CN107731329A - Control rod guide tubes and bundles split pin detects robot and localization method - Google Patents
Control rod guide tubes and bundles split pin detects robot and localization method Download PDFInfo
- Publication number
- CN107731329A CN107731329A CN201711043800.1A CN201711043800A CN107731329A CN 107731329 A CN107731329 A CN 107731329A CN 201711043800 A CN201711043800 A CN 201711043800A CN 107731329 A CN107731329 A CN 107731329A
- Authority
- CN
- China
- Prior art keywords
- axis
- vertical
- split pin
- car body
- control rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/10—Structural combination of fuel element, control rod, reactor core, or moderator structure with sensitive instruments, e.g. for measuring radioactivity, strain
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of control rod guide tubes and bundles split pin detection robot and localization method, it includes car body, vertical lifting mechanism, probe assembly, video location mechanism and Three Degree Of Freedom detent mechanism, Three Degree Of Freedom detent mechanism includes θ axle drive mechanisms, Y-axis drive mechanism and X-axis drive mechanism, vertical lifting mechanism is installed in X-axis drive mechanism, θ axle drive mechanisms are installed on vertical lifting mechanism, probe assembly is installed in θ axle drive mechanisms, the driving direction and Y-axis driving direction of X-axis drive mechanism are perpendicular and parallel with car body upper surface, θ axles drive mechanism drives probe assembly rotation, the vertical car body upper surface of vertical lifting mechanism.Limited visual space can be overcome to influence, realization is accurately positioned, and provides certain flexibility, adaptive location error and alignment error, and probe chip and split pin contact are constant, are advantageous to the repeatability of ultrasonic examination.
Description
Technical field
The present invention relates to nuclear power generating equipment detection field, more particularly to a kind of control rod guide tubes and bundles split pin detection robot and
Localization method.
Background technology
Control rod guide tubes and bundles split pin is located in nuclear power plant reactor upper-part in-reactor component, and it, which is acted on, is oriented to for control rod
Cylinder provides positioning and lateral support, and can control rod fall important on request when being nuclear power generating sets power adjusting and emergent shutdown
Influence factor.Repeatedly there is split pin failure phenomenon in external nuclear power station, and its consequence is embodied in two aspects, one is control rod is led
Misplaced to cylinder, and then influence control rod drop time, the second is the opening pin member of fracture is returned as foreign matter into nuclear power station one
Circulated in road, other visual plants can be damaged, influence the integrality of nuclear power generating equipment.It is therefore desirable to control rod guide tubes and bundles opening
Pin implements inservice inspection, to monitor the quality state in its running, improves the reliability, security, integrality of nuclear power station.
Inservice inspection is typically carried out during nuclear power generating sets overhaul.During overhaul, upper-part in-reactor component component is integrally deposited
It is placed in component pond.To carry out the ultrasonic examination of split pin key area, insertion opening pin that a kind of flat need to be popped one's head in is recessed
In groove, groove is in installment state width between 2.696mm~2.896mm, and probe assembly width is in 2.4mm or so, under water
Positioning accuracy request is higher.And the opening recessed upper Turbogrid plates bottom surface 37.75mm of pin end, this observation to split pin end face and
Positioning brings great difficulty.
The content of the invention
It is an object of the invention to provide a kind of achievable ultrasonic probe component Three Degree Of Freedom high accuracy positioning and vertical liter
Drop, to implement the control rod guide tubes and bundles split pin detection machine of control rod guide tubes and bundles split pin ultrasonic examination below in-pile component
Device people.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：A kind of control rod guide tubes and bundles split pin detection
Robot, it includes car body, vertical lifting mechanism, probe assembly, video location mechanism and is installed on the car body
Three Degree Of Freedom detent mechanism, the Three Degree Of Freedom detent mechanism includes θ axles drive mechanism, the Y that is installed on the car body
Axle drive mechanism and the X-axis drive mechanism being installed in the Y-axis drive mechanism, the vertical lifting mechanism are installed on the X
In axle drive mechanism, the θ axles drive mechanism is installed on the vertical lifting mechanism, and the probe assembly is installed on the θ
In axle drive mechanism, the driving direction and Y-axis driving direction of the X-axis drive mechanism it is perpendicular and with the car body upper end
Face is parallel, and the θ axles drive mechanism drives the probe assembly rotation, and the vertical lifting mechanism is vertically on the car body
End face.
