CN112192198A - Auxiliary mounting method for out-of-pile detector - Google Patents
Auxiliary mounting method for out-of-pile detector Download PDFInfo
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- CN112192198A CN112192198A CN202011076201.1A CN202011076201A CN112192198A CN 112192198 A CN112192198 A CN 112192198A CN 202011076201 A CN202011076201 A CN 202011076201A CN 112192198 A CN112192198 A CN 112192198A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
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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 an auxiliary mounting method for an out-of-pile detector, which realizes the working process from transportation, lifting to mounting of the detector in a remote control and local autonomous mode, and reduces the working time of maintenance personnel on site to the greatest extent so as to reduce the dosage. The invention can assist in installing the nuclear detection device outside the reactor in the strong irradiation, irregular and narrow reactor cavity, can bear the high radiation dose at the reactor cavity position after the reactor is shut down, can transport a plurality of sections of nuclear detection devices outside the reactor to the reactor cavity, adopts the intelligent positioning method such as the computer vision characteristic and the like to self-adaptively position to the installation position, finishes the disassembly and the installation of the nuclear detection device outside the reactor, and reduces the irradiation dose received by maintenance personnel when disassembling and installing the nuclear detection device outside the reactor.
Description
Technical Field
The invention belongs to the technical field of installation of out-of-pile nuclear detection detectors, and particularly relates to an auxiliary installation method of an out-of-pile detector.
Background
In the CAP1400 exemplary engineering project nuclear power plant, the design currently uses an extra-core nuclear detector installed from the bottom of the reactor cavity up, unlike the top-mounted nuclear detector used in most pressurized water reactor nuclear power plants. The installation mode is limited by the narrow installation space at the bottom of the reactor cavity, and the nuclear detection detector outside the reactor must be installed section by using a special tool, so the operation steps are complicated, and quite long installation time is required. Because the irradiation dose at the bottom of the reactor cavity is very high after 24 hours of reactor shutdown, maintenance personnel need to directly enter high radiation and narrow space at the bottom of the reactor cavity for dismounting, mounting and other operations, and even if the maintenance personnel wear a whole set of radiation protection clothes, the maintenance personnel can also be irradiated by a large dose. According to the feedback of the in-service nuclear power plant, the actual service life of the out-of-core nuclear detection device is about 10 years on average, 12 out-of-core nuclear detection devices are adopted in the CAP1400 design, and therefore the out-of-core nuclear detection devices need to be replaced for many times within the 60-year service life of the CAP1400 demonstration engineering project nuclear power plant.
Disclosure of Invention
The invention aims to provide an auxiliary mounting method for an out-of-pile detector, aiming at overcoming the defects in the prior art, and solving the problem that the whole mounting process causes workers to be irradiated by a large dose during working because the existing out-of-pile nuclear detector is mounted manually.
In order to achieve the purpose, the invention adopts the technical scheme that:
an off-stack detector auxiliary mounting method comprises the following steps:
s1, the nuclear robot receives an instruction to convey the first section of detector to the underground part of the detection well and align the first section of detector with the detection well;
s2, controlling a motor to drive a holding mechanism to separate from the nuclear robot and drive the holding mechanism to be fixed on the detection well according to the collected video information;
s3, the nuclear robot receives the instruction, transports the first section of detector upwards and inserts the first section of detector into the detection well;
s4, driving a lower holding and gripping device to clamp the first section of detector by a motor;
s5, the nuclear robot conveys the second section of detector to be aligned with the first section of detector, and conveys the second section of detector upwards to the top end of the second section of detector to be contacted with the interface of the first section of detector;
s6, inserting the second section of detector into the interface of the first section of detector, butting, and slowly rotating the bottom tray to enable the V-shaped marks of the first section of detector and the second section of detector to be superposed;
s7, aligning the screw with the threaded hole of the second section of detector, aligning and matching the screw with an inner hexagonal cylindrical head bolt, and screwing the screw tightly;
s8, continuously transporting the second section of detector upwards until the rotating tray can not move upwards any more, and driving the lower holding grab by the motor to clamp the second section of detector;
s9, the nuclear robot receives the instruction to convey the third section of detector to the underground part of the detection well and align with the detection well;
