CN115050494B - Cantilever type irradiation monitoring pipe grabbing device and working method - Google Patents

Abstract

The application relates to a cantilever type irradiation monitoring pipe grabbing device and a working method thereof, wherein the grabbing device comprises a stacking positioning device, a connecting rod assembly, a counterweight assembly, a grabbing assembly, an underwater camera and a control element; the stacking positioning device comprises a base, lifting lugs, a guide rail, a sliding table, a connecting rod supporting platform, a motor and the like, and is connected with the grabbing assembly through a connecting rod assembly to realize remote positioning operation of the device; the grabbing component comprises a jacking component, a rotating component, a guiding mechanism and the like, and the grabbing component provides jacking movement and rotating movement. The cantilever type device can grab and transport the irradiation monitoring pipe and put the irradiation monitoring pipe into the high-level shielding container through the grabbing component. The device has high automation degree, high positioning precision and low requirement on the operation environment, and can be suitable for underwater remote grabbing operation of the irradiation monitoring pipe.

Description

Cantilever type irradiation monitoring pipe grabbing device and working method

Technical Field

The application belongs to the technical field of pressurized water reactor refueling overhaul operation, and particularly relates to an irradiation monitoring pipe disassembling tool.

Background

In order to detect the influence of the irradiation environment on the material performance of the pressurized water reactor pressure vessel of the nuclear power station, an irradiation monitoring pipe is arranged in the reactor. The irradiation monitoring tube is a component for material performance monitoring installed at the lower part of the reactor pressure vessel. When the reactor is periodically subjected to refueling overhaul, an operator takes out the irradiation monitoring tube from the pressure vessel, performs inspection and test on the performance of the irradiation monitoring tube, determines the performance change of related materials, provides parameters for safety evaluation of the reactor pressure vessel, and monitors the embrittlement condition of the pressure vessel materials.

When the reactor is reloaded and overhauled, the irradiation monitoring tube needs to be remotely disassembled and assembled underwater at the bottom of the pressure vessel by using a disassembling tool because of strong radioactivity of the pressure vessel and the irradiation monitoring tube. In a common pressurized water reactor, the installation direction of the irradiation monitoring pipe is opposite to a blocking hole above the pressure vessel, and the irradiation monitoring pipe is disassembled only by a corresponding long rod operation tool from top to bottom, so that the irradiation monitoring pipe is disassembled. However, in some new pressurized water reactor types, a shielding object exists right above the installation position of the irradiation monitoring pipe, the operation space is narrow, and the long rod operation tool cannot be directly used for disassembly. Therefore, the operating tools proposed in the literature (journal paper, mechanical study and application, 2018) and the literature (remote gripper for irradiation monitoring tube) (patent, CN109949954 a) cannot meet the corresponding working conditions.

Disclosure of Invention

In view of the above, the application provides a cantilever type irradiation monitoring pipe grabbing device and a working method thereof, which aim to remotely grab an irradiation monitoring pipe underwater under the working conditions, aiming at the working conditions that a shielding object exists right above the installation position of the irradiation monitoring pipe and the operation space is narrow in some new pressurized water reactor types.

The application is realized by the following technical scheme:

the cantilever type irradiation monitoring tube grabbing device comprises a jacking component, a rotating component, a guiding mechanism and a supporting block, wherein the jacking component comprises a jacking cylinder, the guiding mechanism comprises a sliding plate, the supporting block and the sliding plate are provided with horizontal openings for accommodating irradiation monitoring tubes, the rotating component is connected with the sliding plate, and the sliding plate is driven to rotate so as to seal the horizontal openings; the jacking cylinder main body is arranged on the supporting block, and the thrust of the pushing rod of the jacking cylinder acts on the large shaft shoulder of the irradiation monitoring pipe.

As a preferable scheme, the jacking assembly further comprises a jacking plate, and the jacking cylinder push rod is connected with the jacking plate.

