KR101848209B1 - Machining apparatus for nozzle of reactor lower head - Google Patents

Abstract

The present invention relates to a lower head nozzle cutting device. According to the present invention, the lower head nozzle cutting device comprises: a device body; a plurality of gripping units extending vertically from the device body, and fixing the device body to a reactor lower head by allowing holders provided at an upper end thereof to come in contact with the reactor lower head to grip the reactor′s lower head; a processing unit having an upper end protruding upward from the device body, and processing a cut part of a reactor lower head nozzle using a cutting tool coupled to the upper end thereof by rotating about a protruding direction; and a transfer unit coupled to the processing unit and moving the position of the processing unit to allow the processing unit to change the position of the cut part of the reactor lower head nozzle passing through the reactor lower head. The plurality of gripping units include two gripping units having different distances vertically upward from the upper surface of the device body to each of the holders to grip the outer surfaces of the reactor′s lower heads positioned at different heights.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a nozzle cutting apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for cutting a head of a reactor head below a reactor.

1 is a view showing the shape of a conventional reactor head. 2 is a cross-sectional view of a conventional reactor bottom head and a nozzle.

As shown in FIGS. 1 and 2, a reactor head (LH) having a plurality of nozzles (N) is located below a reactor head (H) used in a nuclear power plant. The nozzle N is formed through the reactor head LH and is mainly welded in the form of a j-shaped groove using Inconel 82/182 filler metal.

However, welds welded in the form of j-grooves using the above-mentioned filler have a problem that they are vulnerable to fatigue and primary water corrosion cracking (PWSCC). If damage occurs at the weld, the primary coolant inside the reactor contaminated with radioactivity may leak to the outside, which may hinder safe operation of the nuclear power plant.

In order to solve this problem, it is necessary to perform quick repair of the head N of the reactor head. FIG. 3 is a cross-sectional view illustrating a state in which a breaching welding is performed in a region adjacent to the nozzle N in the course of repairing a conventional lower head LH. 4 is a cross-sectional view showing a state after j-shaped groove shape milling is performed on a region adjacent to a nozzle in a repair process of a conventional reactor lower head (LH). 3 and 4 illustrate a process of cutting the nozzle tip projecting downward from the lower head LH by CNC cutting and then machining a cutting edge VW which is a peripheral area of the nozzle tip. After such machining is completed, a new nozzle tip can be welded to complete the repair.

In order to repair the nozzle N, it is necessary to perform overlay welding on the under-reactor head LH as shown in Figs. 3 and 4, followed by cutting. However, since various structures are installed in the lower head (LH) of the reactor, the space is narrow and radioactive contamination occurs, which makes it difficult for an operator to carry out maintenance work for a long time.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus capable of stably cutting a reactor head nozzle at a cutting position.

An apparatus for cutting a head under a reactor head according to an embodiment of the present invention includes: a device body; A plurality of grippers extending vertically upward from the apparatus body and having a holder provided at an upper end thereof for contacting the lower head of the reactor to hold the lower head of the reactor so as to fix the apparatus body to the reactor lower head; A machining portion protruding upward from the apparatus body and rotating about the protruding direction so as to process a cutting edge of a reactor head nozzle through a cutting tool coupled to the upper end; And a transfer unit coupled to the processing unit and configured to change a position at which the cutting head of the sub-reactor head nozzle penetrating the lower head of the reactor is moved by the processing unit by moving the position of the processing unit, Part includes two gripping parts which are different from each other in distance from the upper surface of the apparatus body to the vertical direction so as to grasp the outer surface of the reactor lower head located at different heights.

The holder may be provided with a plurality of magnetic chucks capable of selecting the presence or absence of magnetism and grasping the lower head of the reactor by using a magnetic force when the holder has magnetic properties.

Wherein the holder further comprises a chucking seat portion that is not separated in one direction by seating the magnetic chuck, wherein the chucking seat portion passes through a side surface of the chucking seat portion, and is fixed to the chucking seat portion And a chuck hole through which the magnetic chuck is pressed by the screw to adjust a position where the magnetic chuck is disposed.

The gripping portion includes a gripping arm extending vertically upward from the apparatus body; And a spherical ball head to which the holder is rotatably coupled, and a ball link extending from the ball head and having an extension coupled to the gripping arm, the ball link connecting the extension and the holder.

In the apparatus for cutting a nozzle head for a sub-reactor head according to an embodiment of the present invention, the holder and the ball head are coupled to each other by a ball hinge structure so that the holder rotates about the ball head about a direction not parallel to the extending direction of the extending portion And may have a predetermined angular range.

The extension portion may be formed of a bolt, so that the length of the extension portion coupled to the gripping arm can be changed.

The holder has an upper surface in contact with the reactor lower head, and the upper surface of the holder can be arranged in a direction not parallel to the extending direction of the grip portion.

The holder may include a plurality of holder branches extending radially about the upper end of the grip portion.