Optimization, the car body includes cover body, two cars being installed in two wherein relative side walls of the cover body
Wheel assembly, it is seal-installed on the transmission component being connected in the cover body and with the vehicle wheel component.
Optimization, each vehicle wheel component includes active synchronization belt wheel, driven synchronous pulley and is connected to the master
Double cog synchronous belt on dynamic synchronous pulley and driven synchronous pulley.
Optimization, the Y-axis drive mechanism is led including the Y-axis guide rail on the car body upper surface, with the Y-axis
The Y-axis screw component of the parallel setting of rail, the Y for being slidably connected in the Y-axis guide rail and being connected with the Y-axis screw component
Axle base and the y-axis motor of the driving Y-axis screw component movement, the output shaft of the y-axis motor and the Y-axis screw mandrel group
The screw mandrel of part is parallel or is coaxially disposed.
Further, the X-axis drive mechanism is on the Y-axis base and perpendicular with the Y-axis guide rail including being fixed on
The X-axis guide rail of setting, be installed on the Y-axis base and the X-axis screw component of setting parallel with the X-axis guide rail, slide
The X-axis base that is connected in the X-axis guide rail and is mutually fixedly connected with the nut of the X-axis screw component and for driving
State the X-axis motor of X-axis screw component rotation.
Further, the perpendicular setting of the screw mandrel of the X-axis motor and the X-axis screw component and both by boring tooth
Wheel group is mutually connected, and X-axis motor setting parallel with the y-axis motor, the X-axis base has extension, described
Extension is provided with the X-axis framework for being used for installing the bevel gear set, and the X-axis motor is fixedly installed in the X-axis framework.
Optimization, the vertical lifting mechanism includes vertical installing plate, the installation that the vertical car body upper surface is set
In on the vertical one of side of installing plate and the telescopic direction vertical cylinder that vertically the car body upper surface is set, peace
Side equipped with the vertical cylinder be first side, the vertical lifting mechanism also including being installed in the first side and
The vertical guide of setting parallel with the telescopic direction of the vertical cylinder, be slidably connected in the vertical guide and with it is described
The vertical base that the piston rod of vertical cylinder is mutually fixedly connected.
Optimization, video location mechanism includes the coarse positioning portion being installed on the car body and is installed on described vertical
Fine positioning portion on elevating mechanism, the fine positioning portion are installed on side on vertical installing plate and relative with the first side
On.Coarse positioning portion bag video rotating seat, the horizontal camera being installed on rotary video rotating seat, the fine positioning portion
For vertically arranged vertical camera, the shooting direction of vertical camera is upward.
Optimization, the probe assembly includes probe chip, chip fixed mount, bottom plate for fixing the probe chip
And the first Buffer Unit between the bottom plate and the chip fixed mount is connected to, first Buffer Unit and the crystalline substance
The second Buffer Unit is additionally provided between piece fixed mount, second Buffer Unit includes what is be connected with first Buffer Unit
Middle plate, the cylinder being sheathed on the middle plate and the elastic caoutchouc for being fixed on the inner barrel, the chip fixed mount are consolidated
Surely it is inserted in the elastic caoutchouc and gap between the middle plate is present, the probe chip is higher by with the chip fixed mount
The height of the second Buffer Unit part is more than the distance of the supreme Turbogrid plates lower surface in split pin groove bosom, and the distance is
Compression distance.
Present invention also offers a kind of localization method of detection opening pin, it comprises the following steps：
(1) is using horizontal camera observation underwater environment, and controls detection robot to be moved under split pin to be detected
Near side.
(2) establish vertical camera coordinate system, using vertical camera center as origin, using parallel to X-direction as X side
To so that parallel to Y direction, as Y-direction, probe assembly center is fixed with vertical camera center relative position, △ X are 0, △ Y
For fixed value, and probe assembly inceptive direction is parallel with camera coordinate system X-direction；
(3) utilizes vertical camera shooting split pin end face figure like, the seat of the relative camera of extraction opening pin center
Mark and FLUTE ANGLE, using the X/Y detent mechanisms of robot, by vertical cam movement to split pin center alignment, probe group
Part is by θ spindle motors driving rotation to FLUTE ANGLE；
(4) detent mechanisms Y-axis movement △ Y, such probe assembly are fully located in below split pin, can be by being vertically moved up or down
Mechanism rises up into split pin groove.Optimization, the probe assembly includes probe chip, the chip for fixing the probe chip
Fixed mount, bottom plate and the first Buffer Unit being connected between the bottom plate and the chip fixed mount, first buffering
The second Buffer Unit is additionally provided between component and the chip fixed mount, second Buffer Unit includes and the described first buffering
Middle plate that component is connected, the cylinder being sheathed on the middle plate and the elastic caoutchouc for being fixed on the inner barrel, it is described
Chip fixed mount, which is fixed, is inserted in the elastic caoutchouc and exists between the middle plate gap, the probe chip and the crystalline substance
The height that piece fixed mount is higher by the second Buffer Unit part is more than the supreme Turbogrid plates lower surface in split pin groove bosom
Distance, the distance are compression distance.