As a preferable scheme, the guide mechanism further comprises a guide column and a limit column, wherein the guide column is vertically arranged on the jacking plate, an arc-shaped hole is formed in the sliding plate, and the guide column is positioned in the arc-shaped hole; the limiting column is vertically arranged on the supporting block, and the limiting column penetrates through the jacking plate in a sliding mode to limit vertical movement.

As a preferable scheme, the rotating assembly comprises a swinging cylinder and a connecting rod mechanism, the swinging cylinder body is arranged on the jacking plate, and an output shaft of the swinging cylinder is connected with the sliding plate through the connecting rod mechanism.

As the preferred scheme, still include pile positioner, connecting rod subassembly and connecting plate, connecting rod subassembly includes the connecting rod, and the supporting shoe passes through the connecting plate to be connected with the connecting rod bottom, and the connecting rod top is connected on pile positioner.

As the preferred scheme, pile positioner includes base, lug, X to guide rail, slip table, connecting rod supporting platform, a motor, digital display, dog, Y to the guide rail, the lug is installed on base upper portion, X to guide rail is installed in the base lower part, the slip table is installed on X to the guide rail, Y to guide rail is installed on the slip table, connecting rod supporting platform installs on Y to guide rail, the connecting rod top is connected on connecting rod supporting platform, X to guide rail and Y to guide rail configuration motor and dog, digital display is used for showing X to and Y to the displacement.

As the preferable scheme, the connecting rod assembly further comprises a connecting rod operating handle, and the connecting rod is installed on the connecting rod supporting platform through the connecting rod operating handle.

As the preferred scheme, still include the counter weight subassembly, the counter weight subassembly includes connecting interface, balancing weight and adjusting nut, and the balancing weight passes through connecting interface and installs in the connecting rod bottom of connecting rod subassembly, and the balancing weight is located the connecting rod relative both sides with the snatch subassembly that comprises jacking subassembly, rotating assembly and guiding mechanism, and the balancing weight both sides pass through adjusting nut adjustment level counter weight position.

Preferably, the device also comprises an underwater camera, wherein the underwater camera is opposite to the grabbing component and is in signal connection with the control system.

The working method of the cantilever type irradiation monitoring pipe grabbing device comprises the following steps of:

1) Installing a positioning device on the pile;

2) The grabbing component is provided with a connecting rod component and the lower part of the grabbing component consists of a jacking component, a rotating component and a guiding mechanism;

3) Adjusting the connecting rod operating handle to perform coarse positioning in the direction;

4) Carrying out position coarse positioning through an underwater camera;

5) Opening an electromagnetic switch of the swing cylinder;

6) Monitoring the in-place condition by an underwater camera;

7) Opening an electromagnetic switch of the jacking cylinder;

8) Monitoring the in-place condition by an underwater camera;

9) Completing the grabbing action;

10 Carrying the irradiation monitoring tube to withdraw and move to the shielding container;

11 Opening an electromagnetic switch of the swing cylinder to perform reversing;

12 Releasing the irradiation supervisory tube to the shielded container;

13 The electromagnetic switch of the jacking cylinder and the swing cylinder is closed in sequence;

14 The gripping device is withdrawn.

In summary, compared with the conventional irradiation monitoring pipe disassembling tool in the prior art, the irradiation monitoring pipe disassembling tool has the following differences, advantages and beneficial effects:

1) The application adopts a brand new cantilever structure disassembly scheme, and can be used for disassembling the irradiation monitoring pipe with shielding and narrow operation space in the vertical direction.

2) The two actions of jacking movement and rotating movement can be automatically realized.

3) The automatic degree is high, the operation is simple, the manpower demand is less, and the structure processing and assembling requirements are low.

Drawings

The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application.

FIG. 1 is a schematic view (a) of an irradiation supervisory tube installation.

Fig. 2 is a schematic view (b) of the irradiation supervisory tube installation.

Fig. 3 is a schematic view (c) of the irradiation supervisory tube installation.

Fig. 4 is a schematic view of the upper end face of the compression shaft.

Fig. 5 is a general view of a cantilever irradiation supervisory tube grasping device.

