CN115922662A - Teleoperation maintenance method for tokamak divertor - Google Patents
Teleoperation maintenance method for tokamak divertor Download PDFInfo
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- CN115922662A CN115922662A CN202211325133.7A CN202211325133A CN115922662A CN 115922662 A CN115922662 A CN 115922662A CN 202211325133 A CN202211325133 A CN 202211325133A CN 115922662 A CN115922662 A CN 115922662A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 63
- 238000012546 transfer Methods 0.000 claims abstract description 80
- 238000005253 cladding Methods 0.000 claims abstract description 65
- 230000008569 process Effects 0.000 claims abstract description 23
- 238000005520 cutting process Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 9
- 238000011900 installation process Methods 0.000 claims description 7
- 238000003466 welding Methods 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 abstract description 4
- 238000007796 conventional method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention discloses a teleoperation maintenance method for a tokamak divertor, and relates to the technical field of nuclear fusion equipment maintenance; the divertor removal process comprises the following steps: placing the multi-axis robotic arm loaded with the pipe cutter onto a circular track inside a vacuum chamber; driving the multi-axis mechanical arm to move along the ring track, and cutting off the divertor pipeline; replacing the pipeline cutter with an unlocking actuator; driving the multi-axis mechanical arm to move along the ring track and unlocking the corresponding ring-shaped positioning lock; moving out a divertor and a corresponding support plate opposite to a lower window of the sector to be maintained through a radial transfer mechanical arm; a detachable track and a circumferential transfer device are arranged below the sector to be maintained; driving the ring to move to the next divertor to be maintained, and removing the corresponding divertor from the mounting track; and the divertor is moved to the position right opposite to the lower window by the annular transfer device and is moved out by the radial transfer mechanical arm. During maintenance operation, the cladding and the divertor do not interfere, and the maintenance efficiency is high.
Description
Technical Field
The invention relates to the technical field of nuclear fusion equipment maintenance, in particular to a teleoperation maintenance method for a tokamak divertor.
Background
Tokamak, an annular vessel for controlled nuclear fusion using magnetic confinement, has a divertor disposed within it. Due to extremely strong radiation conditions and high maintenance requirements, the remote operation maintenance method of the divertor is an indispensable part of the remote operation maintenance method of the Tokamak host, and the divertor cannot be contacted with people in the processes of installation, replacement, maintenance and decommissioning, so that a safe, effective and accurate automatic tool is required. The remote operation maintenance method of the divertor is greatly different by combining different remote operation schemes of the Tokamak host. At present, the remote operation scheme of the divertor has the following modes:
1. integrally detachable with the cladding
The envelope and divertor are integrated and the entire sector is removed horizontally from the window in the tokamak at the time of replacement, and then replaced and maintained outside the tokamak. This is efficient but only for special tokamaks where the window is very large and allows the entire cladding and divertor to pass horizontally, and is therefore difficult to achieve in conventional tokamaks, where the concept can only be used on the ARIES class of tokamaks.
2. Hoisting from upper window
When the first cladding below the upper window is removed, the divertor is moved by a circular moving device entering through the lower window to below the upper window, and then the divertor is removed from the upper window by a lifting device of the upper window. The method has low efficiency, and the disassembly and assembly process and the cladding have associated interference, and are mainly used in the concept of CFETR tokamak.
3. Withdraw from lower window
This scheme is relatively common, with no interference of diverters with cladding operation. For example, when the method is applied to a teleoperation maintenance method of an ITER divertor, the lower window operation needs two sets of left and right circular moving systems, the system is complex, before the circular moving device is used, two divertors in front of a window need to be moved out to carry out subsequent work, the pipeline cutting, welding and positioning unlocking of all divertors can be completed by one, the same task cannot be completed in batches, and the efficiency is low. In addition, the DEMO divertors are operated remotely, each lower window is responsible for disassembling and assembling the corresponding left, middle and right divertors, and an annular moving device is not needed, so that the efficiency is improved, but all the lower windows are required to be used in the method, the space of other lower window equipment is occupied, the method is also in a concept stage, and the difficulty is high.