s10, inserting the third section of detector into the interface of the second section of detector, butting, and slowly rotating the bottom tray to enable the V-shaped marks of the third section of detector and the second section of detector to be superposed;
s11, driving to open the lower holding claw and loosening the third section of the detector;
s12, aligning a screw on the outer surface of the third section of detector with a threaded hole on the surface of the second section of detector, aligning and matching the screw with an inner hexagonal cylindrical head bolt, and screwing the screw;
s13, the nuclear robot receives the instruction, and the third section of detector is transported upwards continuously until the rotating tray can not move upwards any more; the motor drives the lower holding grab to clamp the third section of detector;
s14, the nuclear robot receives an instruction to quit the nuclear working area, installs a jacking part on the rotating disc, and replaces the screw mechanism with a pin installation mechanism;
s15, the nuclear robot conveys the jacking part to be aligned with the third section of detector, the rotary tray slowly supports the jacking block to move upwards, and the top of the jacking block is in contact with the bottom of the third section of detector;
s16, controlling four Machner mother wheels of the robot to rotate around the axis of the detector, adjusting the position of an interface on the robot, aligning the position of the interface on the holding mechanism in the circumferential direction, and finishing interface butt joint; opening the upper holding claw, and driving the holding mechanism to move downwards to an initial position;
s17, driving the rotating tray to slowly lift the jacking part to move upwards to adjust the height of the pin hole of the third section of the detector through image information collected by the camera, adjusting the position of the pin hole in the circumferential direction by rotating the rotating tray at the bottom, and achieving the aim that the pin hole is aligned with the round hole in the detection well through a plurality of times of slow adjustment in two directions;
s18, driving the pin installation mechanism to move up and down to the height of the round hole on the outer surface of the detection well, controlling the rotating bottom tray to enable the pin to be aligned with the round hole on the outer surface of the detection well, enabling the pin installation mechanism to move forward, inserting the pin into the round hole, penetrating through the pin hole of the detector installation base, then penetrating through the round hole on the detection well, and finishing the installation on the detector.
Preferably, the receiving of the instruction by the nuclear robot at S1 to transport the first section of the probe downhole and to align with the probe well includes:
the nuclear robot receives an instruction to convey a detector to a target area, starts automatic positioning, and finishes pose adjustment of the nuclear robot based on a radiation-resistant camera and a robot omnidirectional wheel to enable the robot to reach a position under a detection well;
and (4) fine adjustment of the pose of the detector loading device on the robot is carried out by utilizing a visual servo accurate positioning system.
Preferably, according to the video information who gathers in S2, control motor drive clasping mechanism breaks away from nuclear robot to drive clasping mechanism is fixed in on the detection well, includes:
after the detector is aligned with the detection well, the motor is controlled to drive through video information collected by the camera, the upper holding claw and the lower holding claw are opened, and the holding mechanism is separated from the robot;
the nut on the motor-driven screw rod drives the clasping mechanism to move upwards along the slide rail to the height of the round hole on the detection well;
four mickey female wheels of drive are received round the detector axle center rotation, move near round hole on the detection well on the circumferencial direction, and the upper and lower position and the circumferencial direction position of mechanism are embraced in the fine adjustment of a plurality of times again until the cylinder arch of supreme armful claw aligns the round hole on the detection well, embrace the claw on the shrink, and the cylinder arch on the messenger is embraced the claw inserts the round hole on the detection well, breaks away from the interface with nuclear robot connection, makes and embraces the mechanism and fix on the detection well tightly.
Preferably, the step S7 of aligning the screw with the threaded hole of the second section detector and tightening the screw by aligning and matching the hexagon socket head cap bolt with the screw includes:
s7.1, aligning the threaded hole of the second section of detector with the screw;
s7.2, driving the screw mechanism to move up and down to the screw arrangement height, controlling the motor to rotate the bottom tray to enable the inner hexagonal cylindrical head bolt to be aligned with the screw mechanism, driving the screw mechanism to move forward, inserting the driving screw mechanism into a groove of the inner hexagonal cylindrical head bolt, enabling the screw mechanism to rotate to tighten the bolt, and stopping screwing when the torque fed back by the force sensor exceeds a set value
And S7.3, repeating S7.2 until six screws are tightened.