Fig. 6 is a schematic view of the grasping assembly (the hold down assembly has been tripped, concealing the in-stack structural components).

Fig. 7 is a schematic view of an on-stack positioning device.

FIG. 8 is a schematic view of a tie rod assembly.

Fig. 9 is a schematic view of a counterweight assembly.

Fig. 10 is a schematic view of a grasping assembly.

Fig. 11 is a schematic view of a rotating assembly.

Fig. 12 is a diagram of the overall configuration of the control system.

Fig. 13 is a control mode panel diagram.

Fig. 14 is an operational flow diagram.

Reference numerals and corresponding part names:

an irradiation monitoring pipe 100, a small shaft shoulder 101, a large shaft shoulder 102 and an upper end 103 of the irradiation monitoring pipe;

the fixing structure 200, an upper fixing block 210, a lower fixing block 220, a pressing assembly 230, a pressing fixing block 231, a pressing sleeve 232, a pressing shaft 233 and a pressing spring 234;

the on-stack positioning device 300, the base 301, the lifting lug 302, the X-direction guide rail 303, the sliding table 304, the connecting rod supporting platform 305, the motor 306, the digital display 307, the stop block 308, the Y-direction guide rail 309, the pressure vessel sealing surface 310 and the in-stack structural member 311;

a connecting rod assembly 400, a connecting rod 401, a connecting rod operating handle 402;

a counterweight assembly 500, a connection interface 501, a counterweight 502, and an adjusting nut 503;

gripping assembly 600, support block 640, connection plate 650;

a jacking assembly 610, a jacking cylinder 611, and a jacking plate 612;

a rotation unit 620, a swing cylinder 621, and a link mechanism 622;

a guide mechanism 630, a guide post 631, a slide plate 632, a stopper post 633;

an underwater camera 700.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the principles and features of the present application will be described in further detail below with reference to the examples and the accompanying drawings, and the exemplary embodiments of the present application and the descriptions thereof are only for explaining the present application and are not intended to limit the scope of the present application.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that: no such specific details are necessary to practice the application. In other instances, well-known structures, circuits, materials, or methods have not been described in detail in order not to obscure the application.

Throughout the description, reference to "one embodiment," "an embodiment," "one example," or "an example" means: a particular feature, structure, or characteristic described in connection with the embodiment or example is included within at least one embodiment of the application. Thus, the appearances of the phrases "in one embodiment," "in an example," or "in an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Moreover, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and that the illustrations are not necessarily drawn to scale. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The following discloses a number of different embodiments or examples of implementing the subject technology. Specific examples of one or more arrangements of features are described below to simplify the disclosure, but the examples are not limiting of the present disclosure, and a first feature described later in this disclosure is connected to a second feature, and may include embodiments that are directly connected to each other, or may include embodiments that form additional features, and further include embodiments that indirectly connect or combine the first feature and the second feature with each other using one or more other intervening features, so that the first feature and the second feature may not be directly connected to each other.

In the description of the present application, it should be understood that the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "high", "low", "inner", "outer", "center", "length", "peripheral side", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present application.

In the description of the present specification, the meaning of "plurality" means at least two, for example, two, three, etc., unless explicitly defined otherwise.

The terms used in the present specification are those general terms that are currently widely used in the art in view of the functions of the present disclosure, but may vary according to the intention, precedent, or new technology in the art of the person of ordinary skill in the art. Furthermore, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present disclosure. Accordingly, the terms used in the specification should not be construed as simple names, but rather based on the meanings of the terms and the general description of the present disclosure.

Flowcharts or text is used in this specification to describe the operational steps performed according to embodiments of the present application. It should be understood that the steps of operations in embodiments of the present application are not necessarily performed in the exact order recited. Rather, the various steps may be processed in reverse order or simultaneously, as desired. Also, other operations may be added to or removed from these processes.