The beneficial effects of the present invention are：Limited visual space can be overcome to influence, realization is accurately positioned, and is provided certain
Flexibility, adaptive location error and alignment error, and chip of popping one's head in is constant with split pin contact, is advantageous to ultrasonic wave and examines
The repeatability looked into.
Brief description of the drawings
Accompanying drawing 1 manually makees environment schematic for detection machine；
The three-dimensional view of detection robot when accompanying drawing 2 is probe chip insertion opening pin；
Accompanying drawing 3 is the structural representation of buffer limit mechanism；
The three-dimensional view of probe assembly when accompanying drawing 4 is probe chip insertion opening pin；
Accompanying drawing 5 is the sectional view of probe assembly；
Accompanying drawing 6 is the sectional view of probe assembly；
Accompanying drawing 7 is probe assembly cover plate and upper Turbogrid plates bottom surface distance 3mm after probe assembly is adjacent to split pin groove.
Embodiment
Shown embodiment is described in detail below to the present invention below in conjunction with the accompanying drawings：
As shown in Fig. 2 control rod guide tubes and bundles split pin detection robot includes car body 1, vertical lifting mechanism, probe group
Part, video location mechanism and the Three Degree Of Freedom detent mechanism being installed on the car body 1, the Three Degree Of Freedom detent mechanism
Including θ axles drive mechanism, the Y-axis drive mechanism being installed on the car body 1 and the X being installed in the Y-axis drive mechanism
Axle drive mechanism, the vertical lifting mechanism are installed in the X-axis drive mechanism, and the θ axles drive mechanism is installed on described
On vertical lifting mechanism, the probe assembly is installed in the θ axles drive mechanism, the driving direction of the X-axis drive mechanism
Perpendicular with Y-axis driving direction and parallel with the upper surface of car body 1, the θ axles drive mechanism drives the probe
Component rotates, the vertical upper surface of car body 1 of the vertical lifting mechanism.
The car body 1 include cover body, be installed in two wherein relative side walls of the cover body two vehicle wheel components,
The transmission component being connected in the cover body and with the vehicle wheel component is seal-installed on, sealing cover body uses stainless steel material system
Into, there is sealing ring between the Mosaic face of stainless steel, and inert gas is connected with seal closure body, make the pressure in seal closure body big
In cover external pressure.
Each vehicle wheel component includes active synchronization belt wheel 2, driven synchronous pulley 3 and is connected to the active synchronization
Double cog synchronous belt 4 on belt wheel 2 and driven synchronous pulley 3.
The Y-axis drive mechanism include Y-axis guide rail 5 on the upper surface of car body 1, with the phase of Y-axis guide rail 5
The Y-axis screw component 6 be arrangeding in parallel, the Y for being slidably connected in the Y-axis guide rail 5 and being connected with the Y-axis screw component 6
The y-axis motor 8 that axle base 7 and the driving Y-axis screw component 6 move, the output shaft of the y-axis motor 8 and the Y-axis silk
The screw mandrel of bar assembly 6 is parallel or is coaxially disposed.
The X-axis drive mechanism include be fixed on the Y-axis base 7 and with the X of the 5 perpendicular setting of Y-axis guide rail
Axis rail 9, be installed on the Y-axis base 7 and the X-axis screw component 10 with the 9 parallel setting of X-axis guide rail, slide connect
The X-axis base 13 that is connected in the X-axis guide rail 9 and is mutually fixedly connected with the nut of the X-axis screw component 10 and for driving
The X-axis motor 12 that the dynamic X-axis screw component 10 rotates.
The perpendicular setting of screw mandrel of the X-axis motor 12 and the X-axis screw component 10 and both pass through bevel gear set 11
Mutually it is connected, the X-axis motor 12 and the 8 parallel setting of y-axis motor, the X-axis base 13 has extension, described
Extension is provided with the X-axis framework 14 for being used for installing the bevel gear set 11, and the X-axis motor 12 is fixedly installed in the X-axis
In framework 14.