The auxiliary mounting method for the out-of-pile detector provided by the invention has the following beneficial effects:
the installation method of the invention realizes the work flow of the detector from the transportation, lifting to the installation process by combining remote control with local autonomy, and reduces the on-site working time of maintenance personnel to the maximum extent to reduce the dosage. The out-of-core nuclear detection device can be installed in an auxiliary mode in a strong-irradiation irregular and narrow reactor cavity, high radiation dose at the position of the reactor cavity after shutdown can be tolerated, a plurality of sections of the out-of-core nuclear detection device can be transported to the reactor cavity, the out-of-core nuclear detection device is self-adaptively positioned to the installation position by adopting intelligent positioning methods such as computer vision characteristics and the like, the out-of-core nuclear detection device is disassembled and installed, and radiation dose received by maintenance personnel during disassembly and installation of the out-of-core nuclear detection device is reduced.
Drawings
Fig. 1 is a nuclear robot positioning and alignment system for an off-heap probe assisted installation method.
Fig. 2a and 2b show a holding mechanism for the auxiliary mounting method of the off-pile detector.
FIG. 3 is a clamping system for the extra-stack probe mounting method.
Fig. 4 is a lifting system of the extra-pile detector auxiliary installation method.
Fig. 5 illustrates interface docking of the extra-stack probe-assisted mounting method.
FIG. 6 is a screw structure diagram of the extra-stack probe mounting method.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
In order to reduce the dose borne by maintenance personnel and improve the operation and maintenance efficiency, an intelligent robot system for assisting in installing the nuclear detection detector outside the reactor in a strong irradiation, irregular and narrow reactor cavity needs to be designed, the high radiation dose of the reactor cavity position after shutdown is endured, a plurality of sections of nuclear detection detectors outside the reactor can be transported to the reactor cavity, the nuclear detection detectors outside the reactor are self-adaptively positioned to the installation position by adopting intelligent positioning methods such as computer vision characteristics and the like, the nuclear detection detectors outside the reactor are disassembled and installed, and the irradiation dose borne by the maintenance personnel in CAP1400 demonstration engineering projects when the nuclear detection detectors outside the reactor are disassembled and installed is reduced.
Aiming at the defects of the prior art, the invention provides the following installation method:
according to an embodiment of the application, referring to fig. 1-6, the method for auxiliary installation of the off-stack detector in the scheme includes:
step S1, the nuclear robot receives the instruction to convey the first section of detector to the underground part of the detection well, and the first section of detector is aligned with the detection well, and the method specifically comprises the following steps:
the method comprises the steps that a maintainer remotely operates a robot to convey a detector to a target area, the nuclear robot starts the robot to automatically position, a vision servo coarse positioning system consisting of a radiation-resistant camera 6-3 carried by the robot and a moving mechanism of a robot omnidirectional wheel 8 finishes robot position and posture adjustment, the robot reaches the position below a detection well, the error is smaller than +/-3 cm, fine position adjustment of a detector loading device system on the robot is finished by utilizing a vision servo accurate positioning system, and the detector mounting system outside the robot pile reaches a preset position with the detection well error smaller than +/-0.5 cm.
Step S2, according to the video information of gathering, control motor drive and hold the mechanism and break away from nuclear robot to the drive is held the mechanism and is fixed in on the detection well, and its concrete step includes:
after the detector is aligned with the detection well, the motor 1-1 and the motor 1-3 are controlled through video information collected by the camera 6-1, the screw rod 3-1 and the screw rod 3-3 are driven by the synchronous belt 2-1 and the synchronous belt 2-2 to open the upper holding claw and the lower holding claw, the motor 1-4 is controlled to separate the holding mechanism from the robot, the screw rod 3-2 is driven by the motor 1-1, and the nut on the screw rod 3-2 drives the whole holding mechanism to move upwards to the position near the height of a round hole in the detection well along the sliding rail 5-1.