For some new pressurized water reactor, a shielding object (a reactor inner structural member 311) exists right above the installation position of the irradiation monitoring pipe, and the working condition of narrow operation space is adopted, and under the working condition, the irradiation monitoring pipe needs to be detached and grabbed. In view of the foregoing, it is desirable to provide a simple-to-operate, cantilevered device for remotely tripping irradiation surveillance tubing underwater, and for remotely grasping and transferring underwater and placing the irradiation surveillance tubing into a high-level shielded container.

The fixing structure and the mounting and dismounting processes of the irradiation monitoring tube are as follows:

1. fixing structure and installation

As shown in fig. 1, 2 and 3, the installation process is that a small shaft shoulder 101 (the outer diameter of a relatively large shaft shoulder 102 is smaller) at the upper part of an irradiation monitoring pipe 100 horizontally enters an upper fixing block 210 of a fixing structure 200, a lower fixing block 220 is inserted downwards (an expanding mechanism), and the freedom degree in the horizontal direction is horizontally fixed by the upper fixing block and the lower fixing block (fig. 3); the degrees of freedom in the vertical direction are fixed by one pressing assembly 230 (fig. 1, 2), and the pressing assembly 230 is positioned and fixed by pressing the fixing block 231. The pressing assembly 230 is composed of a pressing sleeve 232, a pressing shaft 233, a pressing spring 234 and other parts, when the pressing shaft 233 is pressed down to perform pre-tightening, and is rotated clockwise by 90 degrees after reaching the bottom (the process from fig. 1 to fig. 2), the pressing sleeve 232 is clamped by an L-shaped groove on the pressing sleeve 232, and the irradiation monitoring tube 100 assembly is pressed in the vertical direction. The upper end surface of the compression shaft 233 is provided with a triangular deep hole (as shown in fig. 4) for releasing when a wrench is mounted and pre-tightened or a special tool of the releasing device is detached.

2. Disassembly

1) The operation of the hold-down assembly 230 trips the irradiation supervisory tube 100:

the tripping device firstly positions a deep hole of the triangle on the upper end surface of the pressing shaft 233, then inserts the deep hole through the triangle operating rod 633, further compresses the pressing spring 234 of the pressing assembly 230 by vertical downward movement under certain pressure, finally, the triangle operating rod 633 rotates anticlockwise, the pressing shaft 233 is driven to rotate 90 degrees, the triangle operating rod 633 is lifted, and the pressing shaft 233 rebounds under the action of the pressing spring 234 of the pressing assembly 230, so that the tripping of the irradiation monitoring tube 100 is realized.

2) Grabbing the tripped irradiation monitoring tube 100:

after the grabbing tool completes the tripping operation of the irradiation monitoring tube 100, the irradiation monitoring tube 100 is positioned first, the neck of the upper large shaft shoulder 102 of the irradiation monitoring tube 100 is clamped by a mechanism, then an upward force is applied to separate the lower part of the irradiation monitoring tube 100 from the lower fixed block 220 (the upward moving distance is limited by the large shaft shoulder 102 and the upper fixed block 210), the irradiation monitoring tube 100 is held by the mechanism, horizontally moved and separated from the upper fixed block 210, and finally the irradiation monitoring tube 100 is placed in a high-level shielding container.

Examples

The embodiment provides a cantilever type irradiation monitoring pipe grabbing device and a working method, wherein the grabbing device comprises a stacking positioning device 300, a connecting rod assembly 400, a counterweight assembly 500, a grabbing assembly 600, an underwater camera 700 and a control element; the on-pile positioning device 300 is connected with the grabbing component 600 through the connecting rod component 400, so that the remote positioning operation of the device is realized; the gripper assembly 600 provides both lifting and rotating motion. The cantilever type device of the embodiment can realize grabbing and transferring the irradiation monitoring pipe 100 and placing the irradiation monitoring pipe into a high-level shielding container through the grabbing component 600. The device has high automation degree, high positioning precision and low requirement on the operation environment, and can be suitable for underwater remote grabbing operation of the irradiation monitoring pipe 100.