The transferring portion includes a z-axis transferring portion coupled to the machining portion and capable of moving the machining portion along a z axis parallel to the vertical upper and lower chambers; An x-axis transferring portion coupled to the z-axis transferring portion and capable of moving the z-axis transferring portion along an x-axis that is a single axis perpendicular to the z-axis; And a y-axis transferring unit coupled to the x-axis transferring unit and the apparatus body and capable of moving the x-axis transferring unit along the y-axis perpendicular to the z-axis and the x-axis.

The z-axis transferring portion includes a z-axis nut coupled to the machining portion and the z-axis nut coupled to move in the z-axis direction and extending in a direction parallel to the z-axis and rotating about an extended direction, A z-axis screw portion including a z-axis screw shaft for moving the machining portion; And a z-axis linear guide including a z-axis block coupled to the machining portion and a z-axis rail coupled to move along the z-axis and extending in a direction parallel to the z-axis, Wherein the x-axis nut and the x-axis nut are coupled to move in the x-axis direction, extend in a direction parallel to the x-axis, and rotate about the extended direction to move the z- An x-axis screw portion including an x-axis screw shaft for moving the axial transfer portion; And an x-axis linear guide coupled to the x-axis block and the x-axis block and coupled to the x-axis block to move along the x-axis and extending in a direction parallel to the x-axis, The axis transferring portion is connected to the y-axis nut coupled to the x-axis transferring portion and the y-axis nut so as to move in the y-axis direction, extends in a direction parallel to the y-axis, A y-axis screw portion including a y-axis screw shaft for moving the x-axis transfer portion; And a y-axis linear guide including a y-axis block coupled to the x-axis transfer unit and a y-axis rail coupled to the y-axis block so as to move along the y-axis and extending in a direction parallel to the y-axis.

The apparatus for cutting a nozzle under head of a reactor according to an embodiment includes a lift unit that supports the apparatus body from below and can move the apparatus body vertically up and down to position the apparatus body adjacent to the reactor lower head .

The elevating portion includes a table on which the apparatus body is seated; Two links to which the top is rotatably coupled to the table; A base portion to which the lower end of the link is rotatably coupled; And a lower end of at least one of the two links is moved in a direction approaching the lower end of the other link when the elevating member is extended , The upper end of at least one link of the two links is moved in the direction approaching the upper end of the other link, so that the apparatus body that is seated on the table can be lifted up vertically.

The machining portion and the gripping portion may extend in the same direction as the direction in which the reactor head nozzle extends.

Accordingly, it is possible to rapidly perform the cutting work on the cutting edge of the reactor head nozzle remotely while minimizing the amount of exposure by the operator.

The apparatus in the upright state firmly grasps the lower head of the reactor having the oblique curved surface, so that the cutting operation can be performed stably.

1 is a view showing the shape of a conventional reactor head.
2 is a cross-sectional view of a conventional reactor bottom head and a nozzle.
FIG. 3 is a cross-sectional view illustrating a state where a breaching welding is performed in a region adjacent to a nozzle in a repair process of a conventional lower head of a nuclear reactor.
FIG. 4 is a cross-sectional view showing a state after j-shaped groove shape milling is performed on a region adjacent to a nozzle in a repair process of a conventional reactor lower head.
FIG. 5 is a perspective view of a reactor head nozzle cutting apparatus according to an embodiment of the present invention. FIG.
FIG. 6 is a perspective view illustrating a state in which a grasping portion of a nozzle head nozzle cutting apparatus according to an embodiment of the present invention is removed from an angle different from that of FIG. 5.
FIG. 7 is an exploded perspective view illustrating a coupling relationship between a holder coupled to an upper end of a grip portion of a reactor head nozzle cutting and working apparatus according to an embodiment of the present invention and various components. FIG.
FIG. 8 is a perspective view illustrating a state in which a holder coupled to an upper end of a grip portion of a reactor head nozzle cutting and machining apparatus according to an embodiment of the present invention is engaged with all the constituent elements. FIG.
FIG. 9 is a perspective view showing a transferring part and a machining part of the apparatus for cutting a nozzle under head of a nuclear reactor according to an embodiment of the present invention.
FIG. 10 is a perspective view illustrating a z-axis transporting part and a machining part of a nozzle head nozzle cutting machine according to an embodiment of the present invention.
FIG. 11 is a side view showing a grasping part of a reactor head nozzle cutting device according to an embodiment of the present invention and a state in which a lower head of the reactor is gripped. FIG.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

Hereinafter, with reference to the drawings, the construction of a reactor head nozzle cutting and working apparatus 1 according to an embodiment of the present invention will be described.

5 is a perspective view of an apparatus for cutting a nozzle head under a reactor 1 according to an embodiment of the present invention. FIG. 6 is a perspective view showing a state in which the grip portion 20 of the apparatus for cutting a nozzle head under the head 1 is removed, according to an embodiment of the present invention, at a different angle from FIG.