Controlling a motor 1-7 on a nuclear robot chassis, driving four Michelson receiving mother wheels 8 to rotate around the axis of a detector through a synchronous belt 2-3 and a speed reducer 7-1, moving the Michelson receiving mother wheels to be close to a round hole on the detection well in the circumferential direction, then repeating fine adjustment to the upper position and the lower position of a clasping mechanism until a cylindrical protrusion of an upper clasping claw 4-1 aligns with the round hole on the detection well, contracting the upper clasping claw, inserting the cylindrical protrusion 17 on the upper clasping claw into the round hole on the detection well, separating from an interface connected with the nuclear robot, and fixing the clasping mechanism on the detection well 10-2.
And step S3, the nuclear robot receives the instruction, transports the first section of the detector upwards and inserts the first section of the detector into the detection well.
The nuclear robot transports the detector upwards, controls the motors 1-5 and 1-6 to loosen the mechanical arm clamping the detector 10-1, and drives the motors 1-8 to enable the rotary tray 9 to slowly support the detector to move upwards.
Step S4, the motor drives the lower holding and gripping clamp the first section of detector:
and controlling a motor 1-3, driving a screw rod 3-3 to contract through a synchronous belt 2-2 to clamp the detector, and holding the detector. The driving motors 1 to 8 slowly lower the rotating tray 9 to the original position.
And step S5, the nuclear robot conveys the second section of detector to be aligned with the first section of detector and conveys the second section of detector upwards to the top end of the second section of detector to be contacted with the interface of the first section of detector.
Step S6, inserting the second section of detector into the interface of the first section of detector, docking, and slowly rotating the bottom tray to make the V-shaped marks of the first and second section of detectors coincide, which specifically includes:
the two detector interfaces are butted, and the V-shaped marks 15 are superposed. The second section of detector is inserted into the interface of the first section of detector for butt joint, and considering that the mass of the detector is large, the friction force between the two sections of detectors is large, and the movement is very slow, so that when the bottom tray is rotated, the two sections of detectors cannot move relatively. And controlling the motors 1-9 to slowly rotate the bottom tray to enable the V-shaped marks of the first detector and the second detector to be superposed.
And step S7, aligning the screw with the threaded hole of the second section of detector, aligning and matching the screw with the hexagon socket head cap screw, and screwing the screw.
Six equally spaced screws around the outer surface of the first section of detector have been previously secured and the threaded holes of the second section of detector have also been aligned with the screws.
And screwing the screw:
the driving module 14 is controlled to enable the screw mechanism 11-1 to move up and down to the height of screw arrangement, the motor 1-9 is controlled to rotate the bottom tray to enable the inner hexagonal cylindrical head bolt 11-2 to be aligned with the screw mechanism, the driving module 14 is controlled to enable the screw mechanism to move forward and be inserted into a groove of the inner hexagonal cylindrical head bolt, the screw mechanism is enabled to rotate to tighten the bolt, and when the torque fed back by the force sensor exceeds a set value, screwing is stopped. This step was repeated until six screws were tightened.
S8, continuously transporting the second section of detector upwards until the rotating tray can not move upwards any more, and driving the lower holding grab by the motor to clamp the second section of detector;
step S9, the nuclear robot receives the instruction to convey the third section of detector to the underground part of the detection well and align with the detection well;
step S10, inserting a third section of detector into an interface of a second section of detector, butting, and slowly rotating the bottom tray to enable the V-shaped marks of the third section of detector and the second section of detector to be superposed;
step S11, the lower holding claw is driven to be opened, and the third section of the detector is released;
step S12, aligning a screw on the outer surface of the third section of detector with a threaded hole on the surface of the second section of detector, aligning and matching the screw with an inner hexagonal cylindrical head bolt, and screwing the screw tightly;
step S13, the nuclear robot receives the instruction and continues to transport the third section of detector upwards until the rotating tray can not move upwards any more; the motor drives the lower holding grab to clamp the third section of detector;
step S14, the nuclear robot receives the instruction to quit the nuclear working area, installs the jacking part on the rotating disc, and replaces the screw mechanism with the pin installation mechanism, which specifically comprises the steps of;
controlling the nuclear robot to exit from a working area, manually installing a jacking part 13 with the height of 150mm on the rotating disc, and replacing a screw mechanism with a pin installation mechanism 12-1; and then returns to the probe mounting position.