4. The upper end of the vacuum chamber is integrally opened, and the divertor is lifted out from the upper end
The operation and maintenance method is simple, is applied to the nuclear fusion component testing device, is not suitable for the conventional tokamak due to the larger configuration difference with the conventional tokamak, and is mainly applied to the CTF component testing device. And interfere with the maintenance of the envelopes, the diverters must be removed again by removing the upper envelope, however, the diverters are replaced more frequently than the envelopes, and sometimes only one of the diverters needs to be replaced.
Disclosure of Invention
Aiming at the technical problem of time and space interference in the existing remote operation method of the divertor; the invention provides a teleoperation maintenance method for a tokamak divertor, which utilizes the limited space near the divertor, does not interfere with an upper cladding and a lower divertor during maintenance operation, does not need to move out the whole sector containing the cladding and the divertor or firstly, does not need to remove the divertor firstly, does not interfere in space and time, and has high maintenance efficiency.
The invention is realized by the following technical scheme:
the invention provides a teleoperation maintenance method for a tokamak divertor, which comprises a divertor dismantling process, wherein the divertor dismantling process comprises the following steps:
s10, placing the multi-axis mechanical arm loaded with the pipeline cutter on a ring track in the vacuum chamber from a window area corresponding to a sector to be maintained;
s11, driving the multi-axis mechanical arm to move along the length direction of a ring track in a vacuum chamber, and cutting off all divertor pipelines to be cut within the range of the sector to be maintained;
s12, replacing the pipeline cutter on the multi-axis mechanical arm with an unlocking actuator;
s13, driving the multi-axis mechanical arm to move to a pipe cutting position along the length direction of a circular track in the vacuum chamber, and unlocking a circular positioning lock on the outer side of the divertor;
s14, moving out the divertor opposite to the lower window of the sector to be maintained and the corresponding supporting plate through a radial transfer mechanical arm;
s15, installing a detachable track and a circular transfer device at the position of the detached supporting plate in the sector needing maintenance;
s16, driving the toroidal transfer device to move to a divertor to be maintained next, and removing the corresponding divertor from the mounting track;
s17, driving the annular transfer device to move the corresponding divertor to a position opposite to a lower window of the sector needing maintenance, and moving out the corresponding divertor through a radial transfer mechanical arm;
and S18, repeating the steps S16 and S17, and removing all diverters with the pipelines cut off within the range of the section needing maintenance.
When the divertor is disassembled, firstly, a multi-shaft mechanical arm provided with a pipeline cutter is arranged on an annular track in a vacuum chamber, so that the multi-shaft mechanical arm runs outside the divertor, the cutting and unlocking of divertor pipelines can be realized only by replacing an actuator at the tail end of the multi-shaft mechanical arm, the multi-shaft mechanical arm moves on the annular track in the vacuum chamber, the cutting and unlocking of all divertor pipelines in a maintenance sector can be completed at one time, then, a detachable track and an annular transfer device are arranged at the position of a disassembled supporting plate in the sector to be maintained, other divertors to be maintained in the sector to be maintained are removed from the mounting track through the annular transfer device, and finally, the divertor to be maintained is moved out of the vacuum chamber through the radial transfer mechanical arm.
Because the annular transfer devices and the multi-shaft mechanical arm can move in the whole maintenance sector, the working range of the annular transfer devices and the multi-shaft mechanical arm is enlarged, the interference with other parts and operation is reduced, and the time for replacing the devices is reduced because a left annular transfer device and a right annular transfer device are not needed in the same maintenance sector.
In summary, the present invention utilizes the limited space near the divertor, does not interfere with the upper cladding nor with the lower divertor during maintenance operations, does not require removal of the entire sector containing the cladding and divertor first, does not require removal of the divertor first, does not interfere in space and time, and is highly efficient in maintenance.
Specifically, in step S10, after the maintenance window corresponding to the vacuum chamber is butted by the remote transport vehicle, the multi-axis robot arm is placed on the circular track inside the vacuum chamber.