The gripping device mainly comprises a jacking component 610, a rotating component 620, a guiding mechanism 630 and a supporting block 640, wherein the jacking component 610 comprises a jacking cylinder 611, the guiding mechanism 630 comprises a sliding plate 632, the supporting block 640 and the sliding plate 632 are provided with horizontal openings for accommodating the irradiation monitoring tubes 100, the rotating component 620 is connected with the sliding plate 632, and the sliding plate 632 is driven to rotate so as to seal the horizontal openings; the main body of the jacking cylinder 611 is mounted on the supporting block 640, and the pushing force of the jacking cylinder 611 acts on the large shaft shoulder 102 of the irradiation supervisory tube 100.

1. Working principle of cantilever type irradiation monitoring tube grabbing device

The cantilever type irradiation monitoring tube grabbing device mainly comprises: the on-pile positioning device 300, the connecting rod assembly 400, the counterweight assembly 500, the grabbing assembly 600 (comprising the jacking assembly 610, the rotating assembly 620, the guiding mechanism 630 and the like), the underwater camera 700 and the control elements are formed as shown in fig. 5 and 6.

The on-stack positioning device 300 is connected to the grabbing assembly 600 through the connecting rod assembly 400, and achieves positioning movement of the grabbing assembly 600 in the horizontal X, Y direction through the connecting rod assembly.

The grabbing component 600 clamps the neck (the lower part of the large shaft shoulder 102) of the irradiation monitoring tube 100 at the opening of the grabbing component 600 by rotating the connecting rod component 400 on the positioning device 300 on the pile; jacking assembly 610 provides a jacking force to disengage irradiation supervisory tube 100 from lower fixed block 220; irradiation supervisory tube 100 is rotated 90 ° with rotation assembly 620, i.e., is "held" and removed from the mount with grasping assembly 600.

The counterweight assembly 500 is used for balancing the cantilever gripper assembly 600.

The underwater camera 700 is used for monitoring the action execution condition of the mechanism, and the underwater camera 700 is opposite to the grabbing assembly 600 and is in signal connection with the control system.

2. Description of the construction

The main structure of the cantilever type irradiation monitoring tube grabbing device is shown in fig. 5 and 6.

1) Positioning device on pile

The on-stack positioning device 300 is composed of a base 301, a lifting lug 302, an X-direction guide rail 303, a sliding table 304, a connecting rod supporting platform 305, a motor 306, a digital display 307, a stop block 308, a Y-direction guide rail 309 and the like, as shown in fig. 7. The on-stack positioning device 300 sits on the pressure vessel sealing surface 310, with the positioning keys achieving stringent installation requirements. Lifting lug 302 is installed on the upper portion of base 301, X-direction guide rail 303 is installed on the lower portion of base 301, sliding table 304 is installed on X-direction guide rail 303, Y-direction guide rail 309 is installed on sliding table 304, connecting rod supporting platform 305 is installed on Y-direction guide rail 309, connecting rod 401 top is connected on connecting rod supporting platform 305, X-direction guide rail 303 and Y-direction guide rail 309 are provided with motor 306 and stop block 308, and digital display 307 is used for displaying X-direction displacement and Y-direction displacement.

Base 301: an integral load bearing structure;

lifting lug 302: a plurality of stress points are provided for transferring the crane;

x-guide rail 303: the X-direction displacement movement is provided for the sliding table 304 by being arranged on the base 301 through bolts;

slip table 304: is arranged on two X-direction guide rails 303, and is provided with Y-direction guide rails 309 which provide Y-direction displacement movement for the connecting rod support platform 305;

the connecting rod supports the platform 305: support the tie bar assembly 400;

digital display 307: displaying the X, Y displacement of the connecting rod;

stop 308: protection;

y-guide rail 309: providing Y-direction displacement motion to the link support platform 305.

2) Connecting rod assembly

The connecting rod assembly 400 is composed of a connecting rod 401 and a connecting rod operating handle 402, as shown in fig. 8.

Connecting rod 401: plays a supporting role; the link 401 is mounted on the link support platform 305 by a link operating handle 402.