The vertical lifting mechanism includes the vertical installing plate 15 of the vertical upper surface of car body 1 setting, is installed on institute
State on vertical 15 one of side of installing plate and the telescopic direction vertical cylinder 16 that vertically upper surface of car body 1 is set,
The side for being provided with the vertical cylinder 16 is first side, and the vertical lifting mechanism also includes being installed on the first side
The vertical guide 17 of setting upper and parallel with the telescopic direction of the vertical cylinder 16, it is slidably connected to the vertical guide 17
Vertical base 18 that is upper and being mutually fixedly connected with the piston rod of the vertical cylinder 16.
The θ axles drive mechanism includes θ spindle motors 19 and is connected between the probe assembly and the θ spindle motors 19
Connector.The vertical base 18 has the wing plate 20 parallel with the upper surface of car body 1, and the θ spindle motors 19 are installed on
On the wing plate 20.
The vertical lifting mechanism also includes the buffer limit mechanism for being connected to the first side upper end.The buffering
Fixed board 21 that position-limit mechanism includes mutually being fixedly connected with the vertical upper end of installing plate 15, be arranged in it is slow in the fixed board 21
Jumper bar 22, be fixed on the bottom of buffer bar 22 and positioned at vertical base 18 sliding block 23 travel path on slide plate 24
And it is connected to the stage clip 25 between the slide plate 24 and the fixed board 21 and being arranged on the buffer bar 22.
As shown in Figure 4,5, 6, probe assembly 70 includes probe chip 71, consolidated for fixing the chip of the probe chip 71
Determine frame 72, bottom plate 78, the first Buffer Unit being connected between the bottom plate 78 and the chip fixed mount 72 and located at institute
State the second Buffer Unit between the first Buffer Unit and the chip fixed mount 72.
Second Buffer Unit include be connected with first Buffer Unit middle plate 75, be sheathed on the middle plate 75
On cylinder 74, the elastic rubber ring 79 that is fixed on inside the cylinder 74 and be covered on the cylinder 74 and be sheathed on institute
State the cover plate 73 on chip fixed mount 72, the chip fixed mount 72 fix be inserted in the elastic rubber ring 79 and with it is described
Gap between middle plate 75 be present, the probe chip 71 is higher by the height of the second Buffer Unit part with the chip fixed mount 72
Degree is more than the distance of the supreme lower surface of Turbogrid plates 722 in the groove bosom of split pin 721, and the distance is compression distance, the compression
1~5mm of distance.The bottom of chip fixed mount 72 has the snap ring 716 extended radially outward, the elastic rubber ring 79
Middle part offers the through hole of insertion, and the through-hole wall is provided with the neck to match with the snap ring 716, and the snap ring 716 blocks
In the neck.The clamp is in runway shape, and it has two parallel straight flanges and the arc being connected between two straight flanges
Shape side.When probe chip 71 needs adaptability rotation to make, elastic rubber ring 79 is completed with the rotational deformation of chip fixed mount 72
Resetted after detection.
The lower surface of middle plate 75 has the extending column 714 that extends downwardly and by the bottom of extending column 714 along extending column
714 annular slab 715 to extend radially outwardly, first Buffer Unit include multiple while are arranged in the annular slab 715
With the lead 76 in the bottom plate 78, be sheathed on each lead 76 and positioned at the annular slab 715 and the bottom
Support spring 77 between plate 78, the both ends of lead 76, which are provided with, prevents its spiral shell to be come off from annular slab 715 and bottom plate 78
Cap 717.
As shown in figure 4, when probe assembly tip contact 721 end face of split pin, if any certain deviations or installation
Error, probe assembly can lean on elastic rubber ring 79 and support spring 77 to deform upon adjust automatically posture；When probe assembly top
After termination contacts the groove top of split pin 721, (mechanism such as cylinder can be real for the vertical lifting mechanism that driving probe moves up and down
It is existing, non-invention emphasis, will not be described here) continue to rise, until cover plate 73 contacts with upper Turbogrid plates 722, support spring 77
Start to compress with elastic rubber ring 79.Now, probe assembly and the contact of split pin 721 are support spring 77 and elastic caoutchouc
Circle 79 produces the elastic force of 1~5mm deformation altogether, and keeps constant, most preferably takes 3mm.This probe assembly has certain flexibility,
Adaptive location error and alignment error, and can be achieved with ultrasonic probe and split pin 721 without the equipment of additional detected pressure
Contact is constant within the required range, is advantageous to the repeatability of ultrasonic examination.