Specifically, in step S16, the corresponding divertor is pushed radially outward and disengaged from the inner circumferential positioning mechanism, and then is vertically lifted up to be disengaged from the mounting rail.
Specifically, the divertor removal process further comprises a step S19, wherein the annular transfer device and the multi-axis mechanical arm sequentially return to the remote control transport vehicle, and corresponding windows and sealing doors of the remote control transport vehicle are sequentially closed.
In an optional embodiment, the method further comprises a blanket lower support unlocking process, wherein the blanket lower support unlocking process comprises the following steps:
s20, placing the multi-axis mechanical arm loaded with the cladding unlocking device on a circular track in the vacuum chamber from a lower window area corresponding to a sector to be maintained;
s21, driving the multi-axis mechanical arm to move to a sector corresponding to a cladding along the length direction of a circular track in the vacuum chamber, and driving the cladding unlocking device to unlock;
and S22, after unlocking, driving the multi-axis mechanical arm to return to the lower window area corresponding to the maintenance sector, and moving the multi-axis mechanical arm out of the vacuum chamber in the radial direction.
Specifically, the multi-axis robotic arms are each moved into and out of the vacuum chamber by a remotely controlled vehicle.
Specifically, in step S21, the cladding unlocking device enters the under-cladding support along the upper space of the divertor to unlock the under-cladding support along the lower space of the outer cladding.
In an optional embodiment, the method further comprises a sub-blanket under-support locking process, wherein the sub-blanket under-support locking process comprises the following steps:
s30, driving the multi-axis mechanical arm for loading the lower supporting locker of the cladding to move into a vacuum chamber from a lower window area corresponding to a sector to be maintained in a radial direction;
s31, driving the multi-axis mechanical arm to move to a sector corresponding to a cladding along the length direction of a circular track in the vacuum chamber, and driving the cladding lower support locker to lock;
and S32, driving the multi-axis mechanical arm to return to a lower window area corresponding to the sector needing to be maintained after locking, and radially moving out of the vacuum chamber.
In an alternative embodiment, the method further comprises a divertor installation process, wherein the divertor installation process comprises the following steps:
s40, arranging the annular transfer device and the detachable track on the track together by the radial transfer platform, and fixing the detachable track;
s41, driving a radial transfer mechanical arm to move a corresponding divertor to a position opposite to a lower window of the sector to be maintained, and placing the divertor on an annular transfer device;
s42, circularly transporting the divertor to an installation position by a circular transfer device, and placing the divertor in place by a jacking mechanism and a pushing mechanism;
s43, moving the multi-shaft mechanical arm with the locking tool to the outer side of the divertor, and locking the divertor outer side positioning lock by the locking tool;
s44, repeating the steps S41, S42 and S43 to mount all diverters to the required maintenance sector until only the diverters which are opposite to the window are left unmounted;
s45, moving the annular transfer device to a window position, dismantling the detachable track and moving the annular transfer device out by using a radial transfer platform;
s46, placing the final divertor and the support plate of the divertor at the installation position opposite to the window together by using a radial transfer platform, and fixing the support plate of the divertor;
if the divertors are arranged in the step S43 and the positioning locks are not locked by the lockers, the locking locks can be used by the multi-shaft mechanical arm to lock all the positioning locks on the outer sides of the divertors at one time;
s47, replacing a locker on the multi-axis mechanical arm with a pipeline welder;
s48, driving the multi-axis mechanical arm to move along the length direction of a ring track in the vacuum chamber, and welding all divertor pipelines to be welded in the range of the sector to be maintained;
and S49, moving the multi-axis mechanical arm out of the vacuum chamber from the window area corresponding to the sector to be maintained.
Specifically, the arc of the single maintenance-required segment is 90 °.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention provides a remote operation maintenance method of a tokamak divertor, which is characterized in that when the divertor is disassembled, a multi-shaft mechanical arm provided with a pipeline cutter is arranged on an annular track in a vacuum chamber, so that the multi-shaft mechanical arm runs outside the divertor, and only a manipulator at the tail end of the multi-shaft mechanical arm needs to be replaced, so that the divertor pipeline can be cut and unlocked, the multi-shaft mechanical arm moves on the annular track in the vacuum chamber, all the divertor pipelines in a maintenance sector can be cut and unlocked at one time, then a detachable track and an annular transfer device are arranged below the sector needing maintenance, so that other divertors needing maintenance in the sector needing maintenance are removed from the mounting track through the annular transfer device, and finally the divertor needing maintenance is moved out of the vacuum chamber through the radial transfer mechanical arm.