Step S15, the nuclear robot conveys the jacking part to be aligned with the third section of detector, the rotary tray slowly supports the jacking block to move upwards, and the top of the jacking block is in contact with the bottom of the third section of detector;
and step S16, adjusting the interface position on the robot to align with the interface position on the clasping mechanism in the circumferential direction by controlling the four Machner mother wheels of the robot to rotate around the axis of the detector, controlling the motors 1-4 to drive the screws 3-4, and driving the interfaces 16 to move upwards by the nuts on the screws 3-4 to complete interface butt joint.
And opening the upper holding claw, controlling a motor to drive a screw rod, and driving a nut on the screw rod to drive the holding mechanism to move downwards to an initial position.
And step S17, observing through the cameras 6-1 and 6-2, driving the motor 1-8 to enable the rotating tray to slowly support the jacking part to move upwards to adjust the height of the pin hole of the third section of the detector, rotating the rotating tray at the bottom to adjust the position of the pin hole in the circumferential direction, and finally achieving the aim of aligning the pin hole with the round hole in the detection well through slow adjustment in two directions.
S18, controlling the driving module 14 to enable the pin mounting mechanism to move up and down to the height of the round hole on the outer surface of the detection well, controlling the motors 1-9 to rotate the bottom tray to enable the pin to be aligned with the round hole on the outer surface of the detection well, controlling the driving module 14 to enable the pin mounting mechanism to move forward, inserting the pin into the round hole to penetrate through the pin hole of the detector mounting base, then penetrating through the round hole on the detection well, and finishing the mounting on the detector.
The installation method of the invention realizes the work flow of the detector from the transportation, lifting to the installation process by combining remote control with local autonomy, and reduces the on-site working time of maintenance personnel to the maximum extent to reduce the dosage.
While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.
Claims (4)
1. An auxiliary mounting method for an out-of-pile detector is characterized by comprising the following steps:
s1, the nuclear robot receives an instruction to convey the first section of detector to the underground part of the detection well and align the first section of detector with the detection well;
s2, controlling a motor to drive a holding mechanism to separate from the nuclear robot and drive the holding mechanism to be fixed on the detection well according to the collected video information;
s3, the nuclear robot receives the instruction, transports the first section of detector upwards and inserts the first section of detector into the detection well;
s4, driving a lower holding and gripping device to clamp the first section of detector by a motor;
s5, the nuclear robot conveys the second section of detector to be aligned with the first section of detector, and conveys the second section of detector upwards to the top end of the second section of detector to be contacted with the interface of the first section of detector;
s6, inserting the second section of detector into the interface of the first section of detector, butting, and slowly rotating the bottom tray to enable the V-shaped marks of the first section of detector and the second section of detector to be superposed;
s7, aligning the screw with the threaded hole of the second section of detector, aligning and matching the screw with an inner hexagonal cylindrical head bolt, and screwing the screw tightly;
s8, continuously transporting the second section of detector upwards until the rotating tray can not move upwards any more, and driving the lower holding grab by the motor to clamp the second section of detector;
s9, the nuclear robot receives the instruction to convey the third section of detector to the underground part of the detection well and align with the detection well;
s10, inserting the third section of detector into the interface of the second section of detector, butting, and slowly rotating the bottom tray to enable the V-shaped marks of the third section of detector and the second section of detector to be superposed;
s11, driving to open the lower holding claw and loosening the third section of the detector;
s12, aligning a screw on the outer surface of the third section of detector with a threaded hole on the surface of the second section of detector, aligning and matching the screw with an inner hexagonal cylindrical head bolt, and screwing the screw;
s13, the nuclear robot receives the instruction, and the third section of detector is transported upwards continuously until the rotating tray can not move upwards any more; the motor drives the lower holding grab to clamp the third section of detector;
