CN117589102A - Detection device, detection system and detection method - Google Patents

Abstract

The application provides a detection device, a detection system and a detection method for the positioning accuracy inspection of loading and unloading machine of pressurized water reactor nuclear power station, detection device is used for installing in reactor pond bottom, and detection device includes detection component, and detection component includes a plurality of pick-up plates, and a plurality of pick-up plates are around forming holding the chamber, hold the chamber and be used for holding the terminal anchor clamps of loading and unloading machine. The detection device, the detection system and the detection method can simplify the structure of the detection device, optimize the detection method and improve the detection efficiency and the detection safety of the detection device.

Description

Detection device, detection system and detection method

Technical Field

The application relates to the technical field of positioning accuracy inspection of loading and unloading machines in pressurized water reactor nuclear power plants, in particular to a detection device, a detection system and a detection method.

Background

According to the inspection content requirements of the periodic test supervision outline of the safety related systems and equipment of the nuclear power station, one-side positioning accuracy inspection is required to be carried out on the loading and unloading machine of the pressurized water reactor nuclear power station during each major repair cycle, so that the working reliability and safety of the loading and unloading machine are ensured.

In the related art, the positioning accuracy of the loading and unloading machine is generally detected through devices such as a theodolite, a laser total station or a dial indicator, wherein part of operations need to be realized by detecting personnel wearing gas clothes to reach the bottom of a reactor pool through a vertical ladder, and radioactive pollution exists in the reactor pool. The detection mode of the detection device provided in the related art is complex, the requirements on professional skills of personnel are high, the falling risk of the detection device and the detection personnel exists, and the safety and the measurement efficiency are difficult to guarantee.

Disclosure of Invention

Based on this, it is necessary to provide a detection device, a detection system and a detection method, which aim to simplify the structure of the detection device, optimize the detection method and improve the detection efficiency and the detection safety of the detection device.

An embodiment of a first aspect of the present application provides a detection apparatus for positioning accuracy inspection of a loading and unloading machine of a pressurized water reactor nuclear power plant, the detection apparatus is used for being installed at a bottom of a reactor pool, the detection apparatus includes a detection assembly, the detection assembly includes a plurality of detection plates, a plurality of detection plates form a containing cavity around, the containing cavity is used for containing a terminal fixture of the loading and unloading machine.

In this embodiment of the application, through detecting the dress unloader after the operation a period, whether can be in the holding intracavity of detection subassembly that holds that does not have the hindrance, through the position state of a plurality of pick-up plates visual reflection terminal anchor clamps, thereby detect the location precision of dress unloader and accord with the requirement, detection device's simple structure, the detection standard is clear and definite, and at this in-process, only need control dress unloader remove to the position of awaiting measuring, carry out the operation that descends again and can realize measuring process, easy operation can reduce measurement personnel skill requirement, can accomplish measurement work fast, high-efficient, can improve dress unloader's location detection efficiency, reduce the maintenance preliminary examination time limit for a project. In addition, when the detection device provided by the application realizes the positioning accuracy detection of the loading and unloading machine, a measurer does not need to enter the bottom of the reactor pool, so that the underwater operation of the measurer in the detection process can be avoided, the labor cost is reduced, the influence of high irradiation and radioactive pollution environment on the measurer at the bottom of the reactor pool is avoided, the irradiation dose and falling risk of the measurer are reduced, and the safety of the detection operation is improved.

In some embodiments, the sensing assembly has a first central axis perpendicular to the pool bottom, and the sensing assembly includes four sensing plates disposed uniformly and spaced about the first central axis, the four sensing plates surrounding a rectangular receiving cavity.

In some embodiments, each detection plate has a detection surface disposed proximate to the receiving cavity, a step structure is disposed on the detection surface at an end of the detection plate distal to the pool bottom, the step structure including a first step and a second step disposed sequentially along a direction proximate to the pool bottom, and a forward projection boundary of the second step is disposed within a forward projection boundary of the first step along a first direction, the first direction being perpendicular to the pool bottom.

In some embodiments, the stair-step structure further comprises a third stair, the third stair is disposed on a side of the second stair away from the first stair, and the orthographic projection boundary of the third stair is located within the orthographic projection boundary of the second stair along the first direction.

In some embodiments, the detection device further comprises a support assembly comprising a plurality of support plates located on a side of the detection plate remote from the receiving cavity; the detection device further comprises at least one fixing ring arranged around the detection assembly or the support assembly, and the fixing ring is arranged on one side, far away from the accommodating cavity, of the detection assembly or the support assembly.

In some embodiments, the detection device further comprises a fixing plate, and one end of the detection plate, which is close to the bottom of the water tank, is fixedly connected with the fixing plate; the detection device further comprises a first level bar and a second level bar, the first level bar is perpendicular to the second level bar, and the first level bar and the second level bar are arranged on one side, close to the detection plate, of the fixing plate and are located in the accommodating cavity.

In some embodiments, the detection device further comprises a carrier plate disposed on a side of the fixing plate away from the detection assembly, and a mounting post disposed on a side of the carrier plate away from the fixing plate for insertion into the bottom of the pool.

An embodiment of a second aspect of the present application provides a detection system for checking positioning accuracy of a loading and unloading machine of a pressurized water reactor nuclear power plant, including any one of the above detection devices, where the detection system further includes a coordinate detector, where the coordinate detector is configured to detect coordinate information of the loading and unloading machine in a detection process. The coordinate detector is used for enabling the loading and unloading machine to be positioned at the same position to be tested before and after working.