2. According to the teleoperation maintenance method for the tokamak divertor, provided by the invention, the multi-shaft mechanical arm moves on the circular track in the vacuum chamber, so that all divertor pipelines in one maintenance sector can be cut and unlocked at one time, actions can be carried out without dismounting other divertors, and the maintenance efficiency is high.
3 according to the teleoperation maintenance method for the tokamak divertor, provided by the invention, the annular transfer devices and the multi-axis mechanical arm can move in the whole maintenance sector, so that the working range is enlarged, the interference with other components and operation is reduced, and in addition, a left annular transfer device and a right annular transfer device are not needed in the same maintenance sector, so that the time for replacing the devices is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
In the drawings:
FIG. 1 is a schematic flow chart illustrating a method for remote operation and maintenance of a tokamak divertor in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating an operation state of the maintenance method for teleoperation maintenance of the tokamak divertor according to the embodiment of the present invention.
Reference numbers and corresponding part names in the drawings:
the method comprises the following steps of 1-annular transfer device, 2-outer support, 3-vacuum chamber, 4-radial transfer device, 5-remote control transport vehicle, 6-outer cladding lower support, 7-multi-shaft mechanical arm, 8-outer cladding, 9-inner cladding, 10-inner cladding lower support and 11-divertor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. The embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the description of the embodiments of the present application, the terms "central," "upper," "lower," "left," "right," "vertical," "longitudinal," "lateral," "horizontal," "inner," "outer," "front," "rear," "top," "bottom," and the like refer to orientations or positional relationships that are conventionally used in the manufacture of the present application, or that are routinely understood by those of ordinary skill in the art, but are merely used to facilitate the description and to simplify the description and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered limiting of the present application.
Examples
With reference to fig. 1 and 2, the present embodiment provides a method for teleoperation maintenance of a tokamak divertor, which includes a divertor removing process, a divertor mounting process, a sub-under-cladding support unlocking process, and a sub-under-cladding support locking process.
Wherein the divertor removal process comprises the steps of:
s10, placing the multi-axis mechanical arm loaded with the pipeline cutter on a ring rail in the vacuum chamber from a window area corresponding to a sector to be maintained.
Specifically, after a maintenance window corresponding to the vacuum chamber is butted by a remote control carrier vehicle (CASK carrier vehicle), the maintenance window is opened, and then the multi-axis mechanical arm is placed on a ring track in the vacuum chamber from a window area. And the ring track is a track inherent in the vacuum chamber and is positioned on the outer side of the divertor, and when the multi-axis mechanical arm enters the vacuum chamber, is positioned on the outer side of the divertor.
For a multi-axis mechanical arm which is usually more than 3 axes, it is only necessary to enable functional devices loaded at the tail end of the multi-axis mechanical arm to extend to a corresponding operation station. The radian of the sector needing maintenance is determined according to specific conditions, in the implementation, the lower windows which can be used for maintenance are only four, so that the radian of a single maintenance sector is 90 degrees, and the maintenance efficiency is improved under the condition that the maintenance window is not increased.
S11, driving the multi-axis mechanical arm to move along the length direction of a ring track in the vacuum chamber, and cutting off all divertor pipelines to be cut within the range of the sector to be maintained.
Particularly, one end of the multi-axis mechanical arm is arranged on a walking device matched with the ring rail, so that the multi-axis mechanical arm is driven to move along the ring rail through the walking device, the tail end of the multi-axis mechanical arm can cover all stations needing mechanical arm operation in the sector needing maintenance, and all divertors in the sector needing maintenance are operated through one multi-axis mechanical arm.
And S12, replacing the pipeline cutter on the multi-axis mechanical arm with an unlocking actuator.