Video location mechanism includes the coarse positioning portion being installed on the car body 1 and is installed on the vertical conveyor
Fine positioning portion on structure, the fine positioning portion are installed on vertical installing plate 15 and on the side relative with the first side.
Coarse positioning portion bag video rotating seat 26, the horizontal camera 27 being installed on rotary video rotating seat 26, the essence are fixed
Position portion is vertically arranged vertical camera 28, the shooting direction of vertical camera 28 be provided with upward, in its camera lens circular lamp with
Eliminate different depth caused by shade, overcome influence of the underwater environment to photographic effect.
Car body 1 is provided with the subplate 29 to extension on the outside of car, and subplate 29 is provided with the cable for collecting each part
Take-up folder 30.
Before the control cabinet air bleeding valve of cylinder described above plus overflow valve, make cylinder malleation all the time, in the deep water for realizing cylinder
Waterproof.
The localization method of detection robot uses hand eye coordination technology and vision positioning technology.Establish vertical camera coordinate
System, using vertical camera center as origin, using parallel to X-direction as X-direction, using parallel to Y direction as Y-direction, probe
Component center is fixed with vertical camera center relative position, and △ X are that 0, △ Y are fixed value, and probe assembly inceptive direction with
Camera coordinate system X-direction is parallel, and split pin end face figure like, relative the taking the photograph of extraction opening pin center are shot using vertical camera
As the coordinate and FLUTE ANGLE of head, using the X/Y detent mechanisms of robot, by vertical cam movement to opening pin center pair
Together, probe assembly is by θ spindle motors driving rotation to FLUTE ANGLE.This process can be measured repeatedly to be accurately positioned with realizing.Finally, it is fixed
Position mechanism Y-axis movement △ Y, such probe assembly are fully located in below split pin, can rise up into split pin by vertical lifting mechanism
Groove.When probe assembly tip contact 721 end face of split pin, if any certain deviations or alignment error, probe assembly
Elastic rubber ring and support spring can be leaned on to deform upon adjust automatically posture；When probe assembly tip contact to split pin groove
Behind top, elevating mechanism continues to rise, until cover plate contacts with upper Turbogrid plates 722, elastic rubber ring and support spring start to press
Contracting.Now, probe assembly is the elastic force of elastic rubber ring generation 3mm deformation with split pin contact, and keeps constant.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that spirit is made, should all be included within the scope of the present invention.
Claims (10)
1. a kind of control rod guide tubes and bundles split pin detects robot, it is characterised in that：It include car body, vertical lifting mechanism,
Probe assembly, video location mechanism and the Three Degree Of Freedom detent mechanism being installed on the car body, the Three Degree Of Freedom are determined
Position mechanism includes θ axles drive mechanism, the Y-axis drive mechanism being installed on the car body and is installed on the Y-axis drive mechanism
On X-axis drive mechanism, the vertical lifting mechanism is installed in the X-axis drive mechanism, and the θ axles drive mechanism is installed on
On the vertical lifting mechanism, the probe assembly is installed in the θ axles drive mechanism, the driving of the X-axis drive mechanism
Direction and Y-axis driving direction are perpendicular and parallel with the car body upper surface, and the θ axles drive mechanism drives the spy
Head assembly rotates, the vertical car body upper surface of the vertical lifting mechanism.
2. control rod guide tubes and bundles split pin according to claim 1 detects robot, it is characterised in that：The car body bag
Include cover body, two vehicle wheel components being installed in two wherein relative side walls of the cover body, be seal-installed in the cover body
And the transmission component being connected with the vehicle wheel component.
3. control rod guide tubes and bundles split pin according to claim 1 detects robot, it is characterised in that：Each wheel
Component includes active synchronization belt wheel, driven synchronous pulley and is connected on the active synchronization belt wheel and driven synchronous pulley
Double cog synchronous belt.
4. control rod guide tubes and bundles split pin according to claim 1 detects robot, it is characterised in that：The Y-axis driving
Mechanism include Y-axis guide rail on the car body upper surface, setting parallel with the Y-axis guide rail Y-axis screw component,
The Y-axis base and the driving Y-axis screw mandrel for being slidably connected in the Y-axis guide rail and being connected with the Y-axis screw component
The y-axis motor of component movement, the output shaft of the y-axis motor is parallel with the screw mandrel of the Y-axis screw component or is coaxially disposed.