An embodiment of a third aspect of the present application provides a detection method for checking positioning accuracy of a loading and unloading machine of a pressurized water reactor nuclear power plant, where the detection device in any one of the above embodiments is used for implementing positioning accuracy detection of the loading and unloading machine, the detection device is configured to be installed at a bottom of a reactor pool, and the detection device includes a detection assembly, where the detection assembly includes a plurality of detection plates, and the plurality of detection plates form a receiving cavity around, where the receiving cavity is used for receiving an end fixture of the loading and unloading machine, and the detection method includes:

controlling the loading and unloading machine to move to the position right above the detection device;

controlling the loader to move downwards, and judging whether the lower end of the loader can move into the accommodating cavity without obstruction; under the condition that the lower end of the loading and unloading machine can move into the accommodating cavity without obstruction, the positioning accuracy of the loading and unloading machine is detected to be qualified; and under the condition that the lower end of the loading and unloading machine cannot move into the accommodating cavity without obstruction, the positioning accuracy of the loading and unloading machine is unqualified.

In this embodiment of the application, through detecting the dress unloader after the operation a period, whether can be in the holding intracavity of detection subassembly that arranges in that does not have the hindrance, through the state of a plurality of pick-up plates visual reflection terminal anchor clamps, thereby detect the location precision of dress unloader and whether accord with the requirement, detection device's simple structure, the detection standard is clear and definite, and at this in-process, only need control dress unloader remove to the position of awaiting measuring, carry out the operation that descends again and can realize measuring process, easy operation can reduce measurement personnel skill requirement, and can accomplish measurement work fast, high efficiency, can improve dress unloader's location detection efficiency, save maintenance preliminary examination period. In addition, when the detection device provided by the application realizes the positioning accuracy detection of the loading and unloading machine, a measurer does not need to enter the bottom of the reactor pool, so that the underwater operation of the measurer in the detection process can be avoided, the labor cost is reduced, the influence of high irradiation and radioactive pollution environment on the measurer at the bottom of the reactor pool is avoided, the irradiation dose and falling risk of the measurer are reduced, and the safety of the detection operation is improved.

In some embodiments, each of the detection plates has a detection surface disposed proximate to the receiving cavity, the detection surface of an end of the detection plate distal to the pool bottom being provided with a stepped structure comprising a first step, a second step, and a third step disposed sequentially in a direction proximate to the pool bottom, the forward projected boundary of the third step being located within the forward projected boundary of the second step in a first direction, the forward projected boundary of the second step being located within the forward projected boundary of the first step, the first direction being perpendicular to the pool bottom;

the step of controlling the loader to move downwards and judging whether the lower end of the loader can move into the accommodating cavity without obstruction comprises the following steps:

controlling the loader to move downwards, and judging whether the lower end of the loader can move between the first steps without obstruction;

under the condition that the lower end of the loader can move between the first steps in an unobstructed manner, the loader is controlled to move downwards continuously, and whether the lower end of the loader can move between the second steps in an unobstructed manner is judged;

Under the condition that the lower end of the loader can move between the second steps in an unobstructed manner, the loader is controlled to move downwards continuously, and whether the lower end of the loader can move between the third steps in an unobstructed manner is judged;

and under the condition that the lower end of the loading and unloading machine can move between the third steps without obstruction, the positioning accuracy of the loading and unloading machine is detected to be qualified.

Drawings

FIG. 1 is a schematic structural diagram of a detection device according to an embodiment of the present disclosure;

FIG. 2 is a top view of a detection device according to an embodiment of the present application;

FIG. 3 is a left side view of a detection device according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a detecting device according to another embodiment of the present application;

FIG. 5 is a top view of a detection device according to another embodiment of the present application;

FIG. 6 is a left side view of a detection device according to another embodiment of the present application;

FIG. 7 is a flowchart of a detection method according to an embodiment of the present application;

reference numerals: the detecting device comprises a detecting device body 100, a first central shaft 10, a detecting component 1, a detecting plate 11, a detecting surface 101, a containing cavity 102, a step structure 12, a first step 121, a second step 122, a third step 123, a supporting component 2, a supporting plate 21, a fixing ring 3, a fixing plate 4, a side plate 41, a bearing plate 5, a mounting column 51, a first level bar 61, a second level bar 62, a leveling bolt 71, a first fixing bolt 72 and a second fixing bolt 73.

Detailed Description

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In describing positional relationships, when an element such as a layer, film or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present unless otherwise indicated. Further, when a layer is referred to as being "under" another layer, it can be directly under, or one or more intervening elements may also be present. It will also be understood that when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or one or more intervening elements may also be present.

Where the terms "comprising," "having," and "including" are used herein, another component may also be added unless explicitly defined as such, e.g., "consisting of … …," etc. Unless mentioned to the contrary, singular terms may include plural and are not to be construed as being one in number.

It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present application.

It will be further understood that when interpreting an element, although not explicitly described, the element is intended to include the range of errors which should be within the acceptable limits of deviation from the particular values identified by those skilled in the art. For example, "about," "approximately," or "substantially" may mean within one or more standard deviations, and is not limited herein.