And S13, driving the multi-axis mechanical arm to move along the length direction of a ring track in the vacuum chamber, and unlocking a ring-shaped positioning lock on the outer side of the divertor for cutting off the pipeline.
And S14, moving out the divertor opposite to the lower window of the sector to be maintained and the corresponding supporting plate through a radial transfer mechanical arm.
S15, installing a detachable track and a circular transfer device at the position of the detached supporting plate in the sector needing maintenance.
Particularly, need maintain sector below installation hoop transfer device, different with other hoop transfer devices, can not occupy divertor side space to after removing first divertor, need not remove another divertor again and just can place hoop transfer device. Therefore, the interference of the space on the side surface of the divertor is avoided, the space below the divertor is fully utilized, the working space of the divertor is expanded to the whole sector area needing maintenance, and a second set of symmetrical devices is not needed.
And S16, driving the annular transfer device to move to the next divertor to be maintained, and removing the corresponding divertor from the mounting track.
Specifically, after the corresponding divertor is pushed radially outwards and separated from the internal circumferential positioning mechanism, the corresponding divertor is vertically jacked up to be separated from the mounting rail.
S17, driving the annular transfer device to move the corresponding divertor to the position opposite to the lower window of the sector to be maintained, and moving the corresponding divertor out through the radial transfer mechanical arm.
And S18, repeating the steps S16 and S17, and removing all diverters with the pipelines cut off within the range of the section needing maintenance.
And S19, the annular transfer device and the multi-axis mechanical arm sequentially return to the remote control transport vehicle, and corresponding windows and the remote control transport vehicle sealing doors are sequentially closed.
The under-cladding support unlocking process comprises the following steps:
and S20, placing the multi-axis mechanical arm loaded with the cladding unlocking device on a circular track in the vacuum chamber from a lower window area corresponding to the sector to be maintained.
And S21, driving the multi-axis mechanical arm to move to a sector corresponding to the cladding along the length direction of a circular track in the vacuum chamber, and driving the cladding unlocking device to unlock.
Specifically, the cladding unlocking device enters the lower inner cladding support along the space above the divertor to unlock the lower outer cladding support or along the space below the outer cladding support to unlock the lower outer cladding support.
And S22, after unlocking, driving the multi-axis mechanical arm to return to a lower window area corresponding to the sector to be maintained, and radially moving out of the vacuum chamber.
It will be appreciated that the multi-axis robotic arms are each moved into and out of the vacuum chamber by a remotely controlled vehicle.
The under-cladding support locking process comprises the following steps:
and S30, driving the multi-axis mechanical arm for loading the lower supporting locker of the cladding to move into the vacuum chamber from the lower window area corresponding to the sector to be maintained in the radial direction.
And S31, driving the multi-axis mechanical arm to move to a sector corresponding to the cladding along the length direction of a circular track in the vacuum chamber, and driving the cladding lower support locker to lock.
And S32, driving the multi-axis mechanical arm to return to a lower window area corresponding to the sector needing to be maintained after locking, and radially moving out of the vacuum chamber.
That is, the timing and operation of the under-cladding support locking process and the under-cladding support unlocking process are reversed.
A divertor installation process, the divertor installation process comprising the steps of:
s40, arranging the annular transfer device and the detachable track on the track together by the radial transfer platform, and fixing the detachable track;
s41, driving a radial transfer mechanical arm to move a corresponding divertor to a position opposite to a lower window of the sector to be maintained, and placing the divertor on an annular transfer device;
s42, circularly transporting the divertor to an installation position by a circular transfer device, and placing the divertor in place by a jacking mechanism and a pushing mechanism;
s43, moving the multi-shaft mechanical arm with the locking tool to the outer side of the divertor, and locking the divertor outer side positioning lock by the locking tool;
s44, repeating the steps S41, S42 and S43 to mount all diverters to the required maintenance sector until only the diverters which are opposite to the window are left unmounted;
s45, moving the annular transfer device to a window position, dismantling the detachable track and moving the annular transfer device out by using a radial transfer platform;
s46, placing the final divertor and the support plate of the divertor at the installation position opposite to the window by using a radial transfer platform, and fixing the support plate of the divertor;
if the divertor is arranged in the step S43 and the locking and positioning locks of the lockers are not used, the lockers can be used by the multi-shaft mechanical arm to lock the positioning locks at the outer sides of all divertors at one time;
s47, replacing a locker on the multi-axis mechanical arm with a pipeline welder;
s48, driving the multi-axis mechanical arm to move along the length direction of a ring track in the vacuum chamber, and welding all divertor pipelines to be welded in the range of the sector to be maintained;
and S49, moving the multi-axis mechanical arm out of the vacuum chamber from the window area corresponding to the sector to be maintained.