5. control rod guide tubes and bundles split pin according to claim 4 detects robot, it is characterised in that：The X-axis driving
Mechanism includes being fixed on X-axis guide rail on the Y-axis base and with the perpendicular setting of the Y-axis guide rail, is installed on the Y-axis bottom
On seat and the X-axis screw component of setting parallel with the X-axis guide rail, be slidably connected in the X-axis guide rail and with the X-axis
The X-axis base and the X-axis motor for driving the X-axis screw component to rotate that the nut of screw component is mutually fixedly connected.
6. control rod guide tubes and bundles split pin according to claim 5 detects robot, it is characterised in that：The X-axis motor
Setting perpendicular with the screw mandrel of the X-axis screw component and both be mutually connected by bevel gear set, the X-axis motor and institute
The parallel setting of y-axis motor is stated, the X-axis base has extension, and the extension, which is provided with, to be used to install the bevel gear
The X-axis framework of group, the X-axis motor are fixedly installed in the X-axis framework.
7. control rod guide tubes and bundles split pin according to claim 1 detects robot, it is characterised in that：The vertical lift
Mechanism includes the vertical installing plate of the vertical car body upper surface setting, is installed on the vertical one of side of installing plate
The upper and telescopic direction vertical cylinder that vertically the car body upper surface is set, the side for being provided with the vertical cylinder is first
Side, the vertical lifting mechanism also include being installed in the first side and equal with the telescopic direction of the vertical cylinder
Vertical guide that row is set, it is slidably connected in the vertical guide and is mutually fixedly connected with the piston rod of the vertical cylinder
Vertical base.
8. control rod guide tubes and bundles split pin according to claim 1 detects robot, it is characterised in that：Video location mechanism
Including the coarse positioning portion being installed on the car body and the fine positioning portion being installed on the vertical lifting mechanism, the essence
Location division is installed on vertical installing plate and on the side relative with the first side, coarse positioning portion bag video rotating seat, peace
Loaded on the horizontal camera on rotary video rotating seat, the fine positioning portion is vertically arranged vertical camera, is erected
To camera shooting direction upward.
9. control rod guide tubes and bundles split pin according to claim 1 detects robot, it is characterised in that：The probe assembly
Including probe chip, for fixing the probe chip fixed mount of chip, bottom plate and being connected to the bottom plate and the crystalline substance
The first Buffer Unit between piece fixed mount, the second buffering is additionally provided between first Buffer Unit and the chip fixed mount
Component, second Buffer Unit include the middle plate being connected with first Buffer Unit, the cylinder being sheathed on the middle plate
Body and the elastic caoutchouc for being fixed on the inner barrel, the chip fixed mount fix be inserted in the elastic caoutchouc and with
Gap between the middle plate be present, the probe chip is higher by the height of the second Buffer Unit part with the chip fixed mount
More than the distance of the supreme Turbogrid plates lower surface in split pin groove bosom, the distance is compression distance.
10. a kind of control rod guide tubes and bundles split pin using described in claim 8 detects the positioning side of robot detection opening pin
Method, it is characterised in that it comprises the following steps：
(1) is using horizontal camera observation underwater environment, and it is attached below split pin to be detected to control detection robot to be moved to
Closely.
