensing data is counter.
Therefore, we are in the UO to be measured reduced2In the end face data z (x, y) of pellet, x, z and y, z groups are taken respectively
Into two two-dimensional matrixes (x, z) and (y, z), be utilized respectively least square method, face (x, z) and (y, z) calculate central axes or so,
Tilted upward degree；Wherein, z is sensing data, and x, y are its 2-d index；Using obtained inclined degree in turn to core
Block end face data compensate (2-d index with reference to each data is completed).
E, Bezier fitting is carried out to data；
Due to UO2The end face of pellet in a ring, therefore, through above-mentioned steps treated data in an approximate anchor ring
On, in Bezier fit procedure, approximate anchor ring is removed with a circle, circle is divided into 4 quarter circular arcs, to each
Quarter circular arc is fitted with three rank Beziers and goes to approach.
The quarter circular arc of first quartile is solved first：
P (t)=A* (60-t) * 3+B*3 (60-t) * 2t+C*3 (60-t) * 2t+D*3t, (t belongs to [0,60])；Wherein A,
B, C and D are four control points, respectively A (0,60), B (h, 60), C (60, h) and D (60,0)；(60 be radius of circle, is one
Kind specific embodiment)
P (30)=A*27000+B*81000+C*81000+D*27000 (P (30) represents value when t takes 30)；
Four control point A (0,60), B (h, 60), C (60, h) and D (60,0) are substituted into, the coordinate points of P (30) can be solved：
x2+y2=(6480000+81000h)2+(6480000+81000h)2=602；
Solve h：H=-79.99947622；It finally obtains：
From the quarter circular arc of this completion first quartile；Similarly solve the second quadrant, third quadrant and fourth quadrant
Quarter circular arc.
The circular arc of four quadrants is stitched together and has become a complete circle, to approximate anchor ring.As previously mentioned,
Annular end face data are data block, and the corresponding z values of circle for carrying out Bezier fitting and being formed are to calculate verticality institute
With.
F, it is last, UO to be measured is conversed according to Bezier2Verticality between the end face of pellet and axial line.
Referring to Fig. 7, in error theory, verticality can be represented with the range (size) between two dotted lines, it is meant that
The distance between two dotted lines are smaller, and verticality is better, and real vertical line is central axes in figure, and lower broken line is the measurement end of sensor
Face, upper broken line are the face (upper limit for pellet end face fluctuation) parallel with sensor measurement face, and solid line is pellet end face
The curve of cyclical fluctuations.
So end face can be scaled the flatness of end face relative to the verticality of central axes, that is, shellfish is matched using three ranks
Curve that your curve matching is completed (fitting be z values both direction index value x and y) maximum difference (max on Z axis
(z)-min (z)), in other words verticality is equal to maximum difference of the curve of three ranks match Bell curve fitting completion on Z axis.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than restriction technologies side
Case, it will be understood by those of ordinary skill in the art that, those are modified or replaced equivalently technical scheme of the present invention, and
The objective and range of the technical program are not departed from, is intended to be within the scope of the claims of the invention.
Claims (5)
1. a kind of UO2Pellet system for detecting verticality, including host computer and detection device, it is characterised in that：The detection device packet
Include rectangular seat, on pedestal along its length be equipped with a guide rail, on guide rail cooperation be equipped with a slide unit, the slide unit it is upper
Side is plane；One stepper motor is installed in one end of guide rail, the output shaft of the stepper motor is connected with a screw, the screw
Above guide rail, and its length direction is consistent with the length direction of guide rail, and the slide unit corresponds to the screw and is equipped with through slide unit
Screw hole, and pass through the screw hole and be combined together with screw, length direction of the slide unit along screw can be driven by stepper motor
It is mobile；
A pellet positioning device is equipped in slide unit upper side, which includes support base and compress stent, the branch
Support seat is fixedly connected with slide unit, and length direction is consistent with the length direction of slide unit, is set along its length on support base
There are several V-arrangement locating slots for running through positioning seat both sides, the length direction of the locating slot is vertical with the length direction of support base；Institute
It states compression stent and includes two columns and a compressor arm, wherein, two columns are installed on slide unit, and are located at the two of support base respectively
End, one end of the compressor arm are hinged with a wherein root post, a limiting slot are equipped with above another root post, when compressor arm
When free end is turned to above the column, it can enter in the limiting slot；A positioning pin is equipped in limiting slot side, in compressor arm
And the opposite side of limiting slot, the corresponding positioning pin are equipped with location hole, after compressor arm enters limiting slot, can pass through the positioning pin
Compressor arm is positioned；On compressor arm, corresponding each locating slot is respectively equipped with an elastic compression column, the hold-down column from up to
Under be threadedly coupled across compressor arm, upper part with compressor arm, lower part is stretched into locating slot；
The corresponding position of both sides in the middle part of guide rail is respectively equipped with one-line laser scanner, and the wire type laser scanner swashs
Shaven head can be with locating slot face, and plane is perpendicular where the laser beam sent out, and is hung down with the section of V-type locating slot
Directly；
The host computer is connected after driver with stepper motor, the data output end of twin wire laser scanner simultaneously with it is upper
Machine is connected.
2. UO according to claim 12Pellet system for detecting verticality, it is characterised in that：It is square along its length on the guide rail
To equipped with the guide groove through its both ends, the downside of the slide unit, the corresponding guide groove is equipped with matched sliding block.
3. UO according to claim 12Pellet system for detecting verticality, it is characterised in that：The hold-down column include casing and
Compression leg, the upper end of described sleeve pipe is enclosed construction, and screw thread is equipped on the outer wall of casing；The upper end of the compression leg is from casing
Lower end is stretched into casing, is equipped with a spring between the upper end of compression leg and the upper end of casing, the both ends of the spring respectively with casing
It is fixedly connected with compression leg.
4. a kind of UO as described in claim 12The detection method of pellet system for detecting verticality, it is characterised in that：Including as follows
Step：
1）By several UO to be measured2Pellet is positioned on the support base of pellet positioning device, and is passed through and compressed stent by UO to be measured2Core
Block is fixed；
2）It is rotated by PC control stepper motor, drives pellet positioning device with the speed that sets from wire type laser scanner
Side be moved to opposite side；In pellet positioning device moving process, twin wire laser scanner is synchronized to UO to be measured2Pellet
End face be scanned detection, and the data detected are sent to host computer；
3）After host computer receives the data of twin wire laser scanner acquisition, data processing is carried out by data processing system,
Obtain UO to be measured2The end face of pellet and the verticality of axial line.
5. a kind of UO as claimed in claim 42The detection method of pellet system for detecting verticality, it is characterised in that：Step 3）
In, data handling procedure is as follows：
A, after data processing system starts, to the data of data processing system input twin wire laser scanner acquisition；
B, judge whether the data block of input biases：If data block biases, database is biased, wherein, it is described
Database is the UO to be measured of wire type laser scanner acquisition2The data acquisition system of one end face of pellet, the data acquisition system are one
The data matrix of two dimension；
C, to data, data in the block are carried out successively at Hough transformation removal Independent Point processing and 3 δ principles removal stray data point
Reason；
D, to UO to be measured2The axial line of pellet carries out adaptive calibration；
E, Bezier fitting is carried out to data；
F, it is last, UO to be measured is conversed according to Bezier2Verticality between the end face of pellet and axial line.
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