CN107731329B - 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
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- CN107731329B CN107731329B CN201711043800.1A CN201711043800A CN107731329B CN 107731329 B CN107731329 B CN 107731329B CN 201711043800 A CN201711043800 A CN 201711043800A CN 107731329 B CN107731329 B CN 107731329B
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- 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
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- 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
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Abstract
The invention discloses a kind of control rod guide tubes and bundles split pin detection robot and localization methods, it includes vehicle ontology, vertical lifting mechanism, probe assembly, video location mechanism and Three Degree Of Freedom positioning mechanism, Three Degree Of Freedom positioning mechanism includes θ axis driving mechanism, Y-axis driving mechanism and X-axis driving mechanism, vertical lifting mechanism is installed in X-axis driving mechanism, θ axis driving mechanism is installed on vertical lifting mechanism, probe assembly is installed in θ axis driving mechanism, the driving direction and Y-axis driving direction of X-axis driving mechanism are perpendicular and parallel with vehicle ontology upper surface, θ axis driving mechanism drives probe assembly rotation, vertical lifting mechanism vertical vehicle ontology upper surface.Limited visual space can be overcome to influence, realize and be accurately positioned, and certain flexibility is provided, adaptive location error and installation error, and probe chip and split pin contact pressure are constant, are conducive to the repeatability of ultrasonic examination.
Description
Technical field
The present invention relates to nuclear power generating equipment detection field, in particular to a kind of control rod guide tubes and bundles split pin detection robot and
Localization method.
Background technique
Control rod guide tubes and bundles split pin is located in nuclear power plant reactor upper-part in-reactor component, and effect is for control rod guiding
Cylinder provides positioning and lateral support, and can control rod fall important as required when being nuclear power unit power regulation and emergency shutdown
Influence factor.Repeatedly there is split pin failure phenomenon in external nuclear power station, and consequence is embodied in two aspects, one is control rod is led
It misplaces to cylinder, and then influences control rod drop time, the second is the opening pin member of fracture enters nuclear power station one as foreign matter and returns
It is recycled in road, other important equipments can be damaged, influence the integrality of nuclear power generating equipment.It is therefore desirable to be open to control rod guide tubes and bundles
Pin implements inservice inspection and improves reliability, safety, the integrality of nuclear power station to monitor the quality state in its operational process.
Inservice inspection generally carries out during nuclear power unit overhaul.When overhaul, upper-part in-reactor component component is integrally deposited
It is placed in component pond.For the ultrasonic examination for carrying out split pin key area, insertion opening pin that a kind of flat need to be popped one's head in is recessed
In slot, groove is in installation condition 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 to the observation of split pin end face and
Positioning brings great difficulty.
Summary of the invention
The object of the present invention is to provide a kind of achievable ultrasonic probe component Three Degree Of Freedom high accuracy positionings 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: a kind of control rod guide tubes and bundles split pin detects
Robot, it includes vehicle ontology, vertical lifting mechanism, probe assembly, video location mechanism and is installed on the vehicle ontology
Three Degree Of Freedom positioning mechanism, the Three Degree Of Freedom positioning mechanism includes θ axis driving mechanism, the Y that is installed on the vehicle ontology
Axis driving mechanism and the X-axis driving mechanism being installed in the Y-axis driving mechanism, the vertical lifting mechanism are installed on the X
In axis driving mechanism, the θ axis driving mechanism is installed on the vertical lifting mechanism, and the probe assembly is installed on the θ
In axis driving mechanism, the driving direction and Y-axis driving direction of the X-axis driving mechanism it is perpendicular and with vehicle ontology upper end
Face is parallel, and the θ axis driving mechanism drives the probe assembly rotation, and the vertical lifting mechanism is vertically on the vehicle ontology
End face.
Optimization, the vehicle ontology includes cover, is installed on two vehicles of the cover wherein in opposite two side walls
Wheel assembly is seal-installed on the transmission component being connected in the cover 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 driving mechanism includes Y-axis guide rail on the vehicle ontology upper surface, leads 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
Axis pedestal 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 rod group
The screw rod of part is parallel or is coaxially disposed.
