CN114101909A

CN114101909A - Self-propelled high-temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device and method

Info

Publication number: CN114101909A
Application number: CN202111677202.6A
Authority: CN
Inventors: 杨二娟; 刘福广; 李勇; 刘刚; 王艳松; 米紫昊; 杨兰; 王博; 蔡国双; 李岗; 韩天鹏; 张周博
Original assignee: Nanjing Huirui Photoelectric Technology Co ltd; Xian Thermal Power Research Institute Co Ltd
Current assignee: Nanjing Huirui Photoelectric Technology Co ltd; Xian Thermal Power Research Institute Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-03-01

Abstract

Steam generators are one of the key devices in high temperature gas cooled reactor nuclear power systems. The heat transfer pipe in the pipe plate structure can be mechanically or chemically damaged under the action of high temperature, high pressure and high radiation for a long time, so that the heat transfer pipe is damaged, radioactive coolant leakage accidents occur, and serious social and environmental problems and huge economic losses are caused. Therefore, it is important to perform a plugging operation on the heat transfer pipe at the early stage of the failure. The invention provides a self-propelled high-temperature gas-cooled reactor steam generator water supply end laser welding pipe plugging device and method aiming at a special structure of a high-temperature gas-cooled reactor steam generator water supply end. By utilizing the device, the automatic walking positioning of the device can be realized, the fixed installation time of equipment is reduced, the pipe plugging operation precision and the automation degree of a water supply end are improved, and the operation time of workers in an irradiation environment is shortened. The invention provides an innovative solution for laser welding pipe plugging at the water supply end of the steam generator of the high-temperature gas cooled reactor nuclear power station.

Description

Self-propelled high-temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device and method

Technical Field

The invention belongs to the field of nuclear power technology and equipment, and relates to a self-propelled high-temperature gas cooled reactor nuclear power station steam generator water supply end laser welding pipe plugging device and method.

Background

Steam Generators (SGs) are one of the most critical devices in high temperature gas cooled reactor (HTR-PM) nuclear power systems (note: high temperature gas cooled reactor (HTR-PM) nuclear power plants are economical, efficient, and considered by the nuclear power community as the most promising reactor type to meet the requirements of fourth generation advanced nuclear power equipment systems). The steam generator is a heat exchange device which transfers the heat energy of the reactor to a two-loop medium to generate steam, is a junction of the first loop and the second loop, and has strict requirements on structure, strength, corrosion resistance and the like and safety and reliability. Steam generator heat transfer tubes are an important barrier against the escape of radioactive fission products and are also the weakest link in the steam generator. The steam generator of the high-temperature gas cooled reactor has a water supply end and a main steam outlet end and the like in functional structure, wherein the main steam outlet end provides steam power for the steam turbine set, and the water supply end is used for providing a circulating medium for the steam generator. The main steam outlet end and the water supply end both comprise tube plate structures for fixing heat transfer tubes, but the overall geometric shape, the space size, the installation position, the matched building facilities and the like of the main steam outlet end and the water supply end are different.

For an HTR-PM system, no matter at a main steam outlet end or a water supply end, a heat transfer pipe in a pipe plate structure can be mechanically or chemically damaged under the action of high temperature, high pressure and high radiation for a long time, so that the heat transfer pipe is damaged, radioactive coolant leakage accidents occur, and serious social and environmental problems and huge economic losses are caused. The operation of plugging the heat transfer tube in the early stage of breakage or failure is a main means for preventing leakage of the radioactive cooling medium. At present, methods such as mechanical pipe plugging and welding pipe plugging are mainly used for pipe plugging of the steam generator. The mechanical pipe blocking device comprises a mechanical pipe blocking device, a pipe blocking device, a pipe blocking device, a; aiming at mechanical pipe blockage, mechanical devices for pipe blockage overhauling and operation are developed successively by Westinghouse company, Framatome-ANP company of AREVA group of France, Zetec company and the like in America, so that automation and intellectualization of mechanical pipe blockage operation are improved. However, a key problem with mechanical plugs is that the body expands under the action of the plug, causing high stress and plastic deformation. Compared with an SG system of an in-service pressurized water reactor, the service temperature of an SG heating pipe in the HTR-PM is higher, and the temperature of a primary side is increased from 343 ℃ to 750 ℃, so that the mechanical pipe plugging method applied to the conventional pressurized water reactor can cause pipe plugging failure due to stress relaxation at high temperature.