Further, in the specification, the phrase "planar distribution diagram" refers to the drawing when the target portion is viewed from above, and the phrase "cross-sectional diagram" refers to the drawing when the cross section taken by vertically cutting the target portion is viewed from the side.

Further, the drawings are not 1:1, and the relative dimensions of the various elements are drawn by way of example only in the drawings and are not necessarily drawn to true scale.

According to the inspection content requirements of the periodic test supervision outline of the safety related systems and equipment of the nuclear power station, one-side positioning accuracy inspection is required to be carried out on the loading and unloading machine of the pressurized water reactor nuclear power station during each major repair cycle, so that the working reliability and safety of the loading and unloading machine are ensured.

In the related art, in order to ensure that a nuclear fuel assembly can be safely mounted on a lower grid plate in a reactor pressure vessel, it is generally required that the positioning accuracy of a loading and unloading machine for moving the nuclear fuel assembly in a pressurized water reactor nuclear power plant must be controlled within + -3 mm at the time of design. Positioning accuracy of the loading and unloading machine is generally detected through devices such as theodolites, laser total stations or dial indicators.

When the positioning accuracy of the loading and unloading machine is measured through the theodolite or the laser total station, the back reflection sheet is required to be arranged around the tail end clamp of the loading and unloading machine. Specifically, when the laser total station is used for measurement, after the mounting of the coated reflecting sheet is completed around the terminal fixture, the mounting and leveling of the laser total station are also required to be completed on a platform around the loading and unloading machine, then a detector completely aligns an eyepiece cross cursor on the laser total station to a cross mark on the Ji Laika reflecting sheet, enters a measuring interface to measure the position of the terminal fixture, and records a measuring result. In this process, the operation was stopped after each 0.5m of movement of the loader, and the measurement results were recorded, respectively. And repeating the steps to measure the data of the tail end clamp in the height stroke of 4500mm to 8500mm, drawing a wiring diagram according to the measured data, and confirming whether the positioning accuracy of the loading and unloading machine is qualified according to the measured and recorded results.

When the theodolite is used for measurement, the theodolite is required to be arranged at the bottom of a reactor pool because the theodolite cannot finish three-dimensional ranging, and the positioning deviation of the loading and unloading machine in the direction of 0-180 degrees and the positioning deviation of the loading and unloading machine in the direction of 90-270 degrees are required to be measured respectively. In the process, firstly, a terminal clamp of a loading and unloading machine is lowered to a certain height, a dial indicator is erected at the bottom of a reactor pool, the terminal clamp is measured, and measurement data are recorded; and rotating the tail end clamp by 360 degrees along the horizontal direction, measuring the tail end clamp, recording measurement data, drawing a wiring diagram according to the measurement data, and confirming whether the positioning accuracy of the loading and unloading machine is qualified according to the checking and recording results.

Because the existing measurement mode is derived from the installation requirement of an engineering stage, the influence of high irradiation and radioactive pollution environment on site in a maintenance stage after equipment is put into operation is not fully considered, and the positioning accuracy detection efficiency and detection safety of the loading and unloading machine during overhaul are low. Specifically, reactor pond bottom structure operation is complicated numerous, and belongs to high irradiation operational environment, and the radioactive pollution risk is high, and measurement personnel need wear the gas clothing climbing vertical ladder and reach reactor pond bottom to carry out partial installation and measurement operation, easily produce personnel to fall scheduling problem, detect that the risk is high and detection efficiency is low. Secondly, equipment operations such as laser total powerstation need professional skill, and the skill requirement to the measurement personnel is higher, and places equipment such as laser total powerstation on reactor pond limit platform, and laser total powerstation and measurement personnel easily produce the risk of falling, and security and measurement efficiency are difficult to guarantee.

Based on the above problems, the application provides a detection device, a detection system and a detection method, which aim to simplify the structure of the detection device, optimize the detection method and improve the detection efficiency and the detection safety of the detection device.

The embodiment of the first aspect of the present application provides a detection device 100 for checking the positioning accuracy of a loading and unloading machine of a pressurized water reactor nuclear power plant, where the detection device 100 is used to be installed at the bottom of a reactor pool, and specifically, the detection device 100 may be installed in a vacancy area where any loading and unloading machine at the bottom of the reactor pool can reach. As shown in fig. 1 to 3, the inspection apparatus 100 includes an inspection assembly 1, the inspection assembly 1 including a plurality of inspection plates 11, the plurality of inspection plates 11 surrounding a receiving chamber 102, the receiving chamber 102 for receiving an end clamp of a loader-unloader.

In this embodiment, as shown in fig. 1 to 3, by detecting whether the loader-unloader can be placed in the accommodating cavity 102 of the detection assembly 1 without any obstruction after running for a period of time, the state of the terminal fixture is intuitively reflected by the plurality of detection plates 11, so that whether the positioning accuracy of the loader-unloader meets the requirement is detected, the structure of the detection device 100 is simple, and the detection standard is clear. And in this process, only need control loading and unloading machine and remove to the position of awaiting measuring, carry out the operation that descends again and can realize measuring process, easy operation can reduce measurement personnel skill requirement, can accomplish measurement work fast, high-efficient, can improve loading and unloading machine's location detection efficiency, reduce maintenance preliminary examination time limit for a project, and application scope is great, can extensively promote to each big nuclear power station. In addition, the detection device 100 that this application provided need not the measurement personnel and gets into reactor pond bottom and can accomplish the location accuracy detection of loading and unloading machine, can avoid the measurement personnel's in the testing process underwater operation, reduces the human cost to avoid the high irradiation of reactor pond bottom and the influence of radioactive contamination environment to measurement personnel, reduce measurement personnel and receive the dose and fall the risk, improve the security of detection operation.