That is, the divertor installation process is reversed in timing and operation from the divertor removal process.
In the maintenance method provided by the embodiment, when the divertor is detached, the multi-axis mechanical arm with the pipeline cutter is firstly placed on the circular track in the vacuum chamber, so that the multi-axis mechanical arm runs outside the divertor, the divertor pipeline can be cut and unlocked only by replacing the actuator at the tail end of the multi-axis mechanical arm, the multi-axis mechanical arm moves on the circular track in the vacuum chamber, all divertor pipelines in one maintenance sector can be cut and unlocked at one time, then the detachable track and the annular transfer device are installed below the maintenance sector, other divertors needing maintenance in the maintenance sector can be removed from the installation track through the annular transfer device, and finally the divertors needing maintenance are moved out of the vacuum chamber through the radial transfer mechanical arm.
Because the annular transfer devices and the multi-shaft mechanical arm can move in the whole maintenance sector, the working range of the annular transfer devices and the multi-shaft mechanical arm is enlarged, the interference with other parts and operation is reduced, and the left and right annular transfer devices are not needed in the same maintenance sector, so that the time for replacing the devices is shortened.
Meanwhile, the annular transfer device is completely arranged below the divertor and different from other annular transfer devices, the side space of the divertor is not occupied, so that the annular transfer device can be placed without moving another divertor after the first divertor is moved. The interference of the space on the side surface of the divertor is avoided, the space below the divertor is fully utilized, the working space of the divertor is expanded to the whole maintenance sector area, a second set of symmetrical devices is not needed, and the time for replacing the devices is reduced. Both the ITER and the CFETR need to be moved out, although the remote operation efficiency of the divertor of the European DEMO is high, all lower windows need to be used, the space of other devices is occupied, in the embodiment, only four lower windows are needed within the range of 360 degrees, and the efficiency is improved under the condition that the maintenance windows are not increased.
And moreover, the multi-shaft mechanical arm is arranged outside the divertor, and the mechanical arm is not arranged on the annular transfer device like other devices, so that the space outside the divertor is arranged at the positions among the outer support of the cladding, the divertor pipeline, the outer support of the divertor and the inner support of the cladding in an annular manner by utilizing the space outside the divertor, the multifunctional performance of the tool mechanical arm can be fully exerted, and the tool mechanical arm can be used for cutting and welding, and can also be used for positioning and unlocking or positioning and locking for supporting. Meanwhile, the degree of freedom of the circular motion is large, so that the working range of the device is enlarged, and the working independence is enhanced.
It should be noted that the mechanism on the toroidal transfer device at the divertor position is removed, and the multi-axis mechanical arm is used for locking and unlocking, so that the mutual interference between the divertor teleoperation and the cladding teleoperation is eliminated. In the conventional method, a tool mechanical arm on the annular transfer device is used for unlocking the cladding inner support, so that the divertor is required to be removed for using the tool mechanical arm, and the divertor and the cladding operation are interfered.