The principle of welding the pipe plug is to use a welding means to partially fuse the plug material and the end material of the heat transfer pipe, so as to solve the problem of sealing failure easily caused by mechanical pipe plug. In the prior art, traditional welding methods such as argon arc welding are mainly used for realizing pipe plugging operation, and related work comprises designing a welding plug and researching the reliability problem of the plug (Zhaoyao, Dengduoyun, Xudao. design and evaluation of the steam generator welding plug [ J ] atomic energy science technology, 50(7): 1270-. Most of the existing methods for welding and blocking pipes are in the research stage, and few cases report aiming at the automatic welding and blocking of the high-temperature gas cooled reactor steam generator or other types of steam generators on the working site. Laser welding (laser welding) utilizes a laser beam as a heat source, has high energy density, small laser spot diameter, accurately controllable heat, small welding heat affected zone, high joint quality and good accessibility of the light beam, is suitable for precision machining, can effectively reduce welding deformation, and is widely applied to the field of equipment manufacturing industries such as automobiles, ships, aerospace and the like. Compared with welding processes such as argon arc welding and the like, the laser welding is expected to further improve the reliability and the sealing property of the plug pipe, further improve the welding quality and the welding precision of the plug, and is more suitable for the severe welding requirements of the high-temperature gas cooled reactor steam generator.

As for the water supply end of the steam generator of the high temperature gas cooled reactor, how to realize laser welding pipe plugging faces a great challenge, which is represented as follows: (1) the structure of the main steam water supply end and the adjacent building structure are special (different from the main steam outlet end of the high-temperature gas-cooled reactor steam generator), the arranged structures such as a long and narrow manhole cause difficult transportation of laser welding equipment, the laser welding equipment is often transported by manpower, and the operation is suitable for poor humanity; (2) the equipment is difficult to install and position, and particularly, how to automatically convey the laser welding device to the lower end of a water supply end and finish fixing and clamping is realized, so that the time of manual auxiliary operation is reduced; (3) how to realize that a laser welding system automatically judges the position of a plugged pipe, how to efficiently realize automatic clamping of the plug and how to reliably finish automatic welding; (4) how to guarantee the clamping and the feeding of a plurality of plugs and realize the welding and the plugging operation of a plurality of heat transfer pipes.

Disclosure of Invention

Aiming at the defects of the prior art, the invention discloses a self-propelled high-temperature gas cooled reactor nuclear power station steam generator water supply end laser welding pipe plugging device and a method.

The technical scheme adopted by the invention for solving the technical problem is as follows:

self-propelled high temperature gas cooled piles steam generator and gives water end laser welding stifled pipe device, including laser head 23, CCD camera 17, end cap 21, its characterized in that: the device also comprises a track 1, a limiting plate 2, a limit switch 3, a track motor 4, a track speed changer 5, a shell 6, a lifting shaft bottom plate 7, a lifting shaft sliding rod 8, a lifting shaft sliding block 9, a lifting support frame 10, a telescopic cylinder 11, a rotating shaft motor 12, a rotating shaft driven gear 13, a vertical shaft bottom plate 14, a horizontal shaft bottom plate 15, a horizontal shaft connecting plate 16, a plug clamp 20, a plug installation cylinder 22, a laser head connecting plate 24, a switching disc 25, a lifting shaft lead screw nut 26, a lifting shaft lead screw 27, a lifting shaft motor 28, a track wheel driven shaft 29, a track wheel 30, a track wheel driving shaft 31, a track shaft bottom plate 32, a universal wheel 33, a track bearing seat 34, a lifting shaft bearing support 35, a lifting shaft speed changer 36, an elastic floating head 37, a rotating shaft driving gear 38, a vertical shaft speed changer 39, a vertical shaft motor 40, a vertical shaft sliding rod 41 and a vertical shaft 42, a horizontal shaft transmission 43, a horizontal shaft motor 44, a vertical shaft sliding block 45, a vertical shaft bearing support 46, a plug clamp bracket 47, a rotating shaft bearing 48, a horizontal shaft sliding rod 49, a horizontal shaft bearing support 50, a horizontal shaft lead screw 51, a horizontal shaft lead screw nut 52, a horizontal shaft sliding block 53, a vertical shaft lead screw nut 54 and a plug clamp spring 55;

the universal wheels 33 are fixed below the track shaft bottom plate 32 and can be pushed by manpower to move outside the track 1 area; the track driving shaft 31 and the track driven shaft 29 are respectively installed at the front end and the rear end of the track shaft bottom plate 32 through track bearing seats 34, wherein the track driving shaft 31 is connected with the track motor 4 through a track transmission 5 and can rotate under the driving of the track motor 4, the track wheels 30 are respectively fixed on the track driving shaft 31 and the track driven shaft 29, the rotation motion of the track driving shaft 29 is converted into the linear motion of the track shaft bottom plate 32, the track wheels 30 are matched with the track 1 to ensure that the track shaft bottom plate 32 linearly moves along the track 1 under the guiding of the track 1, and the track 1 is fixed on the ground; the limit switch 3 is fixed at the front end of the track shaft bottom plate 32, the limit plate 2 is arranged at the position of the track 1 below the inner wall 18 of the water supply end, and the track motor 4 stops running after the limit switch 3 contacts the limit plate 2;