In some embodiments, as shown in fig. 1-3, the detection assembly 1 has a first central axis 10 perpendicular to the bottom of the sink; the sensing assembly 1 comprises four sensing plates 11 evenly and at intervals around a first central axis 10, the four sensing plates 11 surrounding a rectangular receiving cavity 102. The four detection plates 11 can be respectively arranged in the directions of 0 °, 90 °, 180 ° and 270 ° of the first central shaft 10, so as to facilitate the detection alignment of the loading and unloading machine and the detection device 100.

In this embodiment of the application, when installing detection device 100, when fixing detection device 100 in the pond bottom, counterpoint detection device 100 and loading and unloading machine, make loading and unloading machine's terminal anchor clamps be located between four pick-up plates 11 and correspond with the position of pick-up plate 11 to and ensure that loading and unloading machine's positioning accuracy meets the requirements, terminal anchor clamps can be with the unobstructed place between detection subassembly 1, when terminal anchor clamps upwards move and stretch out detection subassembly 1 completely, record loading and unloading machine's position is the position that awaits measuring. When the positioning accuracy measurement is performed on the loading and unloading machine running for a period of time, the loading and unloading machine is firstly moved to the same position to be measured right above the detection device 100, then the tail end clamp is gradually lowered, if the tail end clamp can still be placed between the detection assemblies 1 without obstruction and is not contacted with the detection plate 11, the positioning accuracy detection of the loading and unloading machine is qualified, and if the tail end clamp is obstructed in the lowering process, the positioning accuracy detection of the loading and unloading machine is unqualified, and maintenance and adjustment are needed for the loading and unloading machine.

Alternatively, the front projection of the detection surface 101 may be circular or rectangular along the extending direction of the first central axis 10, and the detection assembly 1 may include four detection plates 11, or may include three detection plates 11 or two detection plates 11. The orthographic projection shape and size of the detection surface 101, and the number, arrangement position, shape and height of the detection plates 11 may be set according to the shape and size of the loader-unloader end jig, which is not limited in this application. In one example, the detecting assembly 1 may include two detecting plates 11 symmetrically disposed about the first central axis 10 as a symmetry axis, and the front projection of the detecting plates 11 is substantially U-shaped along the extending direction of the first central axis 10, and the openings of the two detecting plates 11 face each other, and form a receiving cavity around to receive the end fixture. In one example, the detection assembly 1 includes three detection plates 11 arranged at intervals, the orthographic projections of the three detection plates 11 may be arranged in a "delta" shape, one detection plate is in a U shape, the other two detection plates are in an L shape, the openings of the three detection plates 11 are correspondingly arranged, one accommodation cavity is formed around to accommodate the end clamp, and the shape and the size of the three detection plates 11 may be different.

Optionally, the material of the detecting device 100 includes, but is not limited to, stainless steel, which has the effect of resisting corrosion of chemical corrosive media (chemical attack of acids, alkalis, salts, etc.), and the detecting device 100 is installed in a reactor pool, and the stainless steel material can enable the detecting device 100 to have a long service life.

Optionally, the positioning accuracy includes, but is not limited to, parallelism or coincidence of the second central axis with the first central axis 10 on the loading/unloading machine, and perpendicularity of the second central axis with the bottom of the pool. The second central shaft is the central shaft of the telescopic sleeve on the loading and unloading machine.

In some embodiments, as shown in fig. 1 to 3, each detection plate 11 has a detection surface 101 disposed near the receiving cavity 102, and a step structure 12 is disposed on the detection surface 101 at an end of the detection plate 11 far from the bottom of the water tank, where the step structure 12 includes a first step 121 and a second step 122 disposed sequentially along a direction near the bottom of the water tank, and an orthographic projection boundary of the second step 122 is located within an orthographic projection boundary of the first step 121 along a first direction, which is perpendicular to the bottom of the water tank. The descending height of the tail end clamp is limited in a grading manner through the step structure 12, the measurement standard of the detection device 100 is further refined, and a measurer can obtain the positioning precision detection result of the loading and unloading machine and the current positioning precision range of the loading and unloading machine more intuitively and conveniently, so that the loading and unloading machine can be adjusted and maintained later, and the maintenance pre-detection period of the loading and unloading machine is shortened.

In some embodiments, as shown in fig. 1 to 3, the step structure 12 further includes a third step 123, where the third step 123 is disposed on a side of the second step 122 away from the first step 121, and a forward projection boundary of the third step 123 is located within a forward projection boundary of the second step 122 along the first direction. That is, the stepped structure 12 includes a first step 121, a second step 122, and a third step 123 sequentially disposed in a direction approaching the bottom of the sump, and distances between one side of the first step 121, the second step 122, and the third step 123 approaching the first central axis 10 and the first central axis 10 gradually decrease. The three-level measurement standard of the loading and unloading machine is defined by the first step 121, the second step 122 and the third step 123, the closer the tail end clamp is to the bottom of the pool, the smaller the distance between the corresponding tail end clamp and the detection surface 101 is, the higher the requirement on the positioning precision of the loading and unloading machine is, therefore, the positioning precision of the loading and unloading machine can be indirectly reflected by the descending height of the tail end clamp in the detection device 100, the detection mode is simple and rapid, and the detection efficiency is high.