(2) establish vertical camera coordinate system, using vertical camera center as origin, using parallel to X-direction as X-direction, with
It is Y-direction parallel to Y direction, probe assembly center is fixed with vertical camera center relative position, and △ X are that 0, △ Y are solid
Definite value, and probe assembly inceptive direction is parallel with camera coordinate system X-direction；
(3) using vertical camera shooting split pin end face figure like, extraction opening pin center relative camera coordinate with
FLUTE ANGLE, using the X/Y detent mechanisms of robot, by vertical cam movement to split pin center alignment, probe assembly is by θ
Spindle motor driving is rotated to FLUTE ANGLE；
(4) detent mechanisms Y-axis movement △ Y, such probe assembly are fully located in below split pin, can be by vertical lifting mechanism
Rise up into split pin groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711043800.1A CN107731329B (en) | 2017-10-31 | 2017-10-31 | Control rod guide tubes and bundles split pin detects robot and localization method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711043800.1A CN107731329B (en) | 2017-10-31 | 2017-10-31 | Control rod guide tubes and bundles split pin detects robot and localization method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107731329A true CN107731329A (en) | 2018-02-23 |
| CN107731329B CN107731329B (en) | 2019-09-10 |
Family
ID=61202445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711043800.1A Active CN107731329B (en) | 2017-10-31 | 2017-10-31 | Control rod guide tubes and bundles split pin detects robot and localization method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107731329B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890632A (en) * | 2018-06-21 | 2018-11-27 | 安徽大学 | A kind of radioactive seed source Preparation equipment tapered channel fault treating apparatus |
| CN109147972A (en) * | 2018-08-31 | 2019-01-04 | 中广核检测技术有限公司 | Reactor control rod guide cylinder guide card non-destructive testing device |
| CN109545404A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
| CN109760006A (en) * | 2019-01-17 | 2019-05-17 | 西南科技大学 | A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member |
| CN110000188A (en) * | 2019-03-28 | 2019-07-12 | 北京理工大学 | Detector automatic recovery method and system suitable for nuclear reactor |
| CN110125901A (en) * | 2019-05-24 | 2019-08-16 | 合肥工业大学 | Operation becomes the robotic device of power distribution cabinet |
| CN110736427A (en) * | 2019-10-25 | 2020-01-31 | 中国核动力研究设计院 | Machine vision positioning system and positioning method for reactor detector assembly dismantling device |
| CN110824008A (en) * | 2019-11-19 | 2020-02-21 | 中广核检测技术有限公司 | Ultrasonic detection probe and method for cotter pin fastener |
| CN111667934A (en) * | 2020-06-19 | 2020-09-15 | 中国核动力研究设计院 | Loading and unloading method for layered arrangement driving mechanism of nuclear reactor test reactor |
| CN113917920A (en) * | 2021-09-30 | 2022-01-11 | 江西省通讯终端产业技术研究院有限公司 | VSLAM-based method and system for detecting cotter pin of guide cylinder of autonomous control rod |
| CN114322870A (en) * | 2021-12-31 | 2022-04-12 | 国家石油天然气管网集团有限公司 | Lifting device for be used for electromagnetic ultrasonic testing probe |
| CN113917920B (en) * | 2021-09-30 | 2024-05-03 | 江西省通讯终端产业技术研究院有限公司 | VSLAM-based method and system for detecting cotter pin of guide cylinder of autonomous control rod |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10111381A (en) * | 1996-10-08 | 1998-04-28 | Mitsubishi Heavy Ind Ltd | Robot device for inspecting small tube |
| JP2007003400A (en) * | 2005-06-24 | 2007-01-11 | Hitachi Ltd | Inspection device for control rod through-hole member |
| CN102539525A (en) * | 2010-12-07 | 2012-07-04 | 核动力运行研究所 | Device for carrying out ultrasonic automatic inspection on pipe fittings penetrating through top cover of pressure vessel |
| JP5893833B2 (en) * | 2011-02-02 | 2016-03-23 | 三菱重工業株式会社 | Heat transfer tube inspection device and inspection method |
| CN205722816U (en) * | 2016-04-28 | 2016-11-23 | 蒋丹 | Fuel assembly control rod guide pipe pulls and pushes force detection system |
-
2017
- 2017-10-31 CN CN201711043800.1A patent/CN107731329B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10111381A (en) * | 1996-10-08 | 1998-04-28 | Mitsubishi Heavy Ind Ltd | Robot device for inspecting small tube |
| JP2007003400A (en) * | 2005-06-24 | 2007-01-11 | Hitachi Ltd | Inspection device for control rod through-hole member |
| CN102539525A (en) * | 2010-12-07 | 2012-07-04 | 核动力运行研究所 | Device for carrying out ultrasonic automatic inspection on pipe fittings penetrating through top cover of pressure vessel |