the lifting shaft bottom plate 7 is fixed on the track shaft bottom plate 32, the lifting shaft lead screw 27 is mounted on the lifting shaft bottom plate 7 through a lifting shaft bearing support 35, the lower end of the lifting shaft bottom plate is connected with the lifting shaft motor 28 through a lifting shaft speed changer 36 and can be driven by the lifting shaft motor 28 to rotate, the lifting shaft lead screw nut 26 is matched with the lifting shaft lead screw 27, the rotary motion of the lifting shaft lead screw 27 is converted into the linear motion of the lifting shaft lead screw nut 26, the lifting shaft slide bar 8 is fixed on the lifting shaft bottom plate 7, the lifting shaft slide block 9 is matched with the lifting shaft slide bar 8, and the lifting shaft slide block 9 is ensured to move up and down along a straight line under the guidance of the lifting shaft slide bar 8;

the lifting shaft screw nut 26 and the lifting shaft sliding block 9 are arranged on the lifting support frame 10, the lifting support frame 10 is connected with the adapter plate 25, 3-3-4 groups of telescopic cylinders 11 are uniformly distributed on the adapter plate 25 along the circumferential direction, the top end of each telescopic cylinder 11 is connected with an elastic floating head 37, and the elastic floating head 37 can be tightly clamped on the inner wall 18 of the water supply end under the driving of the telescopic cylinders 11;

the rotating shaft bearing 48 is fixed on the adapter plate 25 and connected with the rotating shaft driven gear 13, the rotating shaft driving gear 38 is connected with the rotating shaft motor 12, and the rotating shaft driven gear 13 is matched with the rotating shaft driving gear 38 and can rotate under the driving of the rotating shaft motor 12;

the vertical shaft base plate 14 is fixed on the rotating shaft driven gear 13, the vertical shaft lead screw 42 is mounted on the vertical shaft base plate 14 through a vertical shaft bearing support 46, the lower end of the vertical shaft lead screw is connected with the vertical shaft motor 40 through a vertical shaft transmission 39 and can be driven by the vertical shaft motor 40 to rotate, the vertical shaft lead screw nut 54 is matched with the vertical shaft lead screw 42 to convert the rotating motion of the vertical shaft lead screw 42 into the linear motion of the vertical shaft lead screw nut 54, the vertical shaft sliding rod 41 is fixed on the vertical shaft base plate 14, the vertical shaft sliding block 45 is matched with the vertical shaft sliding rod 41 to ensure that the vertical shaft sliding block 45 moves linearly under the guidance of the vertical shaft sliding rod 41, and the vertical shaft lead screw nut 54 and the vertical shaft sliding block 45 are mounted on the horizontal shaft connecting plate 16;

the horizontal shaft lead screw nut 52 and the horizontal shaft sliding block 53 are arranged on the horizontal shaft connecting plate 16, the horizontal shaft lead screw 51 is arranged on the horizontal shaft bottom plate 15 through the horizontal shaft bearing support 50, the other end of the horizontal shaft lead screw is connected with the horizontal shaft motor 44 through the horizontal shaft speed changer 43 and can be driven by the horizontal shaft motor 44 to rotate, the horizontal shaft lead screw 51 is matched with the horizontal shaft lead screw nut 52 to convert the rotating motion of the horizontal shaft lead screw 51 into the linear motion of the horizontal shaft bottom plate 15, the horizontal shaft sliding rod 49 is fixed on the horizontal shaft bottom plate 15 and is matched with the horizontal shaft sliding block 53 to ensure that the horizontal shaft bottom plate 15 moves linearly under the guidance of the horizontal shaft sliding rod 49;

the plug clamp 20 is arranged in the plug clamp bracket 47, the plug clamp spring 55 is fixed at the bottom of the plug clamp 20, and the plug 21 in the plug clamp 20 can be pushed to the plug mounting cylinder 22 and pushed into the heat transfer pipe 19 by the plug mounting cylinder 22; the plug clamp support 47 and the laser head 23 are fixed at one end of the horizontal shaft base plate 15 through a laser head connecting plate 24, and can plug and weld the heat transfer pipe 19 under the driving of the rotary shaft motor 12, the vertical shaft motor 40 and the horizontal shaft motor 44;

the CCD camera 17 is installed on the back side of the bottom plate 14 with the vertical shaft, and the obtained image is combined with a machine vision method to judge the position of the inlet of the inner wall 18 of the water supply end and the space position of the heat transfer pipe 19 to be blocked, and the blocking welding operation is completed.

Furthermore, a slope is arranged at the entrance of the track 1, so that the device can be pushed onto the track 1 through the universal wheels 33, and manual carrying is avoided.