Optionally, the number of steps of the stepped structure 12 for defining the descending height of the end clamp in a grading manner may be set according to practical requirements, that is, the detecting device 100 may include a first step 121 and a second step 122 to define the descending height of the end clamp in two steps, so as to refine the measurement standard of the detecting device 100; the detecting device 100 may also include a first step 121, a second step 122, and a third step 123 to three-level limit the descending height of the end clamp, further refine the measurement standard of the detecting device 100; even the detection device may include a first step, a second step, a third step, and a fourth step to four-level limit the lowering height of the end clamp, which is not limited in this application, further refine the measurement criteria of the detection device 100.

In an embodiment, along the first direction, a distance between the front projection boundary of the first step 121 and the front projection boundary of the second step 122 is less than or equal to 3mm, and a distance between the front projection boundary of the second step 122 and the front projection boundary of the third step 123 is less than or equal to 2mm. Alternatively, the distance between the side of the stepped structure 12 near the first central axis 10 and the first central axis 10 may be set according to the actual size of the end jig, which is not limited in this application.

In some embodiments, the first step 121, the second step 122, and the third step 123 have a height of 50mm in the extending direction of the first central axis 10. Alternatively, the height of the step structure 12 may be set according to practical requirements, which is not limited in this application.

In some embodiments, as shown in fig. 1 to 3, the detection device 100 further includes a support assembly 2, where the support assembly 2 includes a plurality of support plates 21, and the support plates 21 are located on a side of the detection plate 11 away from the accommodating cavity 102, and the support plates 21 are perpendicular to the detection plate 11. The supporting component 2 is used for supporting the detection plate 11, reduces the probability of displacement or deformation of the detection plate 11, improves the stability of the detection plate 11, and ensures the detection precision of the detection device 100.

Alternatively, the support plate 21 and the detection plate 11 that are in contact may be connected as a unitary structure by injection molding or welding, or the like, and of course, in other embodiments, the split structure may be formed by plugging, or the like.

In some embodiments, as shown in fig. 1 to 3, the detection device 100 further comprises at least one fixing ring 3 arranged around the detection assembly 1 and/or the support assembly 2, the fixing ring 3 being arranged at a side of the detection assembly 1 or the support assembly 2 remote from the receiving cavity 102. The fixing ring 3 is used for fixedly supporting the detecting assembly 1 when the detecting apparatus 100 is provided with only the detecting assembly 1; when the detection device 100 is provided with both the detection component 1 and the support component 2, the fixing ring 3 can synchronously and fixedly support the detection component 1 which is positioned in the fixing ring 3 and connected with the support component 2 while fixing the support component 2. The fixing ring 3 is used for fixing and supporting the detection assembly 1 and/or the support assembly 2, so that the probability of displacement or deformation of the detection assembly 1 and/or the support assembly 2 is reduced, the stability of the detection assembly 1 and/or the support assembly 2 is improved, and the detection precision of the detection device 100 is ensured.

Alternatively, as shown in fig. 1 to 3, a groove is provided on the support plate 21, and the fixing ring 3 is clamped in the groove, so as to realize the fixed connection between the fixing ring 3 and the support plate 21, and also can realize the connection between the fixing ring 3 and the detection plate 11 or the support plate 21 by welding or the like. The detection device 100 may comprise one fixed ring 3, or may comprise two fixed rings 3 arranged in parallel; the fixing ring 3 can be a ring or square ring which is easy to process, and the number and shape of the fixing rings 3 can be set according to practical requirements, which is not limited in the application.

In some embodiments, as shown in fig. 1 to 3, the detection device 100 further includes a fixing plate 4, where the fixing plate 4 is disposed on a side of the detection plates 11 near the bottom of the pool, and one end of each detection plate 11 near the bottom of the pool is fixedly connected to the fixing plate 4, and the fixing plate 4 is used for collecting and fixing a plurality of detection plates 11, so as to improve the installation stability of the detection plates 11. The detecting device 100 further includes a first level 61 and a second level 62, the first level 61 and the second level 62 are perpendicular to each other, and the first level 61 and the second level 62 are disposed on a side of the fixing plate 4 close to the detecting plate 11 and are located in the accommodating chamber 102. Along the extension direction of the first central axis 10, the orthographic projections of the first level 61 and the second level 62 are located within the orthographic projection of the detection assembly 1. In the installation process of the detection device 100, the levelness of the detection device 100 can be observed through the first level bar 61 and the second level bar 62, so that the installation position of the detection device 100 can be adjusted in real time, the installation level of the detection device 100 is ensured, the accuracy of the installation position of the detection device 100 is improved, the accuracy of the subsequent detection of the positioning accuracy of the loading and unloading machine is ensured, and the detection effect is improved.

In this embodiment, as shown in fig. 1, a certain space is provided between the step structure 12 and the fixing plate 4, and this space can provide a certain accommodation space for the terminal fixture of the loader, so as to reduce the probability of wear caused by contact collision between the loader and the fixing plate 4 in the detection process, and improve the reliability of the loader and the detection device 100.