Connecting rod operating handle 402: during the installation process of the connecting rod assembly 400 and the on-pile positioning device 300, the angle position of the connecting rod assembly 400 relative to the on-pile positioning device 300 is adjusted, so that the neck of the irradiation monitoring tube 100 is clamped at the opening of the grabbing assembly 600.

3) Counterweight assembly

The counterweight assembly 500 is composed of a connection interface 501, a counterweight 502, and an adjustment nut 503, as shown in fig. 9. The balancing weight 502 is installed at the bottom of the connecting rod 401 of the connecting rod assembly 400 through the connecting interface 501, the balancing weight 502 and the grabbing assembly 600 are located on two opposite sides of the connecting rod 401, and the two sides of the balancing weight 502 are used for adjusting the horizontal balancing weight position through the adjusting nuts 503.

Connection interface 501: for connection with the bottom of the connecting bar 401;

balancing weight 502: a counterweight function;

adjusting nut 503: for adjusting the position of the weight 503 relative to the connecting rod 401, thereby achieving mechanical balance with the grabbing assembly 600.

4) Grabbing component

The main structure of the grasping assembly 600 is shown in fig. 10. The support block 640 of the grasping assembly 600 is provided with an opening for positioning and operating the irradiation supervisory tube 100. The jacking assembly 610 mainly includes a jacking cylinder 611, a jacking plate 612, and the like, and the guide mechanism 630 mainly includes a guide post 631, a sliding plate 632, a stopper post 633, and the like. The rotation assembly 620 mainly includes a swing cylinder 621, a link mechanism 622, and the like, as shown in fig. 11.

Support block 640: providing integral support to the associated structure of the grasping assembly 600 and being rigidly connected to the connecting rod assembly 400. The supporting block 640 is connected to the bottom end of the connecting rod 401 through a connecting plate 650, and the top end of the connecting rod 401 is connected to the on-pile positioning device 300.

Jacking cylinder 611: a plurality of jacking cylinders 611 are arranged and are rigidly connected with the supporting blocks 640, push rods of the jacking cylinders 611 act on the jacking plates 612 and transmit force to the sliding plates 632, and the force acts on the lower end face of the large shaft shoulder 102 of the irradiation monitoring tube 100 through the openings of the sliding plates 632, so that the irradiation monitoring tube 100 is separated from the lower positioning blocks 220 in the vertical direction.

Jacking plate 612: between the support block 640 and the slide plate 632, restrained by a stopper column 633 in the horizontal direction, the push rod of the jacking cylinder 611 is connected to the jacking plate 612.

Guide post 631: a plurality of slide plates 632 are provided and rigidly connected to the lift plate 612 to limit horizontal movement of the slide plates 632 and provide guidance for rotation of the slide plates 632. The guide post 631 is vertically installed on the jacking plate 612, and the sliding plate 632 is provided with an arc hole in which the guide post 631 is located.

Slide plate 532: a plurality of groups of circular arc holes are formed, and the irradiation monitoring tube 100 is "held" in the circumferential direction by rotating a certain angle (90 °) under the action of the rotating component 620; the transmission force acts on the lower end face of the large shaft shoulder 102 of the irradiation supervisory tube 100.

Spacing post 633: a plurality of support blocks 640 are provided and rigidly connected for limiting the jacking plate 612. The limiting column 633 is vertically installed on the supporting block 640, and the limiting column 633 slides through the jacking plate 612 to limit vertical movement.

Swing cylinder 621: rigidly connected to the jacking plate 612, and its output rocker is connected to a linkage 622. The actuator for the output of the rotary motion preferably swings the cylinder 621 (under water irradiation environment, motor may be affected by irradiation, hydraulic cylinder has oil leakage pollution condition). The swing cylinder 621 is mounted on the lift 612 plate, and the output shaft of the swing cylinder 621 is connected to the slide plate 632 through the link mechanism 622.

Link mechanism 622: one end is connected with the output swing rod, and the other end is connected with the sliding plate 632 for transmitting motion.