Furthermore, the lifting shaft sliding rods 8 are symmetrically arranged on two sides of the lifting shaft bottom plate 7, so that the stability and the precision of the lifting support frame 10 are improved, and the lifting shaft bottom plate 7 is provided with a reinforcing rib structure.

Furthermore, the adapter plate 25 is connected with the lifting support frame 10 through quick-release bolts, so that the device can be quickly disassembled into an upper part and a lower part so as to pass through narrow passages and spaces.

Furthermore, the vertical shaft bottom plate 14 is installed deviating from the rotation center of the rotating shaft driven gear 13, the covering surface of the laser head 23 and the plug installation cylinder 22 on the heat transfer pipe 19 is improved, and a reinforcing rib structure is arranged on the vertical shaft bottom plate 14.

Further, the horizontal shaft bottom plate 15 can move horizontally or vertically relative to the vertical shaft bottom plate 14, and the path planning can be used for passing through the inlet of the water supply end inner wall 18, so as to avoid interference with the water supply end inner wall 18 and the heat transfer pipe 19.

Furthermore, the laser head 23 can receive an external laser source through an optical fiber, and can realize cooling or welding protection by connecting an external cooling medium or protective gas; the telescopic cylinder 11 and the plug installation cylinder 22 can be connected with a pressure air source through air pipes to realize required actions.

Further, the plug clamp 20 can store a plurality of plugs 21 for multiple clamping and loading, and can realize laser welding and plugging of a plurality of heat transfer tubes 19.

Furthermore, the CCD camera 17, the laser head 23 and other matched devices can bear certain nuclear power radiation, and the irradiation resistance is not lower than 10 Gy/h.

Compared with the prior art, the invention has the beneficial effects that: the laser welding process is applied to the pipe plugging welding operation of the water supply end of the steam generator of the high-temperature gas cooled reactor nuclear power station, and a movement and execution mechanism for realizing the pipe plugging welding operation is provided; building structures such as adjacent manholes of the main steam water supply end are considered, an integral mechanism and a portable pushing scheme which can be conveniently detached are provided, the conveying problem is solved, and the humanity in operation is improved; the rail self-propelled method and the telescopic cylinder fastening method solve the problems of equipment positioning and fixing, can realize automatic conveying of the laser welding device to the lower end of the water supply end, and automatically complete fixing and clamping, thereby greatly reducing the time of manual auxiliary operation. Particularly, the automatic positioning and fastening of the equipment can be conveniently finished by an operator at a certain distance from the water supply end; the automatic judgment of the pipe plugging position of the laser welding system is realized by combining a CCD camera with a machine recognition algorithm, so that automatic plug assembly and clamping are realized, and automatic welding is reliably completed; in addition, through material supplementing mechanisms such as plug clamps, the plug clamps can ensure that a plurality of plugs are provided for clamping and feeding, and laser welding plugging operation of a plurality of heat transfer pipes is realized. The invention provides an innovative solution for the welding pipe blockage at the water supply end of the steam generator of the nuclear power station.

Drawings

FIG. 1 is a schematic view of the apparatus of the present invention.

Fig. 2 is a partial schematic view of a telescopic cylinder and the like.

FIG. 3 is a side partial schematic view of the apparatus of the present invention.

Fig. 4 is a schematic diagram of the rail wheel walking.

FIG. 5 is a schematic top view of the apparatus of the present invention.

FIG. 6 is a schematic view of the plug clip installation.

Fig. 7 is a schematic view of a plug clip.