Optionally, the fixing plate 4 is further provided with a plurality of leveling bolts 71, and the installation position of the fixing plate 4 can be adjusted by adjusting the positions of the leveling bolts 71, so that the installation levelness of the detection device 100 is adjusted, and the accuracy of the installation position of the detection device 100 is improved. The detection plate 11 and the fixing plate 4 may be connected as an integral structure by injection molding or welding, or the like. The fixing plate 4 can be fixedly connected with the bottom wall of the water tank through the first fixing bolt 72, so that the installation stability of the detection device 100 is ensured.

In some embodiments, as shown in fig. 4 to 6, the detection device 100 further includes a carrying plate 5, where the carrying plate 5 is mounted on the bottom of the pool, the carrying plate 5 is disposed on a side of the fixing plate 4 away from the detection assembly 1, a mounting post 51 is disposed on a side of the carrying plate 5 away from the fixing plate 4, and an extending direction of the mounting post 51 is parallel to an extending direction of the first central shaft 10, and the mounting post 51 is used for being inserted into the bottom of the pool. The bearing plate 5 is fixedly connected with the bottom of the water tank through the mounting column 51, so that the detection device 100 is fixedly connected with the bottom of the water tank, the mounting stability of the detection device 100 is further improved, and the reliability of the detection device 100 is improved.

Alternatively, as shown in fig. 4 to 6, the fixing plate 4 and the carrier plate 5 may be connected by a first fixing bolt 71. The bearing plate 5 is provided with a convex connecting part on one side close to the fixing plate 4, and the fixing plate 4 is connected with the connecting part through a first fixing bolt 71. The fixing plate 4 further comprises a side plate 41 arranged around the peripheral edge of the fixing plate 4, the side plate 41 is perpendicular to the fixing plate 4, the side plate 41 is connected with the side face of the connecting part through a second fixing bolt 73, the connection stability of the fixing plate 4 and the bearing plate 5 is further improved, the leveling of the detection device 100 is facilitated from different directions, and the accuracy of the installation position of the detection device 100 is improved.

An embodiment of a second aspect of the present application provides a detection system for checking positioning accuracy of a loading and unloading machine of a pressurized water reactor nuclear power plant, including any one of the detection devices 100 described above, where the detection system further includes a coordinate detector, where the coordinate detector is configured to detect coordinate information of the loading and unloading machine during a detection process.

In this embodiment of the application, when the initial installation of the detection device 100 is completed, and the positioning accuracy of the loader meets the requirement, the terminal fixture is moved upwards to extend out of the detection assembly 1 completely, and at this time, the coordinate information of the loader-unloader in the position to be detected is recorded by the coordinate detector, so that the loader-unloader can be moved to the position directly above the detection device 100 during the measurement of the positioning accuracy of the loader-unloader in the subsequent overhaul period, and is located at the same position to be detected and aligned with the detection device 100 for the next detection. The positioning accuracy of the loading and unloading machine can be initially detected by comparing the coordinate values of the loading and unloading machine at the same position to be detected before and after the loading and unloading machine works, and if the coordinate values detected at the same position before and after the loading and unloading machine works are different, the loading and unloading machine can be directly maintained and adjusted according to the coordinate difference value; if the coordinate values detected at the same position before and after the loading and unloading machine works are the same, the tail end clamp is controlled to move downwards, and the next positioning accuracy detection is carried out on the loading and unloading machine through the detection device 100. Optionally, the coordinate detector includes, but is not limited to, an encoder.

Optionally, the detection system includes three coordinate detectors, the coordinate detectors are respectively located on the loading and unloading machine which generates displacement along the height direction, and the cart and the trolley which drive the loading and unloading machine to generate displacement on a plane vertical to the height direction, the cart drives the loading and unloading machine to move along the first direction on the plane, and the trolley drives the loading and unloading machine to move along the second direction on the plane, and the first direction and the second direction are vertical. Coordinate values of different directions at the same position before and after the loading and unloading machine works are detected by the three coordinate detectors, so that the accuracy of the positioning accuracy detection of the loading and unloading machine is further improved.

Preferably, the detection system comprises three pairs of coordinate detectors, i.e. six coordinate detectors. Six coordinate detectors are correspondingly arranged on the loading and unloading machine, the cart and the trolley in pairs, so that six detection coordinate values are obtained, and the positioning error of the loading and unloading machine in the detection process is obtained through front-back comparison of the six coordinate values, so that the accuracy of the positioning precision detection of the loading and unloading machine is further improved.

In some embodiments, the detection system further includes a pressure protection device, where the pressure protection device may be installed on the loader, or may be located on a cart or a trolley, and when the positioning accuracy of the loader is not qualified, and the end clamp collides with the detection plate 11 during the detection process, the detection plate 11 will apply a force opposite to the force applied to the end clamp, so that the gravity of the loader changes at the moment of collision, the gravity is reduced, and the information is fed back to the pressure protection device, and the pressure protection device will stop the descent of the loader, so as to avoid the loader from continuing to move downwards to generate a larger collision with the detection device 100, improve the detection safety, and improve the reliability of the loader and the detection device 100.