3. Control System description

The main functions of the electrical control system are as follows: controlling the movement of the cross sliding table of the positioning device 300 on the stack and the logic process state of the cross sliding table; control the execution of the jacking cylinder 611 and the swing cylinder 621; providing system protection functions.

The overall architecture of the control system is shown in fig. 12, and the control devices are connected through an industrial ethernet.

1) Principle of control system

(1) Positioning

When the irradiation supervisory tube 100 is disassembled, the underwater camera 700 is aligned to the position of the large shaft shoulder 102 of the irradiation supervisory tube 100, a real-time video image is provided to an operator through a hard disk video recorder and a display, the operator manually controls an operation panel, and the on-stack positioning device 300 is controlled to move along the X or Y direction through a Programmable Logic Controller (PLC), so that the position of the lower grabbing assembly 600 is changed to be close to the irradiation supervisory tube 100.

The digital display 307 of the on-pile positioning device 300 displays the displacement in the X, Y direction in real time, and the stop blocks 308 at the end parts of the guide rails of the on-pile positioning device 300 play a role in the out-of-tolerance protection of the displacement.

The Z-distance between the opening of the grasping assembly 600 and the large shoulder 102 of the irradiation supervisory tube 100 is a constant value, determined by the mechanical structure.

(2) Cylinder control

After positioning, an operator controls the electromagnetic switch reversing valve of the swing cylinder 621 to be opened through the operation panel and the PLC, so that the sliding plate 632 rotates to "hold" the irradiation monitoring tube 100. The underwater camera 700 monitors the in-place situation.

After "holding" the irradiation monitoring tube 100, an operator controls the electromagnetic switch check valve of the jacking cylinder 611 to be opened through the operation panel and the PLC, so as to realize the Z-axis rotation movement of the irradiation monitoring tube 100, so as to separate from the lower fixing block 220. The underwater camera 700 monitors the in-place situation.

2) Control mode

The displacement control mode in the X, Y direction is divided into two modes, manual control and automatic control.

Manual control mode: as shown in fig. 13, the clicking of the on-stack positioning device 300 in the X direction and the Y direction is controlled by buttons on the operation panel, respectively.

Automatic control mode: as shown in fig. 13, the on-stack positioning device 300 is activated to automatically perform the movement according to the manual input X, Y of the movement displacement amount.

3) Operational flow

The operational flow running program is shown in fig. 14. The following steps are implemented:

1) Mounting the on-stack positioning device 300;

2) A connecting rod assembly 400 and a grabbing assembly 600 with the lower part composed of a jacking assembly 610, a rotating assembly 620 and a guiding mechanism 630 are installed;

3) Adjusting the connecting rod operating handle 402 for coarse positioning;

4) Coarse positioning of the position is performed by the underwater camera 700;

5) Turning on an electromagnetic switch of the swing cylinder 621;

6) The underwater camera 700 monitors the in-place situation;

7) Opening an electromagnetic switch of the jacking cylinder 611;

8) The underwater camera 700 monitors the in-place situation;

9) Completing the grabbing action;

10 Carrying the irradiation supervisory tube 100 out of and moving to a shielded container;

11 Opening the electromagnetic switch of the swing cylinder 621 for reversing;

12 Releasing the irradiation supervisory tube 100 into the shielded container;

13 A) closing the electromagnetic switch of the jacking cylinder 611 and the swing cylinder 621 in sequence;

14 The gripping device is withdrawn.

The foregoing detailed description of the preferred embodiments has been presented for purposes of illustration and description, and it is to be understood that the application is not limited to the particular embodiments disclosed, but is intended to cover modifications, equivalents, alternatives, and improvements within the spirit and principles of the application.