In the figure: in the figure: 1 track, 2 limit plates, 3 limit switches, 4 track motors, 5 track transmissions, 6 shells, 7 lifting shaft base plates, 8 lifting shaft sliding rods, 9 lifting shaft sliding blocks, 10 lifting support frames, 11 telescopic cylinders, 12 rotating shaft motors, 13 rotating shaft driven gears, 14 vertical shaft base plates, 15 horizontal shaft base plates, 16 horizontal shaft connecting plates, 17CCD cameras, 18 water supply end inner walls, 19 heat transfer pipes, 20 plug clamps, 21 plugs, 22 plug installation cylinders, 23 laser heads, 24 laser head connecting plates, 25 switching discs, 26 lifting shaft lead screw nuts, 27 lifting shaft lead screws, 28 lifting shaft motors, 29 track wheel driven shafts, 30 track wheels, 31 track wheel driving shafts, 32 track shaft base plates, 33 universal wheels, 34 track bearing blocks, 35 lifting shaft bearing supports, 36 lifting shaft transmissions, 37 elastic floating heads, 38 rotating shaft driving gears and 39 vertical shaft transmissions, 40 vertical axis motor, 41 vertical axis slide bar, 42 vertical axis lead screw, 43 horizontal axis transmission, 44 horizontal axis motor, 45 vertical axis slide block, 46 vertical axis bearing support, 47 plug clamp support, 48 rotating axis bearing, 49 horizontal axis slide bar, 50 horizontal axis bearing support, 51 horizontal axis lead screw, 52 horizontal axis lead screw nut, 53 horizontal axis slide block, 54 vertical axis lead screw nut, 55 plug clamp spring.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1 to 7, the pipe blocking device for laser welding of the water supply end of the self-propelled high temperature gas cooled reactor nuclear power plant steam generator of the invention comprises a laser head 23, a CCD camera 17, a plug 21, a rail 1, a limit plate 2, a limit switch 3, a rail motor 4, a rail transmission 5, a housing 6, a lifting shaft base plate 7, a lifting shaft sliding rod 8, a lifting shaft sliding block 9, a lifting support frame 10, a telescopic cylinder 11, a rotating shaft motor 12, a rotating shaft driven gear 13, a vertical shaft base plate 14, a horizontal shaft base plate 15, a horizontal shaft connecting plate 16, a plug clamp 20, a plug mounting cylinder 22, a laser head connecting plate 24, a switching plate 25, a lifting shaft lead screw nut 26, a lifting shaft lead screw 27, a lifting shaft motor 28, a rail wheel driven shaft 29, a rail wheel 30, a rail wheel driving shaft 31, a rail shaft base plate 32, a universal wheel 33, a rail bearing seat 34, a lifting shaft bearing support 35, a lifting shaft transmission 36, an elastic floating head 37, a rotating shaft driving gear 38, a vertical shaft transmission 39, a vertical shaft motor 40, a vertical shaft sliding rod 41, a vertical shaft lead screw 42, a horizontal shaft transmission 43, a horizontal shaft motor 44, a vertical shaft sliding block 45, a vertical shaft bearing support 46, a plug clamp bracket 47, a rotating shaft bearing 48, a horizontal shaft sliding rod 49, a horizontal shaft bearing support 50, a horizontal shaft lead screw 51, a horizontal shaft lead screw nut 52, a horizontal shaft sliding block 53, a vertical shaft lead screw nut 54 and a plug clamp spring 55;

The entrance of the track 1 is provided with a slope, so that the device can be pushed onto the track 1 through the universal wheels 33, and manual carrying is avoided.

The lifting shaft sliding rods 8 are symmetrically arranged on two sides of the lifting shaft bottom plate 7, stability and precision of the lifting support frame 10 are improved, and a reinforcing rib structure is arranged on the lifting shaft bottom plate 7.

The adapter plate 25 is connected with the lifting support frame 10 through quick-release bolts, and the device can be quickly disassembled into an upper part and a lower part so as to pass through narrow passages and spaces.

The vertical shaft bottom plate 14 is installed by deviating from the rotation center of the rotating shaft driven gear 13, the covering surface of the laser head 23 and the plug installation cylinder 22 on the heat transfer pipe 19 is improved, and a reinforcing rib structure is arranged on the vertical shaft bottom plate 14.

The horizontal shaft bottom plate 15 can move horizontally or vertically relative to the vertical shaft bottom plate 14, and the path planning can be used for avoiding interference with the water supply end inner wall 18 and the heat transfer pipe 19 through the inlet of the water supply end inner wall 18.

The laser head 23 can receive an external laser source through an optical fiber and can realize cooling or welding protection by connecting an external cooling medium or protective gas; the telescopic cylinder 11 and the plug installation cylinder 22 can be connected with a pressure air source through air pipes to realize required actions.

The plug clamp 20 can store a plurality of plugs 21 for clamping and feeding for many times, and can realize laser welding and plugging of a plurality of heat transfer tubes 19.

The CCD camera 17, the laser head 23 and other matching devices can bear certain nuclear power radiation, and the radiation resistance is not lower than 10 Gy/h.

As shown in fig. 1 to 7, the self-propelled high temperature gas cooled reactor nuclear power station steam generator water supply end laser welding pipe plugging device works according to the following principle:

the device for plugging the heat transfer pipe at the water supply end of the steam generator of the high-temperature gas cooled reactor nuclear power station and for plugging the pipe by laser welding has the following working principle: in order to ensure that the whole set of equipment can automatically run to a working position and reduce the short-range operation time of an operator in a radiation environment, a self-propelled transportation unit is arranged, wherein the self-propelled transportation unit comprises a track 1, a limit switch 3, a track motor 4, a track transmission 5, a track wheel driven shaft 29, a track wheel 30, a track wheel driving shaft 31, a track shaft bottom plate 32, universal wheels 33 and the like. When the water supply end of the steam generator of the high-temperature gas cooled reactor nuclear power station needs to be subjected to pipe blocking operation, the device can be pushed to the slope of the inlet of the rail 1 fixed on the foundation through the universal wheel 33, then the rail wheel 30 is driven by the rail motor 4 to roll on the rail 1, the linear motion of the device is completed, the limiting plate 2 is arranged on the rail 1, the stop position is judged through the limiting switch 3, and the whole device can automatically run to the position below the water supply end of the steam generator of the high-temperature gas cooled reactor nuclear power station needing to be subjected to pipe blocking. Because of the narrow entrance of the inner wall 18 of the feed end, the horizontal shaft is arranged to move horizontally relative to the vertical shaft by the horizontal shaft motor 44 so that the welding unit can pass smoothly through the entrance of the inner wall 18 of the feed end near the heat transfer tube 19. Because vertical axis bottom plate 14 is the installation of skew rotation axis driven gear 13's rotation center, and horizontal axis bottom plate 15 is in the cantilever state, has consequently set up telescopic cylinder 11, and elasticity floating head 37 assists fixedly, and telescopic cylinder 11 can drive elasticity floating head 37 and stretch out and block the water supply end inner wall 18 entry, produces when preventing to carry out stifled pipe welding operation and rocks. The laser head 23 and the plug clamp support 47 are fixed at one end of the back side of the horizontal shaft base plate 15 through the laser head connecting plate 24 and can move to the position below the heat transfer pipe 19 needing to be plugged under the driving of the rotary shaft motor 12, the vertical shaft motor 40 and the horizontal shaft motor 44, firstly, the outlet of the plug clamp support 47 is aligned to the inlet of the heat transfer pipe 19, the plug 21 in the plug clamp 20 is pushed into the heat transfer pipe 19 through the plug mounting air cylinder 22, then, the laser head 23 is moved to the position of the heat transfer pipe 19 where the plug 21 is mounted, welding operation is carried out, and the welding operation is carried out according to the previously compiled motion track and machining parameters. In order to successfully realize accurate positioning of a water supply end of a steam generator of a high-temperature gas cooled reactor nuclear power station, fault assessment of a heat transfer pipe 19, obstacle avoidance of an inner wall 18 of the water supply end and the heat transfer pipe 19, positioning of an installation welding plug 21, judgment of the quality of plugging welding and the like, a CCD camera 17 is installed on the back side of a vertical shaft bottom plate 14, and the functions are realized according to images collected by the CCD camera 17 and by combining operations such as image processing, machine vision positioning and the like.

Claims

1. Self-propelled high temperature gas cooled piles steam generator and gives water end laser welding stifled pipe device, including laser head (23), CCD camera (17), end cap (21), its characterized in that: the device is characterized by further comprising a track (1), a limiting plate (2), a limiting switch (3), a track motor (4), a track transmission (5), a shell (6), a lifting shaft bottom plate (7), a lifting shaft sliding rod (8), a lifting shaft sliding block (9), a lifting support frame (10), a telescopic cylinder (11), a rotating shaft motor (12), a rotating shaft driven gear (13), a vertical shaft bottom plate (14), a horizontal shaft bottom plate (15), a horizontal shaft connecting plate (16), a plug clamp (20), a plug mounting cylinder (22), a laser head connecting plate (24), a switching disc (25), a lifting shaft lead screw nut (26), a lifting shaft lead screw (27), a lifting shaft motor (28), a track wheel driven shaft (29), a track wheel (30), a track wheel driving shaft (31), a track shaft bottom plate (32), a universal wheel (33), a track bearing seat (34) and a lifting shaft bearing support (35), a lifting shaft transmission (36), an elastic floating head (37), a rotating shaft driving gear (38), a vertical shaft transmission (39), a vertical shaft motor (40), a vertical shaft sliding rod (41), a vertical shaft lead screw (42), a horizontal shaft transmission (43), a horizontal shaft motor (44), a vertical shaft sliding block (45), a vertical shaft bearing support (46), a plug clamp support (47), a rotating shaft bearing (48), a horizontal shaft sliding rod (49), a horizontal shaft bearing support (50), a horizontal shaft lead screw (51), a horizontal shaft lead screw nut (52), a horizontal shaft sliding block (53), a vertical shaft lead screw nut (54) and a plug clamp spring (55);

the universal wheels (33) are fixed below the rail shaft bottom plate (32) and can be pushed by manpower to move outside the rail (1) area; the track driving shaft (31) and the track driven shaft (29) are respectively installed at the front end and the rear end of a track shaft bottom plate (32) through a track bearing seat (34), wherein the track driving shaft (31) is connected with a track motor (4) through a track transmission (5) and can rotate under the driving of the track motor (4), a track wheel (30) is respectively fixed on the track driving shaft (31) and the track driven shaft (29), the rotating motion of the track driving shaft (29) is converted into the linear motion of the track shaft bottom plate (32), the track wheel (30) is matched with a track (1), the track shaft bottom plate (32) is ensured to linearly move along the track (1) under the guiding of the track (1), and the track (1) is fixed on the ground; the limit switch (3) is fixed at the front end of the rail shaft bottom plate (32), the limit plate (2) is arranged at the position of the rail (1) below the inner wall (18) of the water supply end, and the rail motor (4) stops running after the limit switch (3) contacts the limit plate (2);