s14, the nuclear robot receives an instruction to quit the nuclear working area, installs a jacking part on the rotating disc, and replaces the screw mechanism with a pin installation mechanism;
s15, the nuclear robot conveys the jacking part to be aligned with the third section of detector, the rotary tray slowly supports the jacking block to move upwards, and the top of the jacking block is in contact with the bottom of the third section of detector;
s16, controlling four Machner mother wheels of the robot to rotate around the axis of the detector, adjusting the position of an interface on the robot, aligning the position of the interface on the holding mechanism in the circumferential direction, and finishing interface butt joint; opening the upper holding claw, and driving the holding mechanism to move downwards to an initial position;
s17, driving the rotating tray to slowly lift the jacking part to move upwards to adjust the height of the pin hole of the third section of the detector through image information collected by the camera, adjusting the position of the pin hole in the circumferential direction by rotating the rotating tray at the bottom, and achieving the aim that the pin hole is aligned with the round hole in the detection well through a plurality of times of slow adjustment in two directions;
s18, driving the pin installation mechanism to move up and down to the height of the round hole on the outer surface of the detection well, controlling the rotating bottom tray to enable the pin to be aligned with the round hole on the outer surface of the detection well, enabling the pin installation mechanism to move forward, inserting the pin into the round hole, penetrating through the pin hole of the detector installation base, then penetrating through the round hole on the detection well, and finishing the installation on the detector.
2. The method for assisting in installing the off-stack detector according to claim 1, wherein: the nuclear robot receiving the command to convey the first section of the detector to the underground of the detection well and aligning with the detection well in the S1 comprises:
the nuclear robot receives an instruction to convey a detector to a target area, starts automatic positioning, and finishes pose adjustment of the nuclear robot based on a radiation-resistant camera and a robot omnidirectional wheel to enable the robot to reach a position under a detection well;
and (4) fine adjustment of the pose of the detector loading device on the robot is carried out by utilizing a visual servo accurate positioning system.
3. The method for assisting in installing the off-stack detector according to claim 1, wherein: according to the video information who gathers in the S2, control motor drive clasps the mechanism and breaks away from nuclear robot to the drive clasps the mechanism and is fixed in on the detection well, include:
after the detector is aligned with the detection well, the motor is controlled to drive through video information collected by the camera, the upper holding claw and the lower holding claw are opened, and the holding mechanism is separated from the robot;
the nut on the motor-driven screw rod drives the clasping mechanism to move upwards along the slide rail to the height of the round hole on the detection well;
four mickey female wheels of drive are received round the detector axle center rotation, move near round hole on the detection well on the circumferencial direction, and the upper and lower position and the circumferencial direction position of mechanism are embraced in the fine adjustment of a plurality of times again until the cylinder arch of supreme armful claw aligns the round hole on the detection well, embrace the claw on the shrink, and the cylinder arch on the messenger is embraced the claw inserts the round hole on the detection well, breaks away from the interface with nuclear robot connection, makes and embraces the mechanism and fix on the detection well tightly.
4. The method for assisting in installing the off-stack detector according to claim 1, wherein: and in the step S7, aligning the screw with the threaded hole of the second-section detector, and screwing the screw through the alignment fit of the hexagon socket head cap screw and the screw, wherein the method comprises the following steps:
s7.1, aligning the threaded hole of the second section of detector with the screw;
s7.2, driving the screw mechanism to move up and down to the screw arrangement height, controlling the motor to rotate the bottom tray to enable the inner hexagonal cylindrical head bolt to be aligned with the screw mechanism, driving the screw mechanism to move forward, inserting the driving screw mechanism into a groove of the inner hexagonal cylindrical head bolt, enabling the screw mechanism to rotate to tighten the bolt, and stopping screwing when the torque fed back by the force sensor exceeds a set value
And S7.3, repeating S7.2 until six screws are tightened.
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