Further, the X-axis driving mechanism is on the Y-axis pedestal 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 pedestal and the X-axis screw component of setting parallel with the X-axis guide rail, sliding
It is connected in the X-axis guide rail and the X-axis pedestal that 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 rod of the X-axis motor and the X-axis screw component and the two, which pass through, bores tooth
Wheel group is mutually sequentially connected, and X-axis motor setting parallel with the y-axis motor, the X-axis pedestal has extension, described
Extension is equipped with the X-axis framework 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 the vertical mounting plate of vertical vehicle ontology upper surface setting, installation
In on the vertical one of side of mounting plate and telescopic direction vertically the vehicle ontology upper surface setting vertical cylinder, peace
Side equipped with the vertical cylinder be first side, the vertical lifting mechanism further include be 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 pedestal that the piston rod of vertical cylinder is mutually fixedly connected.
Optimization, video location mechanism includes the coarse positioning portion being installed on the vehicle ontology and is installed on described vertical
Fine positioning portion on elevating mechanism, the fine positioning portion are installed on side on vertical mounting plate and opposite with the first side
On.Coarse positioning portion packet video rotating seat, the horizontal camera that is 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 pop one's head in chip, chip fixed frame, bottom plate for fixing the probe chip
And it is connected to the first Buffer Unit between the bottom plate and the chip fixed frame, first Buffer Unit and the crystalline substance
The second Buffer Unit is additionally provided between piece fixed frame, second Buffer Unit includes being connected with first Buffer Unit
Middle plate, the cylinder being sheathed on the middle plate and the elastic rubber for being fixed on the inner barrel, the chip fixed frame are solid
Surely it is inserted in the elastic rubber and between the middle plate there are gap, the probe chip is higher by with the chip fixed frame
The height of second Buffer Unit part is greater than the distance of the supreme Turbogrid plates lower end surface in split pin groove bosom, which is
Compression distance.
The present invention also provides a kind of localization methods of detection opening pin comprising following steps:
(1) observes underwater environment using horizontal camera, and controls detection robot and be moved under split pin to be detected
Near side.
(2) vertical camera coordinate system is established, using vertical camera center as origin, to be parallel to X-direction as the side X
To be parallel to Y direction as Y-direction, probe assembly center is fixed with vertical camera center relative position, and △ X is 0, △ Y
For fixed value, and probe assembly inceptive direction is parallel with camera coordinate system X-direction；
(3) shoots split pin end face figure like using vertical camera, extracts the seat of the opposite camera at split pin center
Vertical cam movement to split pin center is aligned, probe group by mark and FLUTE ANGLE using the X/Y positioning mechanism of robot
Part is by θ spindle motor driving rotation to FLUTE ANGLE；
(4) the mobile △ Y of positioning mechanism Y-axis, 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 pop one's head in chip, the chip for fixing the probe chip
Fixed frame, bottom plate and the first Buffer Unit being connected between the bottom plate and the chip fixed frame, first buffering
The second Buffer Unit is additionally provided between component and the chip fixed frame, second Buffer Unit includes and first buffering
Middle plate that component is connected, the cylinder being sheathed on the middle plate and the elastic rubber for being fixed on the inner barrel, it is described
The fixation of chip fixed frame is inserted in the elastic rubber and there are gap, the probe chip and the crystalline substances between the middle plate
The height that piece fixed frame is higher by second Buffer Unit part is greater than the supreme Turbogrid plates lower end 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, realize and be accurately positioned, and provided certain
Flexibility, adaptive location error and installation error, and pop one's head in chip and split pin contact pressure it is constant, be conducive to ultrasonic wave and examine
The repeatability looked into.
Detailed description of the invention
Attached drawing 1 is that detection machine manually makees environment schematic；
Attached drawing 2 is the three-dimensional view of detection robot when popping one's head in chip insertion opening pin；
Attached drawing 3 is the structural schematic diagram of buffer limit mechanism；
Attached drawing 4 is the three-dimensional view of probe assembly when popping one's head in chip insertion opening pin；
Attached drawing 5 is the cross-sectional view of probe assembly；
Attached drawing 6 is the cross-sectional view of probe assembly；
Attached drawing 7 is probe assembly cover board and upper Turbogrid plates bottom surface distance 3mm after probe assembly is adjacent to split pin groove.
Specific embodiment
Embodiment shown in reference to the accompanying drawing is described in detail below the present invention:
As shown in Fig. 2, control rod guide tubes and bundles split pin detection robot includes vehicle ontology 1, vertical lifting mechanism, probe group
Part, video location mechanism and the Three Degree Of Freedom positioning mechanism being installed on the vehicle ontology 1, the Three Degree Of Freedom positioning mechanism
Including θ axis driving mechanism, the Y-axis driving mechanism being installed on the vehicle ontology 1 and the X being installed in the Y-axis driving mechanism
Axis driving mechanism, the vertical lifting mechanism are installed in the X-axis driving mechanism, and the θ axis driving mechanism is installed on described
On vertical lifting mechanism, the probe assembly is installed in the θ axis driving mechanism, the driving direction of the X-axis driving mechanism
Perpendicular with Y-axis driving direction and parallel with 1 upper surface of vehicle ontology, the θ axis driving mechanism drives the probe
Component rotation, vertical 1 upper surface of vehicle ontology of the vertical lifting mechanism.
The vehicle ontology 1 include cover, be installed on two vehicle wheel components of the cover wherein in opposite two side walls,
It is seal-installed on the transmission component being connected in the cover and with the vehicle wheel component, sealing cover uses stainless steel material system
At there is sealing ring between the Mosaic face of stainless steel, and be connected with inert gas in seal closure body, keep the intracorporal pressure of seal closure 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 driving mechanism include Y-axis guide rail 5 on 1 upper surface of vehicle ontology, with 5 phase of Y-axis guide rail
Y-axis screw component 6 disposed 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
Axis pedestal 7 and the y-axis motor 8 of the driving movement of Y-axis screw component 6, the output shaft of the y-axis motor 8 and the Y-axis silk
The screw rod of bar assembly 6 is parallel or is coaxially disposed.
The X-axis driving mechanism includes being fixed on the Y-axis pedestal 7 and the X with the perpendicular setting of the Y-axis guide rail 5
Axis rail 9, be installed on the Y-axis pedestal 7 and the X-axis screw component 10 of setting parallel with the X-axis guide rail 9, sliding connect
It is connected in the X-axis guide rail 9 and the X-axis pedestal 13 that is mutually fixedly connected with the nut of the X-axis screw component 10 and for driving
Move the X-axis motor 12 that the X-axis screw component 10 rotates.
Screw rod perpendicular setting and the two of the X-axis motor 12 with the X-axis screw component 10 pass through bevel gear set 11
It is mutually sequentially connected, the X-axis motor 12 setting parallel with the y-axis motor 8, the X-axis pedestal 13 has extension, described
Extension is equipped with the X-axis framework 14 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 mounting plate 15 of vertical 1 upper surface of the vehicle ontology setting, is installed on institute
It states on the one of side of vertical mounting plate 15 and the vertical cylinder 16 of vertical 1 upper surface of the vehicle ontology setting of telescopic direction,
The side for being equipped with the vertical cylinder 16 is first side, and the vertical lifting mechanism further 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 is slidably connected to the vertical guide 17
Vertical pedestal 18 that is upper and being mutually fixedly connected with the piston rod of the vertical cylinder 16.
The θ axis driving mechanism includes θ spindle motor 19 and is connected between the probe assembly and the θ spindle motor 19
Connector.The vertical pedestal 18 has the wing plate 20 parallel with 1 upper surface of vehicle ontology, and the θ spindle motor 19 is installed on
On the wing plate 20.
The vertical lifting mechanism further includes the buffer limit mechanism for being connected to the first side upper end.The buffering
Position-limit mechanism includes the fixed board 21 being mutually fixedly connected with vertical 15 upper end of mounting plate, is arranged in delaying in the fixed board 21
Jumper bar 22, be fixed on 22 lower end of buffer bar and be located at vertical pedestal 18 sliding block 23 travel path on slide plate 24
And the pressure spring 25 for being connected 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 is solid including probe chip 71, the chip for fixing 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 frame 72 and is set to institute
State the second Buffer Unit between the first Buffer Unit and the chip fixed frame 72.
Second Buffer Unit includes the middle plate 75 being connected with first Buffer Unit, is 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 board 73 on chip fixed frame 72, the chip fixed frame 72 is fixed be inserted in the elastic rubber ring 79 and with it is described
There are gap between middle plate 75, the probe chip 71 is higher by the height of second Buffer Unit part with the chip fixed frame 72
Degree is greater than the distance of supreme 722 lower end surface of Turbogrid plates in 721 groove bosom of split pin, which is compression distance, the compression
1~5mm of distance.72 lower end of chip fixed frame has the snap ring 716 extended radially outward, the elastic rubber ring 79
Middle part offers the through-hole of perforation, and the through-hole wall is equipped with the card slot to match with the snap ring 716, and the snap ring 716 blocks
In the card slot.The snap-gauge is in runway shape, with 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 72 rotational deformation of chip fixed frame
It is resetted after detection.
75 lower end surface of middle plate has the extending column 714 extended downwardly and by 714 lower end of extending column along extending column
714 annular slab 715 to extend radially outwardly, first Buffer Unit include multiple while being arranged in the annular slab 715
With in the bottom plate 78 guide post 76, be sheathed in each guide post 76 and be located at the annular slab 715 and the bottom
Support spring 77 between plate 78,76 both ends of guide post are equipped with the spiral shell for preventing it from falling 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 deformation occurs adjust automatically posture；When probe assembly top
After termination contacts 721 groove top of split pin, (mechanisms such as cylinder can be real for the vertical lifting mechanism that driving probe moves up and down
Existing, non-present invention emphasis, this will not be repeated here) continue to rise, until cover board 73 is contacted with upper Turbogrid plates 722, support spring 77
Start to compress with elastic rubber ring 79.At this point, probe assembly and 721 contact pressure of split pin are support spring 77 and elastic rubber
Circle 79 generates the elastic force of the deformation of 1~5mm in total, and remains unchanged, and most preferably takes 3mm.This probe assembly has certain flexibility,
Adaptive location error and installation error, and the equipment without additional detected pressure can be achieved with ultrasonic probe and split pin 721
Contact pressure is constant within the required range, is conducive to the repeatability of ultrasonic examination.
Video location mechanism includes the coarse positioning portion being installed on the vehicle ontology 1 and is installed on the vertical conveyor
Fine positioning portion on structure, the fine positioning portion are installed on vertical mounting plate 15 and on the side opposite with the first side.
The horizontal camera 27 that coarse positioning portion packet video rotating seat 26, is 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 equipped with upward, in camera lens circular lamp with
It eliminates shade caused by different depth, overcome influence of the underwater environment to photographic effect.
Vehicle ontology 1 is equipped with the subplate 29 to extension on the outside of vehicle, and subplate 29 is equipped with the cable for collecting each component
Take-up folder 30.
Add overflow valve before the control cabinet exhaust valve of cylinder described above, makes cylinder positive pressure always, realize in the deep water of cylinder
Waterproof.
The localization method for detecting robot uses hand eye coordination technology and vision positioning technology.Establish vertical camera coordinate
System, to be parallel to X-direction as X-direction, to be parallel to Y direction as Y-direction, pops one's head in using vertical camera center as origin
Component center is fixed with vertical camera center relative position, and it is fixed value that △ X, which is 0, △ Y, and probe assembly inceptive direction with
Camera coordinate system X-direction is parallel, shoots split pin end face figure like using vertical camera, extracts the opposite of split pin center and takes the photograph
As the coordinate and FLUTE ANGLE of head, using the X/Y positioning mechanism of robot, by vertical cam movement to split pin center pair
Together, probe assembly is by θ spindle motor driving rotation to FLUTE ANGLE.This process can be measured repeatedly to realize and be accurately positioned.Finally, fixed
The mobile △ Y of position mechanism Y-axis, 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 installation error, probe assembly
Elastic rubber ring and support spring can be leaned on deformation occurs adjust automatically posture；When probe assembly tip contact to split pin groove
Behind top, elevating mechanism continues to rise, until cover board is contacted with upper Turbogrid plates 722, elastic rubber ring and support spring start to press
Contracting.At this point, probe assembly and split pin contact pressure are the elastic force that elastic rubber ring generates 3mm deformation, and remain unchanged.
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 cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by spirit, should be covered by the protection 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 vehicle ontology, vertical lifting mechanism,
Probe assembly, video location mechanism and the Three Degree Of Freedom positioning mechanism being installed on the vehicle ontology, the Three Degree Of Freedom are fixed
Position mechanism includes θ axis driving mechanism, the Y-axis driving mechanism being installed on the vehicle ontology and is installed on the Y-axis driving mechanism
On X-axis driving mechanism, the vertical lifting mechanism is installed in the X-axis driving mechanism, and the θ axis driving mechanism is installed on
On the vertical lifting mechanism, the probe assembly is installed in the θ axis driving mechanism, the driving of the X-axis driving mechanism
Direction and Y-axis driving direction are perpendicular and parallel with vehicle ontology upper surface, and the θ axis driving mechanism drives the spy
Head assembly rotation, the vertical vehicle ontology 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 vehicle ontology packet
Cover is included, two vehicle wheel components of the cover wherein in opposite two side walls is installed on, is seal-installed in the cover
And the transmission component being connected with the vehicle wheel component.