the lifting shaft bottom plate (7) is fixed on the track shaft bottom plate (32), a lifting shaft lead screw (27) is mounted on the lifting shaft bottom plate (7) through a lifting shaft bearing support (35), the lower end of the lifting shaft lead screw (27) is connected with a lifting shaft motor (28) through a lifting shaft speed changer (36) and is driven by the lifting shaft motor (28) to rotate, a lifting shaft lead screw nut (26) is matched with the lifting shaft lead screw (27) to convert the rotating motion of the lifting shaft lead screw (27) into the linear motion of the lifting shaft lead screw nut (26), a lifting shaft sliding rod (8) is fixed on the lifting shaft bottom plate (7), a lifting shaft sliding block (9) is matched with a lifting shaft sliding rod (8) to ensure that the lifting shaft sliding block (9) moves up and down along the linear direction under the guiding of the lifting shaft sliding rod (8);

the lifting shaft screw nut (26) and the lifting shaft sliding block (9) are arranged on a lifting support frame (10), the lifting support frame (10) is connected with an adapter plate (25), 3-4 groups of telescopic cylinders (11) are uniformly distributed on the adapter plate (25) along the circumferential direction, the top end of each telescopic cylinder (11) is connected with an elastic floating head (37), and the elastic floating head (37) can be driven by the telescopic cylinders (11) to clamp the inner wall (18) of the water supply end;

the rotary shaft bearing (48) is fixed on the adapter plate (25) and connected with the rotary shaft driven gear (13), the rotary shaft driving gear (38) is connected with the rotary shaft motor (12), and the rotary shaft driven gear (13) is matched with the rotary shaft driving gear (38) and can rotate under the driving of the rotary shaft motor (12);

the vertical shaft base plate (14) is fixed on the rotating shaft driven gear (13), the vertical shaft lead screw (42) is arranged on the vertical shaft base plate (14) through a vertical shaft bearing support (46), the lower end of the vertical shaft lead screw (42) is connected with the vertical shaft motor (40) through a vertical shaft speed changer (39), the vertical shaft screw nut (54) is matched with the vertical shaft screw (42), the rotary motion of the vertical shaft screw (42) is converted into the linear motion of the vertical shaft screw nut (54), the vertical shaft sliding rod (41) is fixed on the vertical shaft bottom plate (14), the vertical shaft sliding block (45) is matched with the vertical shaft sliding rod (41) to ensure that the vertical shaft sliding block (45) moves linearly under the guidance of the vertical shaft sliding rod (41), and the vertical shaft screw nut (54) and the vertical shaft sliding block (45) are installed on the horizontal shaft connecting plate (16);

the horizontal shaft lead screw nut (52) and the horizontal shaft sliding block (53) are mounted on a horizontal shaft connecting plate (16), a horizontal shaft lead screw (51) is mounted on a horizontal shaft base plate (15) through a horizontal shaft bearing support (50), the other end of the horizontal shaft lead screw (51) is connected with a horizontal shaft motor (44) through a horizontal shaft speed changer (43) and can rotate under the driving of the horizontal shaft motor (44), the horizontal shaft lead screw (51) is matched with the horizontal shaft lead screw nut (52) to convert the rotating motion of the horizontal shaft lead screw (51) into the linear motion of the horizontal shaft base plate (15), a horizontal shaft sliding rod (49) is fixed on the horizontal shaft base plate (15) and is matched with the horizontal shaft sliding block (53) to ensure that the horizontal shaft base plate (15) moves linearly under the guiding of the horizontal shaft sliding rod (49);

the plug clamp (20) is arranged in the plug clamp bracket (47), the plug clamp spring (55) is fixed at the bottom of the plug clamp (20), a plug (21) in the plug clamp (20) can be pushed to a plug mounting cylinder (22), and the plug mounting cylinder (22) pushes the plug (21) into the heat transfer pipe (19); the plug clamp support (47) and the laser head (23) are fixed at one end of the horizontal shaft base plate (15) through a laser head connecting plate (24), and the heat transfer pipe (19) can be plugged and welded under the driving of the rotary shaft motor (12), the vertical shaft motor (40) and the horizontal shaft motor (44);

the CCD camera (17) is arranged on the back side of the vertical shaft bottom plate (14), and the acquired image is combined with a machine vision method to judge the position of an inlet of the inner wall (18) of the water supply end and the space position of the heat transfer pipe (19) to be blocked, and the blocking welding operation is completed.