| JP5893833B2 (en) * | 2011-02-02 | 2016-03-23 | 三菱重工業株式会社 | Heat transfer tube inspection device and inspection method |
| CN205722816U (en) * | 2016-04-28 | 2016-11-23 | 蒋丹 | Fuel assembly control rod guide pipe pulls and pushes force detection system |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108890632A (en) * | 2018-06-21 | 2018-11-27 | 安徽大学 | A kind of radioactive seed source Preparation equipment tapered channel fault treating apparatus |
| CN109147972A (en) * | 2018-08-31 | 2019-01-04 | 中广核检测技术有限公司 | Reactor control rod guide cylinder guide card non-destructive testing device |
| CN109545404A (en) * | 2018-10-29 | 2019-03-29 | 中国核工业二三建设有限公司 | A kind of automatic detection device for nuclear power CV container butt weld ray detection |
| CN109760006A (en) * | 2019-01-17 | 2019-05-17 | 西南科技大学 | A kind of atomic power robot and method for rapidly positioning of view-based access control model reference member |
| CN110000188A (en) * | 2019-03-28 | 2019-07-12 | 北京理工大学 | Detector automatic recovery method and system suitable for nuclear reactor |
| CN110125901A (en) * | 2019-05-24 | 2019-08-16 | 合肥工业大学 | Operation becomes the robotic device of power distribution cabinet |
| CN110736427A (en) * | 2019-10-25 | 2020-01-31 | 中国核动力研究设计院 | Machine vision positioning system and positioning method for reactor detector assembly dismantling device |
| CN110736427B (en) * | 2019-10-25 | 2021-05-18 | 中国核动力研究设计院 | Machine vision positioning system and positioning method for reactor detector assembly dismantling device |
| CN110824008A (en) * | 2019-11-19 | 2020-02-21 | 中广核检测技术有限公司 | Ultrasonic detection probe and method for cotter pin fastener |
| CN110824008B (en) * | 2019-11-19 | 2022-05-24 | 中广核检测技术有限公司 | Ultrasonic detection probe and detection method for control rod guide cylinder cotter pin |
| CN111667934A (en) * | 2020-06-19 | 2020-09-15 | 中国核动力研究设计院 | Loading and unloading method for layered arrangement driving mechanism of nuclear reactor test reactor |
| CN111667934B (en) * | 2020-06-19 | 2022-04-15 | 中国核动力研究设计院 | Loading and unloading method for layered arrangement driving mechanism of nuclear reactor test reactor |
| CN113917920A (en) * | 2021-09-30 | 2022-01-11 | 江西省通讯终端产业技术研究院有限公司 | VSLAM-based method and system for detecting cotter pin of guide cylinder of autonomous control rod |
| CN113917920B (en) * | 2021-09-30 | 2024-05-03 | 江西省通讯终端产业技术研究院有限公司 | VSLAM-based method and system for detecting cotter pin of guide cylinder of autonomous control rod |
| CN114322870A (en) * | 2021-12-31 | 2022-04-12 | 国家石油天然气管网集团有限公司 | Lifting device for be used for electromagnetic ultrasonic testing probe |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107731329B (en) | 2019-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107731329A (en) | Control rod guide tubes and bundles split pin detects robot and localization method | |
| CN102049638B (en) | Circular seam welding robot device | |
| CN211707423U (en) | Rotating disc type watch glass lens detector | |
| CN208239091U (en) | A kind of five axis optical platforms for HUD optical detection | |
| CN206393062U (en) | A kind of solar battery sheet scribing machine | |
| CN209570152U (en) | A kind of guide rail detection device based on computer vision | |
| CN103979031B (en) | Nuclear power station steam generator secondary side tripod head type climbs wall detection robot | |
| CN205447152U (en) | Cloud platform and unmanned aerial vehicle | |
| CN203053874U (en) | Microscope device for printed circuit board (PCB) detection | |
| CN110707593B (en) | Electric power inspection robot | |
| CN104591054B (en) | One seeks a mouthful AutoCappingmachine | |
| CN209118002U (en) | A kind of multiple-station rotation Demura equipment | |
| CN111137640A (en) | Screen color inspection machine | |
| CN207231397U (en) | A kind of pcb board hole position precision checking equipment | |
| CN216013682U (en) | Laser radar detection device of inspection robot | |
| CN215635741U (en) | Integral type automatically regulated pipeline robot wheel device | |
| CN103681436B (en) | Absorptive table | |
| CN110850702B (en) | Watch lens detection machine | |
| CN107907306A (en) | A kind of camshaft optical detection apparatus | |
| CN208304233U (en) | A kind of robotic laser scanning welding system | |
| CN211319004U (en) | Watch lens detector | |
| CN111667935A (en) | Integral dismounting device for inversion type driving mechanism of nuclear reactor | |
| CN207104249U (en) | Arrangement for adjusting height | |
| CN112828462A (en) | Laser welding equipment for packaging electronic device | |
| CN220457322U (en) | Stop device, photovoltaic board subassembly, photovoltaic support subassembly, photovoltaic board erection equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |