CN111396850A - Positioning and guiding device for high-temperature gas cooled reactor steam generator tube plate maintenance and operation method - Google Patents
Positioning and guiding device for high-temperature gas cooled reactor steam generator tube plate maintenance and operation method Download PDFInfo
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- CN111396850A CN111396850A CN202010338702.6A CN202010338702A CN111396850A CN 111396850 A CN111396850 A CN 111396850A CN 202010338702 A CN202010338702 A CN 202010338702A CN 111396850 A CN111396850 A CN 111396850A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/24—Supporting, suspending, or setting arrangements, e.g. heat shielding
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F22—STEAM GENERATION
- F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
- F22B37/00—Component parts or details of steam boilers
- F22B37/02—Component parts or details of steam boilers applicable to more than one kind or type of steam boiler
- F22B37/38—Determining or indicating operating conditions in steam boilers, e.g. monitoring direction or rate of water flow through water tubes
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Abstract
A positioning and guiding device and an operation method for high temperature gas cooled reactor steam generator tube plate maintenance comprise a positioning device and a guiding device; the positioning device is used for checking position deviation by using machine vision through an industrial camera, after the position deviation is adjusted and aligned by a carrying platform, an expansion claw is expanded on a tube plate through a secondary cylinder formed by an outer cylinder body, an inner cylinder body and a piston rod, then a guide rod is fed in through a traction rope in the guide device, the positioning device and the guide device are fixedly butted through a quick-connection air lock, and a long rod can be guided by the maintenance equipment through the positioning guide device to be fed to a target heat transfer tube of the tube plate; the expansion claw is arranged in the heat transfer pipe in an expanded mode, so that the pneumatic gripper head is prevented from loosening and losing efficacy to cause equipment to fall to the ground when sudden faults occur, such as air loss, power loss and the like; the invention has the advantages of reasonable structure, simple and convenient operation, accurate positioning, safety and high efficiency.
Description
Technical Field
The invention relates to the technical field of steam generator tube plate maintenance, in particular to a positioning and guiding device for high-temperature gas cooled reactor steam generator tube plate maintenance and an operation method.
Background
The tube plate maintenance of the steam generator of the common pressurized water reactor has two modes: 1. an operator carries equipment to enter the tube box for maintenance operation; 2. the carrying platform directly sends the maintenance device to a specified heat transfer pipe pore for remote control maintenance. However, the structure of the high-temperature gas cooled reactor steam generator is greatly different from that of a common pressurized water reactor steam generator, a main steam pipe box of the high-temperature gas cooled reactor steam generator is in a horizontal transverse state, and an outlet pipe plate of the steam generator is in a vertical state; the distance between a flange nozzle of the main steam pipe box and an outlet tube plate of a steam generator is about 1.6m, the inner diameter of an opening of the flange nozzle of the main steam pipe box is about 0.6m, and the diameter of the pipe box is 0.8 m; the opening of the nozzle of the main steam pipe box is small in size, and the nozzle is far away from the pipe plate, so that operators can not conveniently carry equipment to enter the pipe box for overhauling operation; at the same time, the size of the carrying platform structure is limited, the load capacity is limited, the maintenance device is generally heavy and the working space position of the maintenance device and the carrying platform may interfere with each other.
Therefore, it is necessary to develop a positioning guide device which is light in weight and size and convenient to feed by using a carrying platform, and then the maintenance equipment can align to the target position through the positioning guide device and then perform maintenance on the tube plate.
The general technical scheme of the positioning and guiding device is that the machine vision is utilized to check position deviation, after the carrying platform is adjusted and aligned, the expansion claw is expanded on the tube plate through the 2-level cylinder, then the traction rope is used to send the guiding long rod into the tube plate, and the positioning and guiding device body and the guiding long rod are fixed through the quick-connection air lock. The maintenance equipment can guide the long rod to be sent to the target heat transfer pipe of the pipe plate through the positioning guide device.
Because the main steam tube plate of the high-temperature gas cooled reactor steam generator is in a vertical state, and the inner diameter of the heat transfer tube is only ten millimeters and is smaller than the heat transfer tube of the conventional pressurized water reactor steam generator, the positioning and guiding device has the following requirements: 1) the whole structure design can provide enough expansion force, can bear the weight of the whole positioning guide device and the overhaul equipment (about 20kg), does not damage a heat transfer pipe, can keep self-locking under the condition of unexpected loss of external power, and prevents the equipment from falling off from the tube plate; 2) any tube hole of the tube plate can be reached, and meanwhile, the deviation between the position of the tube hole and the target tube hole of the tube plate can be judged in any tube hole of the tube plate; 3) whether the toes are firmly gripped by the pipe holes or not can be detected, and falling caused by conveying of maintenance equipment under the condition that the toes are not firmly gripped is avoided; 4) the guide rod does not interfere with the process of positioning the output of the guide device.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a positioning guide device and an operation method for the high-temperature gas-cooled reactor steam generator tube plate maintenance, which can realize the functions of expansion, position deviation detection, expansion detection and self-locking of a tube hole of a heat transfer tube of a high-temperature gas-cooled reactor steam generator outlet tube plate on the premise of not damaging the heat transfer tube, realize the connection of a guide long rod and a body through an air lock, and ensure that maintenance equipment does not fall off in the conveying process; has the advantages of reasonable structure, simple and convenient operation, accurate positioning, safety and high efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
a positioning and guiding device for high temperature gas cooled reactor steam generator tube plate maintenance comprises a positioning device and a guiding device;
the positioning device comprises a base 1, a fixing plate 22 is arranged on the base 1 in the vertical direction, and a guide pin 4 and an air lock female head 3 are respectively arranged at two ends of the bottom of the base 1; one side of the top end of the fixed plate 22 is connected with the outer cylinder body 6, the other side of the top end of the fixed plate 22 is connected with the industrial camera 2, and one side of the middle section of the fixed plate 22, which is close to the outer cylinder body 6, is provided with a second microswitch 18; a top plate 8 is arranged at the top end of the outer cylinder body 6, and a first microswitch 17 is arranged at one end of the top plate 8 close to the fixed plate 22; an inner cylinder body 12 is sleeved in the outer cylinder body 6, the inner cylinder body 12 can move up and down relative to the outer cylinder body 6, an end cover 10 is fixed at the lower end of the inner cylinder body 12, a first air pipe joint 14 and a second air pipe joint 15 are respectively arranged at the lower end of the end cover 10, a third air pipe joint 16 is arranged on the side wall of the outer cylinder body 6, an extension spring 7 is connected between the end cover 10 and the outer cylinder body 6, a piston rod 11 is arranged in the inner cylinder body 12, the piston rod 11 can move up and down in the inner cylinder body 12, the lower end of the piston rod 11 is of a piston structure, a compression spring 9 is arranged between the lower end of the piston rod 11 and the end cover 10, the upper end of the piston rod 11 is a rod section with a conical surface, an expansion claw 13 is;
the guiding device comprises a traction rope 5, one end of the traction rope 5 is fixed on the guide pin 4, the other end of the traction rope is fixed on the guide rod 20, the front end of the guide rod 20 is provided with an opening 23, and the outer side wall of the front end of the guide rod 20 is fixed with an air lock male head 21.
The first air pipe joint 14 is communicated with a cavity gap between the inner cylinder body 12 and the piston rod 11 through an air passage arranged in the cylinder wall of the inner cylinder body 12.
The second air pipe joint 15 is communicated with the lower end face of the piston rod 11.
The third air pipe joint 16 is communicated with the cavity between the inner cylinder body 12 and the outer cylinder body 6.
The upper end of the expansion claw 13 is of a spring chuck structure with an inner conical surface, and the lower end of the expansion claw 13 is of a cylindrical structure.
The opening 23 of the guide rod 20 can be butted with the guide pin 4, and the air lock male head 21 can be butted with the air lock female head 3.
The air lock male head 21, the first air pipe joint 14, the second air pipe joint 15 and the third air pipe joint 16 are respectively connected with a control box outside a steam generator pipe box through external air pipes, electromagnetic valves are arranged in the control box for controlling the on-off of air paths of all the pipelines, and the positioning guide device can be remotely controlled.
An operation method of a positioning and guiding device for high temperature gas cooled reactor steam generator tube plate maintenance specifically comprises the following steps:
1) the device is carried on an air lock male head of a carrying platform through an air lock female head 3, and the carrying platform sends the device to the vicinity of a target heat transfer pipe in a steam generator pipe box;
2) judging the position deviation of the device and a target heat transfer pipe by the industrial camera 2 through machine vision, feeding a deviation signal back to a carrying platform for accurate positioning, butting the device and the target heat transfer pipe, detecting whether a top plate 8 is attached to an outlet pipe plate of a steam generator through whether a trigger signal exists in a first microswitch 17, and sending a stable and continuous trigger signal to the first microswitch 17, wherein the detection that the top plate 8 is attached to the outlet pipe plate of the steam generator, the carrying platform sends the device in place, and the carrying platform is withdrawn after the device is sent in place;
3) after the first microswitch 17 detects that the top plate 8 is tightly attached to the outlet tube plate of the steam generator, the third air pipe joint 16 is changed from air supply to air loss, the inner cylinder body 12 extends upwards under the action of the restoring force of the extension spring 7, the second microswitch 18 is driven to act in a touch manner, and the second microswitch 18 feeds back a trigger signal, so that the inner cylinder body 12 is positioned at the upper limit position;
4) the first air pipe joint 14 is changed from air supply regulation to air loss, the second air pipe joint 15 is changed from air loss regulation to air supply, air pressure acts on the lower end face of the piston rod 11, meanwhile, under the action of the spring force of the compression spring 9, the piston rod 11 moves upwards, the conical surface of the piston rod 11 pushes away the conical surface of the expansion claw 13, and the expansion claw 13 is expanded in the heat transfer pipe; then the third air pipe joint 16 is adjusted to supply air, if the expansion claw 13 is not expanded, the trigger signal of the second microswitch 18 disappears, which indicates that the expansion claw 13 slides in the heat transfer pipe, and the step 3) and the step 4) need to be repeated, so that the trigger signal of the second microswitch 18 is stable and continuous, which indicates that the expansion work is normal;
5) the guide rod 20 is butted with a guide pin 4 through a traction rope 5, the air lock male head 21 is butted with the air lock female head 3, and the air lock male head 21 and the air lock female head 3 are locked through pneumatic control;
6) hanging the maintenance equipment on the guide rod 20, and conveying the maintenance equipment to a tube plate target position through a handheld long rod or an electric lifting rod for maintenance; after the work is finished, the maintenance equipment is reversely withdrawn in the same way;
7) the first air pipe joint 14 is adjusted to supply air, the second air pipe joint 15 is adjusted to lose air, the air pressure in the inner cylinder body 12 overcomes the spring force of the compression spring 9, the piston rod 11 moves downwards, the expansion claw 13 is restored to a contraction state, the heat transfer pipe is loosened, the inner cylinder body 12 is retracted, and then the device is withdrawn integrally through the handheld guide rod 20.
The invention has the following beneficial effects:
1. according to the invention, the deviation between the positioning guide device and the target heat transfer pipe hole is judged by adopting machine vision through the industrial camera 2, and the deviation data is fed back to the carrying platform for position adjustment, so that the positioning guide device can be expanded into any pipe hole of the outlet pipe plate of the high-temperature gas cooled reactor steam generator.
2. The device realizes the in-place and fixation of the guide rod 20 through the traction rope 5 and the air lock, and an operator can send maintenance equipment outside the tube box through the guide rod 20.
3. The invention adopts the structural form that the outer cylinder body 6, the inner cylinder body 12 and the piston rod 11 form two telescopic cylinders which are mutually nested, the size is small and exquisite, the weight is light, the two cylinders are both provided with return springs, and when a fault occurs, the grabbing head can still grasp the heat transfer pipe hole by means of mechanical protection.
4. The invention detects whether the pipe plate is attached tightly or not and detects whether the expansion claw 13 extends out or not by setting the first microswitch 17 and the second microswitch 18 so as to judge whether the grabbing head is tightly grasped in place or not and avoid misoperation.
In conclusion, the invention has the advantages of reasonable structure, simple and convenient operation, accurate positioning, safety and high efficiency.
Drawings
FIG. 1 is a schematic cross-sectional view of the present invention.
In the figure: 1. a base; 2. an industrial camera; 3. an airlock female head; 4. a guide pin; 5. a hauling rope; 6. an outer cylinder body; 7. an extension spring; 8. a top plate; 9. a compression spring; 10. an end cap; 11. a piston rod; 12. an inner cylinder; 13. expanding claws; 14. a first gas pipe joint; 15. a second air pipe joint; 16. a third air pipe joint; 17. a first microswitch; 18. a second microswitch; 19. shrinking the end cover; 20. a guide rod; 21. an air-lock male head; 22. a fixing plate; 23. and (6) opening holes.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, the positioning and guiding device for the tube plate maintenance of the high temperature gas cooled reactor steam generator comprises a positioning device and a guiding device, wherein the positioning device comprises a base 1, a fixing plate 22 is arranged on the base 1 in the vertical direction, and a guide pin 4 and an air lock female head 3 are respectively arranged at two ends of the bottom of the base 1; one side of the top end of the fixing plate 22 is connected with the outer cylinder body 6, the other side of the top end of the fixing plate 22 is connected with the industrial camera 2, a second microswitch 18 is arranged on one side, close to the outer cylinder body 6, of the middle section of the fixing plate 22, a top plate 8 is arranged at the top end of the outer cylinder body 6, a first microswitch 17 is arranged on one side of the top plate 8, and the first microswitch 17 is used for detecting whether the top plate 8 is tightly attached to an outlet tube plate of the steam generator or not so as; an inner cylinder body 12 is sleeved in the outer cylinder body 6, the inner cylinder body 12 can move up and down relative to the outer cylinder body 6, an end cover 10 is fixed at the lower end of the inner cylinder body 12, a first air pipe joint 14 and a second air pipe joint 15 are arranged at the lower end of the end cover 10, a third air pipe joint 16 is arranged on the side wall of the outer cylinder body 6, an extension spring 7 is connected between the end cover 10 and the outer cylinder body 6, and under the action of the extension spring 7, the end cover 10 moves upwards until a second micro switch 18 is touched; the piston rod 11 is arranged in the inner cylinder 12, the piston rod 11 can move up and down in the inner cylinder 12, the lower end of the piston rod 11 is of a piston structure, a compression spring 9 is arranged between the lower end of the piston rod 11 and the end cover 10, the upper end of the piston rod 11 is a rod section with a conical surface, the outer portion of the upper end of the piston rod 11 is sleeved with an expansion claw 13, the lower end of the expansion claw 13 is fixedly connected with the inner cylinder 12, and the top end of the piston rod 11 is provided with.
The guiding device comprises a traction rope 5, one end of the traction rope 5 is fixed on the guide pin 4, the other end of the traction rope is fixed on the guide rod 20, the front end of the guide rod 20 is provided with an opening 23, and the front end of the outer side wall of the guide rod 20 is fixed with an air lock male head 21.
The first air pipe joint 14 is communicated with a cavity gap between the inner cylinder 12 and the piston rod 11 through an air passage arranged in the cylinder wall of the inner cylinder 12, and can introduce compressed air into the upper end face of the piston rod 11.
The second air pipe joint 15 is communicated with the lower end face of the piston rod 11 and can introduce compressed air into the lower end face of the piston rod 11.
The third air pipe joint 16 is communicated with the cavity between the inner cylinder body 12 and the outer cylinder body 6, and can introduce compressed air into the upper end surface of the inner cylinder body 12.
The upper end of the expansion claw 13 is of a spring chuck structure with an inner conical surface, when the piston rod 11 is in a withdrawing state, the contraction end cover 19 radially limits the spring chuck at the upper end of the expansion claw 13, and the lower end of the expansion claw 13 is of a cylindrical structure.
The opening 23 of the guide rod 20 can be butted with the guide pin 4, and the air lock male head 21 can be butted with the air lock female head 3.
The air lock male head 21, the first air pipe joint 14, the second air pipe joint 15 and the third air pipe joint 16 are respectively connected with a control box outside a steam generator pipe box through external air pipes, electromagnetic valves are arranged in the control box for controlling the on-off of air paths of all the pipelines, and the positioning guide device can be remotely controlled.
An operation method of a positioning and guiding device for high temperature gas cooled reactor steam generator tube plate maintenance specifically comprises the following steps:
1) the device is carried on an air lock male head of a carrying platform through an air lock female head 3, and the carrying platform sends the device to the vicinity of a target heat transfer pipe in a steam generator pipe box;
2) judging the position deviation of the device and a target heat transfer pipe by the industrial camera 2 through machine vision, feeding a deviation signal back to a carrying platform for accurate positioning, butting the device and the target heat transfer pipe, detecting whether a top plate 8 is attached to an outlet pipe plate of a steam generator through whether a trigger signal exists in a first microswitch 17, and sending a stable and continuous trigger signal to the first microswitch 17, wherein the detection that the top plate 8 is attached to the outlet pipe plate of the steam generator, the carrying platform sends the device in place, and the carrying platform is withdrawn after the device is sent in place;
3) after the first microswitch 17 detects that the top plate 8 is tightly attached to the outlet tube plate of the steam generator, the third air pipe joint 16 is changed from air supply to air loss, the inner cylinder body 12 extends upwards under the action of the restoring force of the extension spring 7, the second microswitch 18 is driven to act in a touch manner, a trigger signal is sent out by the feedback of the second microswitch 18, and then the inner cylinder body 12 is located at the upper limit position;
4) the first air pipe joint 14 is changed from air supply regulation to air loss, the second air pipe joint 15 is changed from air loss regulation to air supply, air pressure acts on the lower end face of the piston rod 11, meanwhile, under the action of the spring force of the compression spring 9, the piston rod 11 moves upwards, the conical surface of the piston rod 11 pushes away the conical surface of the expansion claw 13, and the expansion claw 13 is expanded in the heat transfer pipe; then the third air pipe joint 16 is adjusted to supply air, if the expansion claw 13 is not expanded, the trigger signal of the second microswitch 18 disappears, which indicates that the expansion claw 13 slides in the heat transfer pipe, and the step 3) and the step 4) need to be repeated, so that the trigger signal of the second microswitch 18 is stable and continuous, which indicates that the expansion work is normal;
5) the guide rod 20 is butted with a guide pin 4 through a traction rope 5, the air lock male head 21 is butted with the air lock female head 3, and the air lock male head 21 and the air lock female head 3 are locked through pneumatic control;
6) hanging the maintenance equipment on the guide rod 20, conveying the maintenance equipment to a tube plate target position through a handheld long rod or an electric lifting rod for maintenance, and reversely withdrawing the maintenance equipment in the same way after the work is finished;
7) the first air pipe joint 14 is adjusted to supply air, the second air pipe joint 15 is adjusted to lose air, the air pressure in the inner cylinder body 12 overcomes the spring force of the compression spring 9, the piston rod 11 moves downwards, the expansion claw 13 is restored to a contraction state, the heat transfer pipe is loosened, the inner cylinder body 12 is retracted, and then the device is withdrawn integrally through the handheld guide rod 20.
The working principle of the invention is as follows:
the device adopts machine vision to judge the deviation between the positioning guide device and the target heat transfer pipe hole through the industrial camera 2, and feeds the deviation data back to the carrying platform for position adjustment; the expansion claw 13 can expand and release the tube plate heat transfer tube through the secondary telescopic cylinder, the guide rod 20 and the guide pin 4 are butted through the traction rope 5, and then the air lock male and female heads are used for locking and releasing;
when the third air pipe joint 16 supplies air, air pressure acts on the upper end face of the inner cylinder body 12, and the inner cylinder body 12 is driven to move downwards by overcoming the elastic force of the extension spring 7; when the third air pipe joint 16 loses air, the inner cylinder body 12 extends upwards under the action of the restoring force of the extension spring 7 and touches and drives the second microswitch 18 to act, and therefore whether the inner cylinder body 12 is located at the upper limit position or not is judged; when the first air pipe joint 14 loses air and the second air pipe joint 15 supplies air, air pressure acts on the lower end face of the piston rod 11, meanwhile, under the action of the spring force of the compression spring 9, the piston rod 11 moves upwards, and the conical surface of the piston rod 11 pushes away the conical surface of the expansion claw 13, so that the expansion claw 13 is expanded in the heat transfer pipe; when the first air pipe joint 14 supplies air and the second air pipe joint 15 loses air, the air pressure on the upper end surface of the piston rod 11 can overcome the spring force of the compression spring 9, so that the piston rod 11 moves downwards, the expansion claw 13 is restored to a contracted state, and the heat transfer pipe is loosened. When the first air pipe joint 14, the second air pipe joint 15 and the third air pipe joint 16 are all out of gas, the inner cylinder 12 and the piston rod 11 both move upwards under the action of the extension spring 7 and the compression spring 9, so that the expansion claw 13 is expanded in the heat transfer pipe, and when sudden faults occur, such as gas loss, power loss and the like, the pneumatic gripper is prevented from loosening and losing efficacy to cause the equipment to fall to the ground.
The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention should be defined by the claims.
Claims (8)
1. The utility model provides a location guiding device that high temperature gas cooled piles steam generator tube sheet overhauls, includes positioner and guiding device, its characterized in that:
the positioning device comprises a base (1), a fixing plate (22) is arranged on the base (1) in the vertical direction, and a guide pin (4) and an air lock female head (3) are respectively arranged at two ends of the bottom of the base (1); one side of the top end of the fixed plate (22) is connected with the outer cylinder body (6), the other side of the top end of the fixed plate is connected with the industrial camera (2), and a second microswitch (18) is arranged on one side of the middle section of the fixed plate (22) close to the outer cylinder body (6); a top plate (8) is arranged at the top end of the outer cylinder body (6), and a first microswitch (17) is arranged at one end of the top plate (8) close to the fixing plate (22); an inner cylinder body (12) is sleeved in an outer cylinder body (6), the inner cylinder body (12) can move up and down relative to the outer cylinder body (6), an end cover (10) is fixed at the lower end of the inner cylinder body (12), a first air pipe joint (14) and a second air pipe joint (15) are respectively arranged at the lower end of the end cover (10), a third air pipe joint (16) is arranged on the side wall of the outer cylinder body (6), an extension spring (7) is connected between the end cover (10) and the outer cylinder body (6), a piston rod (11) is arranged in the inner cylinder body (12), the piston rod (11) can move up and down in the inner cylinder body (12), the lower end of the piston rod (11) is of a piston structure, a compression spring (9) is arranged between the lower end of the piston rod (11) and the end cover (10), the upper end of the piston rod (11) is a rod section with a conical surface, an expansion claw (, a contraction end cover (19) is arranged at the top end of the piston rod (11);
the guiding device comprises a traction rope (5), one end of the traction rope (5) is fixed on the guide pin (4), the other end of the traction rope is fixed on the guide rod (20), the front end of the guide rod (20) is provided with a hole (23), and the outer side wall of the front end of the guide rod (20) is fixed with an air lock male head (21).
2. The positioning and guiding device for the tube plate overhaul of the steam generator of the high temperature gas cooled reactor according to claim 1, wherein: the first air pipe joint (14) is communicated with a cavity gap between the inner cylinder body (12) and the piston rod (11) through an air passage arranged in the cylinder wall of the inner cylinder body (12).
3. The positioning and guiding device for the tube plate overhaul of the steam generator of the high temperature gas cooled reactor according to claim 1, wherein: the second air pipe joint (15) is communicated with the lower end face of the piston rod (11).
4. The positioning and guiding device for the tube plate overhaul of the steam generator of the high temperature gas cooled reactor according to claim 1, wherein: and the third air pipe joint (16) is communicated with a cavity between the inner cylinder body (12) and the outer cylinder body (6).
5. The positioning and guiding device for the tube plate overhaul of the steam generator of the high temperature gas cooled reactor according to claim 1, wherein: the upper end of the expansion claw (13) is of a spring chuck structure with an inner conical surface, and the lower end of the expansion claw (13) is of a cylindrical structure.
6. The positioning and guiding device for the tube plate overhaul of the steam generator of the high temperature gas cooled reactor according to claim 1, wherein: the opening (23) of the guide rod (20) can be in butt joint with the guide pin (4), and the air lock male head (21) can be in butt joint with the air lock female head (3).
7. The positioning and guiding device for the tube plate overhaul of the steam generator of the high temperature gas cooled reactor according to claim 1, wherein: the air lock male head (21), the first air pipe joint (14), the second air pipe joint (15) and the third air pipe joint (16) are respectively connected with a control box outside the steam generator pipe box through external air pipes, electromagnetic valves are arranged in the control box for controlling the on-off of air paths of all the pipelines, and the positioning and guiding device can be remotely controlled.
8. An operation method of the positioning and guiding device for the tube plate overhaul of the steam generator of the high temperature gas cooled reactor based on any one of claims 1 to 7 is characterized in that: the method specifically comprises the following steps:
1) the device is carried on an air lock male head of a carrying platform through an air lock female head (3), and the carrying platform sends the device to the vicinity of a target heat transfer pipe in a steam generator pipe box;
2) judging the position deviation of the device and a target heat transfer pipe by an industrial camera (2) through machine vision, feeding a deviation signal back to a carrying platform for accurate positioning, butting the device and the target heat transfer pipe, detecting whether a top plate (8) is attached to an outlet pipe plate of a steam generator through whether a first microswitch (17) has a trigger signal, and when the first microswitch (17) sends a stable and continuous trigger signal, indicating that the top plate (8) is attached to the outlet pipe plate of the steam generator, the carrying platform sends the device in place, and the carrying platform is withdrawn after the device is sent in place;
3) after the first microswitch (17) detects that the top plate (8) is tightly attached to the outlet tube plate of the steam generator, the third air pipe joint (16) is changed from air supply to air loss, the inner cylinder body (12) extends upwards under the action of the restoring force of the extension spring (7) and touches and drives the second microswitch (18) to act, the second microswitch (18) feeds back and sends out a trigger signal, and then the inner cylinder body (12) is positioned at the upper limit position;
4) the first air pipe joint (14) is changed from air supply regulation to air loss, the second air pipe joint (15) is changed from air loss regulation to air supply, air pressure acts on the lower end face of the piston rod (11), simultaneously, under the action of the spring force of the compression spring (9), the piston rod (11) moves upwards, the conical surface of the piston rod (11) pushes away the conical surface of the expansion claw (13), and the expansion claw (13) is expanded in the heat transfer pipe; then the third air pipe joint (16) is adjusted to supply air, if the expansion claw (13) is not expanded, the trigger signal of the second microswitch (18) disappears, which indicates that the expansion claw (13) slides in the heat transfer pipe, and the steps 3) and 4 need to be repeated, so that the trigger signal of the second microswitch (18) is stable and continuous, and indicates that the expansion work is normal;
5) the guide rod (20) is butted with the guide pin (4) through the traction rope (5), the air lock male head (21) is butted with the air lock female head (3), and the air lock male head (21) and the air lock female head (3) are locked through pneumatic control;
6) hanging the maintenance equipment on a guide rod (20), conveying the maintenance equipment to a tube plate target position through a handheld long rod or an electric lifting rod for maintenance, and reversely withdrawing the maintenance equipment in the same way after the work is finished;
7) the first air pipe joint (14) is adjusted to supply air, the second air pipe joint (15) is adjusted to lose air, air pressure in the inner cylinder body (12) overcomes the spring force of the compression spring (9), so that the piston rod (11) moves downwards, the expansion claw (13) is restored to a contraction state, the heat transfer pipe is loosened, the inner cylinder body (12) is retracted, and then the device is withdrawn integrally through the handheld guide rod (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010338702.6A CN111396850A (en) | 2020-04-26 | 2020-04-26 | Positioning and guiding device for high-temperature gas cooled reactor steam generator tube plate maintenance and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010338702.6A CN111396850A (en) | 2020-04-26 | 2020-04-26 | Positioning and guiding device for high-temperature gas cooled reactor steam generator tube plate maintenance and operation method |
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| CN111396850A true CN111396850A (en) | 2020-07-10 |
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| CN202010338702.6A Pending CN111396850A (en) | 2020-04-26 | 2020-04-26 | Positioning and guiding device for high-temperature gas cooled reactor steam generator tube plate maintenance and operation method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888734A (en) * | 2022-04-28 | 2022-08-12 | 中广核研究院有限公司 | Installation positioning device of lower part in-pile component maintenance equipment |
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2020
- 2020-04-26 CN CN202010338702.6A patent/CN111396850A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888734A (en) * | 2022-04-28 | 2022-08-12 | 中广核研究院有限公司 | Installation positioning device of lower part in-pile component maintenance equipment |
| CN114888734B (en) * | 2022-04-28 | 2023-05-12 | 中广核研究院有限公司 | Installation positioning device of lower internal pile member overhauling equipment |
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