2. The self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of claim 1, characterized in that: the entrance of the track (1) is provided with a slope, so that the device can be conveniently pushed onto the track (1) through the universal wheels (33), and manual carrying is avoided.

3. The self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of claim 1, characterized in that: the lifting shaft sliding rods (8) are symmetrically arranged on two sides of the lifting shaft bottom plate (7), stability and precision of the lifting support frame (10) are improved, and a reinforcing rib structure is arranged on the lifting shaft bottom plate (7).

4. The device for plugging and laser welding the heat transfer pipe at the water supply end of the steam generator of the high temperature gas cooled reactor according to claim 1, wherein: the adapter plate (25) is connected with the lifting support frame (10) through quick-release bolts, and the device can be quickly disassembled into an upper part and a lower part so as to pass through narrow passages and spaces.

5. The self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of claim 1, characterized in that: the installation of the rotation center of the vertical shaft bottom plate (14) deviating from the driven gear (13) of the rotating shaft improves the covering surface of the laser head (23) and the plug installation cylinder (22) on the heat transfer pipe (19), and a reinforcing rib structure is arranged on the vertical shaft bottom plate (14).

6. The self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of claim 1, characterized in that: the horizontal shaft bottom plate (15) can move horizontally or vertically relative to the vertical shaft bottom plate (14), and can pass through an inlet of the water supply end inner wall (18) through trajectory planning, so that the interference with the water supply end inner wall (18) and the heat transfer pipe (19) is avoided.

7. The self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of claim 1, characterized in that: the laser head (23) receives an external laser source through an optical fiber and realizes cooling or welding protection by connecting an external cooling medium or protective gas; the telescopic cylinder (11) and the plug installation cylinder (22) are connected with a pressure air source through air pipes to realize required actions.

8. The self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of claim 1, characterized in that: the plug clamp (20) stores a plurality of plugs (21) for operation, and a plurality of heat transfer pipes (19) are plugged and welded at a time.

9. The self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of claim 1, characterized in that: the CCD camera (17), the laser head (23) and the matching device thereof can bear certain nuclear power radiation, and the irradiation resistance is not lower than 10 Gy/h.

10. The working method of the self-propelled high temperature gas cooled reactor steam generator water supply end laser welding pipe plugging device of any one of claims 1 to 9 is characterized in that: when the water supply end of a high-temperature gas cooled reactor steam generator needs to be subjected to pipe plugging operation, the device is pushed to an inlet slope of a rail (1) fixed on a foundation through a universal wheel (33), then the rail is driven by a rail motor (4), a rail wheel (30) rolls on the rail (1) to complete the linear motion of the device, a limiting plate (2) is arranged on the rail (1), the stop position is judged through a limiting switch (3), and the whole device is ensured to automatically run to the position below the water supply end of the steam generator needing to be subjected to pipe plugging; because the inlet of the water supply end inner wall (18) is narrower, the horizontal shaft is set to move horizontally relative to the vertical shaft under the drive of a horizontal shaft motor (44), so that the welding unit smoothly passes through the inlet of the water supply end inner wall (18) to be close to the heat transfer pipe (19); because the vertical shaft bottom plate (14) is installed by deviating from the rotation center of the rotating shaft driven gear (13), and the horizontal shaft bottom plate (15) is in a cantilever state, the telescopic cylinder (11) is arranged, the elastic floating head (37) is used for auxiliary fixation, and the telescopic cylinder (11) drives the elastic floating head (37) to extend out to block the inlet of the inner wall (18) of the water supply end, so that the shaking generated during the pipe plugging welding operation is prevented; the laser head (23) and the plug clamp support (47) are fixed at one end of the back side of the horizontal shaft base plate (15) through a laser head connecting plate (24), move to the position below a heat transfer pipe (19) needing to be plugged under the driving of a rotary shaft motor (12), a vertical shaft motor (40) and a horizontal shaft motor (44), firstly, an outlet of the plug clamp support (47) is aligned to an inlet of the heat transfer pipe (19), a plug (21) in the plug clamp (20) is pushed into the heat transfer pipe (19) through a plug mounting cylinder (22), then, the laser head (23) is moved to the position of the heat transfer pipe (19) where the plug (21) is mounted, welding operation is carried out, and the welding operation is carried out according to a compiled motion track and machining parameters; in order to successfully realize accurate positioning of a water supply end of a steam generator, fault assessment of a heat transfer pipe (19), obstacle avoidance of an inner wall (18) of the water supply end and the heat transfer pipe (19), positioning of an installation welding plug (21) and judgment of the quality of plugging welding, a CCD camera (17) is installed on the back side of a vertical shaft bottom plate (14), and the functions are realized according to images collected by the CCD camera (17) and by combining image processing and machine vision positioning operation.