Claims (7)

1. A cantilever type irradiation monitoring pipe grabbing device is characterized in that: the irradiation monitoring device comprises a jacking assembly, a rotating assembly, a guiding mechanism and a supporting block, wherein the jacking assembly comprises a jacking cylinder, the guiding mechanism comprises a sliding plate, the supporting block and the sliding plate are provided with horizontal openings for accommodating irradiation monitoring pipes, the rotating assembly is connected with the sliding plate, and the sliding plate is driven to rotate so as to seal the horizontal openings; the jacking cylinder main body is arranged on the supporting block, and the thrust of the pushing rod of the jacking cylinder acts on a large shaft shoulder of the irradiation monitoring pipe;

the jacking assembly further comprises a jacking plate, and a jacking cylinder push rod is connected with the jacking plate;

the guide mechanism further comprises a guide column and a limit column, the guide column is vertically arranged on the jacking plate, an arc-shaped hole is formed in the sliding plate, and the guide column is positioned in the arc-shaped hole; the limiting column is vertically arranged on the supporting block, and slides through the jacking plate to limit vertical movement;

the rotating assembly comprises a swinging cylinder and a connecting rod mechanism, the swinging cylinder body is arranged on the jacking plate, and an output shaft of the swinging cylinder is connected with the sliding plate through the connecting rod mechanism.

2. The cantilever irradiation surveillance tube gripping device of claim 1, wherein: still including piling positioner, connecting rod subassembly and connecting plate, connecting rod subassembly includes the connecting rod, and the supporting shoe passes through the connecting plate to be connected with the connecting rod bottom, and the connecting rod top is connected on piling positioner.

3. The cantilever irradiation surveillance tube gripping device of claim 2, wherein: the pile-up positioning device comprises a base, lifting lugs, X-direction guide rails, a sliding table, a connecting rod supporting platform, a motor, a digital display, a stop block and Y-direction guide rails, wherein the lifting lugs are arranged on the upper portion of the base, the X-direction guide rails are arranged on the lower portion of the base, the sliding table is arranged on the X-direction guide rails, the Y-direction guide rails are arranged on the sliding table, the connecting rod supporting platform is arranged on the Y-direction guide rails, the top ends of the connecting rods are connected on the connecting rod supporting platform, the X-direction guide rails and the Y-direction guide rails are provided with the motor and the stop block, and the digital display is used for displaying X-direction displacement and Y-direction displacement.

4. A cantilever irradiation supervisory tube gripping device according to claim 3 wherein: the connecting rod assembly further comprises a connecting rod operating handle, and the connecting rod is installed on the connecting rod supporting platform through the connecting rod operating handle.

5. The cantilever irradiation surveillance tube gripping device of claim 4, wherein: still include the counter weight subassembly, the counter weight subassembly includes connecting interface, balancing weight and adjusting nut, and the balancing weight passes through connecting interface and installs in the connecting rod bottom of connecting rod subassembly, and the balancing weight is located the connecting rod relative both sides with the snatch subassembly that comprises jacking subassembly, rotating assembly and guiding mechanism, and the balancing weight both sides pass through adjusting nut adjustment level counter weight position.

6. The cantilever irradiation surveillance tube gripping device of claim 5, wherein: the underwater camera is opposite to the grabbing component and is in signal connection with the control system.

7. The method of operating a cantilever irradiation supervisory tube gripping device according to claim 6 wherein the steps of:

1) Installing a positioning device on the pile;

2) The grabbing component is provided with a connecting rod component and the lower part of the grabbing component consists of a jacking component, a rotating component and a guiding mechanism;

3) Adjusting the connecting rod operating handle to perform coarse positioning in the direction;

4) Carrying out position coarse positioning through an underwater camera;

5) Opening an electromagnetic switch of the swing cylinder;

6) Monitoring the in-place condition by an underwater camera;

7) Opening an electromagnetic switch of the jacking cylinder;

8) Monitoring the in-place condition by an underwater camera;

9) Completing the grabbing action;

10 Carrying the irradiation monitoring tube to withdraw and move to the shielding container;

11 Opening an electromagnetic switch of the swing cylinder to perform reversing;

12 Releasing the irradiation supervisory tube to the shielded container;

13 The electromagnetic switch of the jacking cylinder and the swing cylinder is closed in sequence;

14 The gripping device is withdrawn.