An embodiment of the third aspect of the present application provides a detection method for checking positioning accuracy of a loading and unloading machine of a pressurized water reactor nuclear power plant, where the detection device 100 in any of the above embodiments is used for implementing positioning accuracy detection of the loading and unloading machine, the detection device 100 is used for being installed at the bottom of a reactor pool, the detection device 100 includes a detection assembly 1, the detection assembly 1 includes a plurality of detection plates 11, the plurality of detection plates 11 form a containing cavity 102 around, the containing cavity 102 is used for containing an end fixture of the loading and unloading machine, as shown in fig. 7, and the detection method includes:

s101, controlling the loading and unloading machine to move to the position right above the detection device;

s102, controlling the loader-unloader to move downwards, and judging whether the lower end of the loader-unloader can move into the accommodating cavity without obstruction; under the condition that the lower end of the loading and unloading machine can move into the accommodating cavity without obstruction, the positioning accuracy of the loading and unloading machine is detected to be qualified; under the condition that the lower end of the loading and unloading machine can not move into the accommodating cavity without obstruction, the positioning accuracy of the loading and unloading machine is unqualified.

In this embodiment of the application, through detecting the loading and unloading machine after the operation a period, whether can be in the holding chamber 102 of detection subassembly 1 that does not have the hindrance, through the state of a plurality of pick-up plates 11 visual reflection terminal anchor clamps, thereby detect the positioning accuracy of loading and unloading machine and accord with the requirement, detection device 100's simple structure, the detection standard is clear and definite, and at this in-process, only need control loading and unloading machine remove to the position of awaiting measuring, carry out the operation of falling again and can realize measuring process, easy operation can reduce measurement personnel skill requirement, and can accomplish measurement work fast, high efficiency, can improve loading and unloading machine's location detection efficiency, save maintenance preliminary examination time limit for a project. In addition, the detection device 100 that this application provided need not the measurement personnel and gets into reactor pond bottom and can accomplish the location accuracy detection of loading and unloading machine, can avoid the measurement personnel's in the testing process underwater operation, reduces the human cost to avoid the high irradiation of reactor pond bottom and the influence of radioactive contamination environment to measurement personnel, reduce measurement personnel and receive the dose and fall the risk, improve the security of detection operation.

In some embodiments, as shown in fig. 1 to 6, each detection plate 11 has a detection surface 101 disposed near the receiving chamber 102, the detection surface 101 of the end of the detection plate 11 far from the bottom of the pool is provided with a step structure 12, the step structure 12 includes a first step 121, a second step 122, and a third step 123 disposed in sequence along a direction near the bottom of the pool, the forward projection boundary of the third step 123 is located within the forward projection boundary of the second step 122 along the first direction, the forward projection boundary of the second step 122 is located within the forward projection boundary of the first step 121, the first direction is perpendicular to the bottom of the pool, and the distances between the sides of the first step 121, the second step 122, and the third step 123 near the first center axis 10 and the first center axis 10 gradually decrease; along the direction perpendicular to the bottom of the pool, the detection device 100 has a first height position, a second height position and a third height position, wherein the first height position is disposed on the first step 121, the second height position is disposed on the second step 122, and the third height position is disposed on the third step 123.

In the embodiment of the application, the loader is provided with the tail end clamp, the tail end clamp is positioned between the detection plates 11 under the condition that the positioning accuracy of the loader is qualified, the first component is positioned at the third height position, and the minimum distance between the first component and the third step 123 is equal to 1mm; the loader-unloader is moved in a direction away from the bottom of the pool, the end clamp is extended out of the detecting device 100 and is located right above the detecting device 100, the position of the loader-unloader at the moment is recorded as a first detecting position, and initial coordinate information of the loader-unloader at the first detecting position is recorded. The first component is a structure of an end clamp, and the orthographic projection area of the position of the first component of the end clamp is the largest along the extending direction of the first central shaft 10.

In some embodiments, the difference in height between the first height position and the second height position is 50mm and the difference in height between the second height position and the third height position is 50mm. Alternatively, the height difference between the first height position and the second height position may be 40mm or 60mm, and the height difference between two adjacent height positions may be set according to actual requirements, which is not limited in this application.

In some embodiments, the step of controlling the loader to move directly above the detection device 100 specifically includes controlling the loader to move to the first detection position, detecting current coordinate information of the loader at the first detection position, and controlling the loader to move downward if the current coordinate information is the same as the initial coordinate information.

In some embodiments, the step of controlling the downward movement of the loader to determine whether the lower end of the loader can move unimpeded into the receiving cavity 102 comprises:

step one, controlling the loader-unloader to move downwards, judging whether the lower end of the loader-unloader can move between the first steps 121 without obstruction, specifically, judging whether the first component can move to the first height position without obstruction;

step two, under the condition that the lower end of the loader can move between the first steps 121 in an unobstructed manner, the loader is controlled to move downwards continuously, whether the lower end of the loader can move between the second steps 122 in an unobstructed manner is judged, and specifically, whether the first component can move to a second height position in an unobstructed manner is judged;

Step three, under the condition that the lower end of the loader can move between the second steps 122 without any obstruction, the loader is controlled to move downwards continuously, whether the lower end of the loader can move between the third steps 123 without any obstruction is judged, and specifically, whether the first component can move to the third height position without any obstruction is judged;

and step four, under the condition that the lower end of the loader can move between the third steps 123 without obstruction, the positioning accuracy of the loader is detected to be qualified.

In some embodiments, with the first member capable of unobstructed movement to the first height position, the forward projection of the first member is located within the forward projection of the first step 121 along the direction of extension of the first central axis 10, and the forward projection of the first member and the forward projection of the first step 121 have a spacing therebetween, the minimum spacing between the forward projection of the first member and the forward projection of the first step 121 being less than 6mm; in the case where the first member is capable of unobstructed movement to the second height position, along the direction of extension of the first central axis 10, the front projection of the first member is located within the front projection of the second step 122 with a spacing between the front projection of the first member and the front projection of the second step 122, the minimum spacing between the front projection of the first member and the front projection of the second step 122 being less than 3mm; in the case of a first part which can be moved without hindrance to a third height position, the front projection of the first part is located in the front projection of the third step 123 in the direction of extension of the first central axis 10, and the front projection of the first part and the front projection of the third step 123 have a distance therebetween, the minimum distance between the front projection of the first part and the front projection of the third step 123 being smaller than 1mm.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (10)

1. The utility model provides a detection device for the positioning accuracy inspection of loading and unloading machine of pressurized water reactor nuclear power station, its characterized in that, detection device is used for installing in reactor pond bottom, detection device includes detection subassembly, detection subassembly includes a plurality of pick-up plates, a plurality of pick-up plates are around forming holding the chamber, hold the chamber and be used for holding loading and unloading machine's terminal anchor clamps.

2. The test device of claim 1, wherein the test assembly has a first central axis perpendicular to the pool bottom, the test assembly including four test plates disposed uniformly and spaced about the first central axis, the four test plates surrounding a rectangular receiving cavity.

3. The test device of claim 1, wherein each test plate has a test surface disposed adjacent to the receiving cavity, a stepped structure is disposed on the test surface at an end of the test plate distal from the pool bottom, the stepped structure comprising a first step and a second step disposed sequentially in a direction proximal to the pool bottom, an orthographic projection boundary of the second step being located within the orthographic projection boundary of the first step in a first direction perpendicular to the pool bottom.

4. The device of claim 3, wherein the step structure further comprises a third step disposed on a side of the second step away from the first step, and wherein an orthographic projection boundary of the third step is located within an orthographic projection boundary of the second step along the first direction.

5. The test device of any one of claims 1-4, further comprising a support assembly including a plurality of support plates located on a side of the test plate remote from the receiving cavity;

the detection device further comprises at least one fixing ring arranged around the detection assembly or the support assembly, and the fixing ring is arranged on one side, far away from the accommodating cavity, of the detection assembly or the support assembly.

6. The apparatus according to any one of claims 1 to 4, further comprising a fixing plate, wherein an end of the detecting plate near the bottom of the water tank is fixedly connected to the fixing plate;

the detection device further comprises a first level bar and a second level bar, the first level bar is perpendicular to the second level bar, and the first level bar and the second level bar are arranged on one side, close to the detection plate, of the fixing plate and are located in the accommodating cavity.

7. The device of claim 6, further comprising a carrier plate disposed on a side of the mounting plate remote from the detection assembly, wherein a mounting post is disposed on a side of the carrier plate remote from the mounting plate, the mounting post being configured to be inserted into the pool bottom.

8. A detection system for checking the positioning accuracy of a loading and unloading machine of a pressurized water reactor nuclear power plant, characterized by comprising the detection device according to any one of claims 1 to 7, and further comprising a coordinate detector for detecting coordinate information of the loading and unloading machine during detection.

9. A detection method for checking the positioning accuracy of a loading and unloading machine of a pressurized water reactor nuclear power plant, characterized in that the positioning accuracy detection of the loading and unloading machine is achieved by a detection device according to any one of claims 1 to 7, the detection device being for being mounted at the bottom of a reactor pool, the detection device comprising a detection assembly comprising a plurality of detection plates surrounding a receiving cavity for receiving an end clamp of the loading and unloading machine, the detection method comprising:

controlling the loading and unloading machine to move to the position right above the detection device;

controlling the loader to move downwards, and judging whether the lower end of the loader can move into the accommodating cavity without obstruction; under the condition that the lower end of the loading and unloading machine can move into the accommodating cavity without obstruction, the positioning accuracy of the loading and unloading machine is detected to be qualified; and under the condition that the lower end of the loading and unloading machine cannot move into the accommodating cavity without obstruction, the positioning accuracy of the loading and unloading machine is unqualified.

10. The inspection method of claim 9, wherein each of said inspection plates has an inspection surface disposed adjacent said receiving cavity, said inspection surface of an end of said inspection plate distal from said pond bottom being provided with a stepped structure comprising a first step, a second step, and a third step disposed in sequence in a direction proximal to said pond bottom, an orthographic boundary of said third step being located within an orthographic boundary of said second step in a first direction, an orthographic boundary of said second step being located within an orthographic boundary of said first step, said first direction being perpendicular to said pond bottom;

the step of controlling the loader to move downwards and judging whether the lower end of the loader can move into the accommodating cavity without obstruction comprises the following steps:

controlling the loader to move downwards, and judging whether the lower end of the loader can move between the first steps without obstruction;

under the condition that the lower end of the loader can move between the first steps in an unobstructed manner, the loader is controlled to move downwards continuously, and whether the lower end of the loader can move between the second steps in an unobstructed manner is judged;

Under the condition that the lower end of the loader can move between the second steps in an unobstructed manner, the loader is controlled to move downwards continuously, and whether the lower end of the loader can move between the third steps in an unobstructed manner is judged;

and under the condition that the lower end of the loading and unloading machine can move between the third steps without obstruction, the positioning accuracy of the loading and unloading machine is detected to be qualified.