And one annular moving device is only responsible for transporting the divertor below the divertor, and other functions are completed by the tool mechanical arm on the annular track, namely, the unlocking of the inner and outer cladding support, the welding and cutting of the divertor pipeline and the positioning and locking of the divertor can be realized simultaneously by one mechanical arm by replacing different end effectors. The cutting or welding of all pipelines in the maintenance sector can be completed at one time, the positioning locking or unlocking of all divertor outer supports in the maintenance sector can be completed at one time, and the positioning locking or unlocking of all inner and outer cladding supports in the maintenance sector can be completed at one time, so that the time for repeatedly moving and frequently replacing tools is greatly reduced. In other conventional methods, only the operation of a single divertor can be completed at one time, and the operations from pipeline cutting, divertor supporting, positioning and unlocking to divertor jacking, moving and the like all need to be completed once, during the period, the transfer device and the tool mechanical arm can repeatedly move back and forth in a local space, the tool mechanical arm needs to be frequently replaced, and the efficiency is low.
In addition, the cladding and the divertor are maintained independently, so that ineffective operation is reduced, the cladding can be replaced without removing the divertor, the divertor can be replaced without removing the cladding, and more time is saved.
In summary, the present embodiment utilizes the limited space near the divertor, and does not interfere with the upper cladding or the lower divertor during maintenance operations, and does not require removal of the entire sector containing the cladding and divertor, or removal of the divertor, and does not interfere in space and time, and is highly efficient in maintenance.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A teleoperation maintenance method for a Tokamak divertor is characterized by comprising a divertor removing procedure, wherein the divertor removing procedure comprises the following steps:
s10, placing the multi-axis mechanical arm loaded with the pipeline cutter on a ring track in the vacuum chamber from a window area corresponding to a sector to be maintained;
s11, driving the multi-shaft mechanical arm to move along the length direction of a circular track in the vacuum chamber, and cutting off all divertor pipelines needing to be cut within the range of the sector needing to be maintained;
s12, replacing the pipeline cutter on the multi-axis mechanical arm with an unlocking actuator;
s13, driving the multi-axis mechanical arm to move to a pipe cutting position along the length direction of a circular track in the vacuum chamber, and unlocking a circular positioning lock on the outer side of the divertor;
s14, moving out the divertor opposite to the lower window of the sector to be maintained and the corresponding supporting plate through a radial transfer mechanical arm;
s15, installing a detachable track and a circular transfer device at the position of the detached supporting plate in the sector needing maintenance;
s16, driving the annular transfer device to move to a divertor to be maintained next, and removing the corresponding divertor from the mounting track;
s17, driving the annular transfer device to move the corresponding divertor to a position opposite to a lower window of the sector to be maintained, and moving the corresponding divertor out through a radial transfer mechanical arm;
and S18, repeating the steps S16 and S17, and removing all diverters with the pipelines cut off within the range of the section needing maintenance.
2. The teleoperational maintenance method of the tokamak divertor of claim 1, wherein in step S10, after the corresponding maintenance window of the vacuum chamber is butted by a remote transport vehicle, the multi-axis robot arm is placed on the circular track inside the vacuum chamber.
3. The teleoperational maintenance method of a tokamak divertor of claim 1, wherein in step S16, after the corresponding divertor is pushed radially outward and disengaged from the internal circumferential positioning mechanism, the corresponding divertor is then vertically jacked up to disengage from the mounting rail.
4. The teleoperational maintenance method for the tokamak divertor of claim 1, wherein the divertor removal process further comprises step S19 of sequentially returning the toroidal transfer device and the multi-axis robotic arm to the remotely-controlled transport vehicle and sequentially closing the corresponding window and the remotely-controlled transport vehicle sealing door.
5. The teleoperational maintenance method of the tokamak divertor of claim 1, further comprising an undercladding under-support unlocking procedure comprising the steps of:
s20, placing the multi-axis mechanical arm loaded with the cladding unlocking device on a circular track in the vacuum chamber from a lower window area corresponding to a sector to be maintained;
s21, driving the multi-axis mechanical arm to move to a sector corresponding to a cladding along the length direction of a circular track in the vacuum chamber, and driving the cladding unlocking device to unlock;
and S22, after unlocking, driving the multi-axis mechanical arm to return to the lower window area corresponding to the maintenance sector, and moving the multi-axis mechanical arm out of the vacuum chamber in the radial direction.
6. The method of claim 5, wherein the multi-axis robotic arms are each moved into and out of the vacuum chamber by a remote control car.