3. control rod guide tubes and bundles split pin according to claim 2 detects robot, it is characterised in that: each wheel
Component includes active synchronization belt wheel, driven synchronous pulley and is connected in 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 vehicle ontology upper surface, setting parallel with the Y-axis guide rail Y-axis screw component,
The Y-axis pedestal and the driving Y-axis screw rod for being slidably connected in the Y-axis guide rail and being connected with the Y-axis screw component
The mobile y-axis motor of component, the output shaft of the y-axis motor is parallel with the screw rod 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 include be fixed on the Y-axis pedestal and with the X-axis guide rail of the perpendicular setting of the Y-axis guide rail, be 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 pedestal that the nut of screw component is mutually fixedly connected and the X-axis motor for driving the X-axis screw component rotation.
6. control rod guide tubes and bundles split pin according to claim 5 detects robot, it is characterised in that: the X-axis motor
With the perpendicular setting of the screw rod of the X-axis screw component and the two is mutually sequentially connected by bevel gear set, the X-axis motor and institute
The parallel setting of y-axis motor is stated, the X-axis pedestal has extension, and the extension is equipped with for installing 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 mounting plate of vertical vehicle ontology upper surface setting, is installed on the one of side of vertical mounting plate
The upper and telescopic direction vertical cylinder that vertically vehicle ontology upper surface is arranged, the side for being equipped with the vertical cylinder is first
Side, the vertical lifting mechanism further include being installed in the first side and equal with the telescopic direction of the vertical cylinder
The vertical guide of row setting is slidably connected in the vertical guide and is mutually fixedly connected with the piston rod of the vertical cylinder
Vertical pedestal.
8. control rod guide tubes and bundles split pin according to claim 7 detects robot, it is characterised in that: video location mechanism
Including the coarse positioning portion being installed on the vehicle ontology and the fine positioning portion being installed on the vertical lifting mechanism, the essence
Positioning region is installed on vertical mounting plate and on the side opposite with the first side, coarse positioning portion packet 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 frame of chip, bottom plate and being connected to the bottom plate and the crystalline substance
The first Buffer Unit between piece fixed frame is additionally provided with the second buffering between first Buffer Unit and the chip fixed frame
Component, second Buffer Unit includes the middle plate being connected with first Buffer Unit, the cylinder that is sheathed on the middle plate
Body and the elastic rubber for being fixed on the inner barrel, the chip fixed frame is fixed be inserted in the elastic rubber and with
There are gap between the middle plate, the probe chip is higher by the height of second Buffer Unit part with the chip fixed frame
Greater than the distance of the supreme Turbogrid plates lower end surface in split pin groove bosom, which is compression distance.
10. a kind of positioning side using control rod guide tubes and bundles split pin detection robot detection opening pin according to any one of claims 8
Method, which is characterized in that itself the following steps are included:
(1) observes underwater environment using horizontal camera, and control detection robot be moved to it is attached below split pin to be detected
Closely；
(2) vertical camera coordinate system is established, using vertical camera center as origin, to be parallel to X-direction as X-direction, with
Being parallel to Y direction is Y-direction, and probe assembly center is fixed with vertical camera center relative position, and △ X is that 0, △ Y is solid
Definite value, and probe assembly inceptive direction is parallel with camera coordinate system X-direction；
(3) using vertical camera shoot split pin end face figure like, extract split pin center opposite camera coordinate with
Vertical cam movement to split pin center is aligned, probe assembly is by θ by FLUTE ANGLE using the X/Y positioning mechanism of robot
Spindle motor driving is rotated to FLUTE ANGLE；
(4) the mobile △ Y of positioning mechanism Y-axis, such probe assembly are fully located in below split pin, can be by vertical conveyor
Structure rises up into split pin groove.
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| JP3258575B2 (en) * | 1996-10-08 | 2002-02-18 | 三菱重工業株式会社 | Capillary inspection robot device |
| JP2007003400A (en) * | 2005-06-24 | 2007-01-11 | Hitachi Ltd | Inspection device for control rod through-hole member |
| CN102539525B (en) * | 2010-12-07 | 2013-11-06 | 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 |
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2017
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