7. The method of claim 5, wherein in step S21, the cladding unlocking device enters the under-cladding support along the space above the divertor for unlocking the under-cladding support along the space below the outer cladding.
8. The teleoperational maintenance method of the tokamak divertor of claim 5, further comprising an under-cladding support locking process, the under-cladding support locking process comprising the steps of:
s30, driving the multi-axis mechanical arm for loading the lower supporting locker of the cladding to move into a vacuum chamber from a lower window area corresponding to a sector to be maintained in a radial direction;
s31, driving the multi-axis mechanical arm to move to a sector corresponding to a cladding along the length direction of a circular track in the vacuum chamber, and driving the cladding lower support locker to lock;
and S32, driving the multi-axis mechanical arm to return to the lower window area corresponding to the maintenance sector after locking, and moving the multi-axis mechanical arm out of the vacuum chamber in the radial direction.
9. The method of claim 8, further comprising a divertor installation process, the divertor installation process comprising the steps of:
s40, arranging the annular transfer device and the detachable track on the track together by the radial transfer platform, and fixing the detachable track;
s41, driving a radial transfer mechanical arm to move a corresponding divertor to a position opposite to a lower window of the sector needing maintenance, and placing the divertor on a circumferential transfer device;
s42, circularly transporting the divertor to an installation position by a circular transfer device, and placing the divertor in place by a jacking mechanism and a pushing mechanism;
s43, moving the multi-shaft mechanical arm with the locking tool to the outer side of the divertor, and locking the divertor outer side positioning lock by the locking tool;
s44, repeating the steps S41, S42 and S43 to mount all diverters to the required maintenance sector until only the diverters which are opposite to the window are left unmounted;
s45, moving the toroidal transfer device to a window position, dismantling the detachable track and moving the toroidal transfer device out by using the radial transfer platform;
s46, placing the final divertor and the support plate of the divertor at the installation position opposite to the window by using a radial transfer platform, and fixing the support plate of the divertor;
if the divertors are arranged in the step S43 and the positioning locks are not locked by the lockers, the locking locks can be used by the multi-shaft mechanical arm to lock all the positioning locks on the outer sides of the divertors at one time;
s47, replacing a locker on the multi-axis mechanical arm with a pipeline welder;
s48, driving the multi-axis mechanical arm to move along the length direction of a ring track in the vacuum chamber, and welding all divertor pipelines to be welded in the range of the sector to be maintained;
and S49, moving the multi-axis mechanical arm out of the vacuum chamber from the window area corresponding to the sector to be maintained.
10. The teleoperational maintenance method of a tokamak divertor according to any one of claims 1 to 9, wherein the arc of the sector to be maintained is 90 °.
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| US5173248A (en) * | 1990-02-14 | 1992-12-22 | Kabushiki Kaisha Toshiba | Remote control apparatus for maintaining in-vessel components in a structure having an inner torus space |
| US20160201408A1 (en) * | 2013-08-16 | 2016-07-14 | Tot Holdings Inc. | Pipe loader system and method |
| CN108098786A (en) * | 2017-12-19 | 2018-06-01 | 扬州大学 | Fusion reactor peeps mechanical arm in |
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| CN109761009A (en) * | 2019-03-07 | 2019-05-17 | 中国科学院合肥物质科学研究院 | A kind of covering remote operating transfer device for nuclear fusion device maintenance |
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|---|---|---|---|---|
| US5173248A (en) * | 1990-02-14 | 1992-12-22 | Kabushiki Kaisha Toshiba | Remote control apparatus for maintaining in-vessel components in a structure having an inner torus space |
| US20160201408A1 (en) * | 2013-08-16 | 2016-07-14 | Tot Holdings Inc. | Pipe loader system and method |
| CN108098786A (en) * | 2017-12-19 | 2018-06-01 | 扬州大学 | Fusion reactor peeps mechanical arm in |
| CN109693222A (en) * | 2019-03-04 | 2019-04-30 | 交通运输部公路科学研究所 | Equipment and application method are removed in a kind of self-propelled tunnel-liner |
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