An apparatus for cutting a reactor head (1) according to an embodiment of the present invention comprises a device body (10); The holder body 21 extending vertically upward from the apparatus body 10 and holding the upper end of the holder body 21 in contact with the lower reactor head LH to grasp the lower reactor head LH, A plurality of gripping portions 20 for fixing to the lower head LH; The upper end protrudes upward from the apparatus body 10 and rotates about the protruding direction so that the lower reactor head nozzle (not shown) passing through the lower reactor head LH through the cutting tool T coupled to the upper end A machining portion 30 for machining a cutting edge VW of the workpiece W; And a transfer unit 40 coupled to the processing unit 30 and changing a position at which the cutting target VW is processed by the processing unit 30 by moving the position of the processing unit 30 The plurality of grip portions 20 are vertically extended from the upper surface of the apparatus body 10 to the respective holders 21 so as to grasp the outer surface of the lower reactor head LH at different heights And two grip portions 20 that are different in distance from each other.

Accordingly, it is possible to rapidly perform the cutting work on the reactor head nozzle N remotely while minimizing the amount of exposure of the operator. In addition, the apparatus in the upright state firmly grips the lower reactor head (LH) having an oblique curved surface, so that the cutting operation can be stably performed.

In this specification, the z axis means an axis parallel to the vertical direction, the x axis means an axis parallel to one direction orthogonal to the z axis, and the y axis means an axis parallel to the z axis and a direction perpendicular to the x axis. Compared to the components of the reactor lower head (LH), the reactor lower head nozzle (N) extends along the z-axis. Therefore, the z-axis means an axis parallel to the direction in which the nozzle N extends.

The device body (10)

The apparatus body 10 is a skeleton component of the reactor head nozzle cutting apparatus 1 according to an embodiment of the present invention.

The apparatus body 10 may be formed in the shape of a rectangular parallelepiped such that a space for accommodating other components therein is formed therein. The machining portion 30 can be accommodated in the inner space of the apparatus body 10. In addition, the transfer unit 40 may be received in the inner space of the apparatus body 10 and the transfer unit 40 may be coupled to the apparatus side wall 13.

An opening 14 is formed in the upper surface of the apparatus body 10 so as to open vertically and vertically so that the transfer part 40 and the processing part 30 accommodated therein can pass through. An upper seating part 11, on which the grip part 20 is seated and to which the grip part 20 can be coupled, may be formed on the upper surface of the apparatus body 10. Further, a lower seating portion 12, on which the grip portion 20 is seated and to which the grip portion 20 can be coupled, may be formed on the outer side surface of the apparatus side wall 13. In the embodiment of the present invention, two upper seating portions 11 are arranged apart from each other and two lower seating portions 12 protruding from the outer side of the apparatus side wall 13 are spaced apart from each other. However, The number and arrangement of the upper seating portion 11 and the lower seating portion 12 are not limited thereto.

In addition, a camera may be disposed in the apparatus body 10 so as to grasp a precise position at which a cutting operation should be performed, and a processor or a communication unit for communication may be accommodated in which logic operation can be performed.

The grip portion 20

The grip portion 20 is a component that grips the reactor lower head LH. 5, the grip portion 20 includes a gripping arm 22 extending vertically upward from the apparatus body 10 and a holder 21 holding the lower reactor head LH directly .

The gripping arm 22 is a component for determining the height of the gripping portion 20 and extends in a direction parallel to the z-axis so as to be parallel to the nozzle of the lower head of the reactor LH. The apparatus body 10 is coupled to the lower end of the gripping arm 22 and the holder 21 is coupled to the upper end of the gripping arm 22 via a ball link 23 described later.

The gripping arm 22 may be composed of a telescopic guide or a telescopic antenna having a similar shape but having a plurality of overlapping rods of different sizes so that the length can be adjusted. Further, the gripping arm 22 is composed of a cylinder in which an inner space exists and a piston in which the inner space is partially accommodated, so that the length can be adjusted. Various structures that can be stretched or shrunk can be used as the length adjusting structure of the gripping arm 22. [

The configuration of the holder 21 will be described with reference to Figs. 7 and 8. Fig. 7 is an exploded perspective view showing a coupling relation between the holder 21 coupled to the upper end of the grip portion 20 of the reactor head nozzle cutting processing apparatus 1 and all the components according to an embodiment of the present invention. FIG. 8 is a perspective view illustrating a state where the holder 21 coupled to the upper end of the grip portion 20 of the apparatus for cutting the lower head of the reactor head 1 according to the embodiment of the present invention and the various components are engaged.

The holder 21 can be provided with a plurality of magnetic chucks 26 that can select the presence or absence of magnetic force and grasp the lower reactor head LH using magnetic force when the holder 21 has magnetic properties. Therefore, the holder 21 uses the magnetic force to grip the reactor lower head LH. Since the lower head of the reactor (LH) is made of low-carbon steel that can hold magnets well, it is possible to grasp the lower head (LH) of the reactor using magnetic force.

The magnetic chuck 26 may have magnetism according to the rotation of the lever 261 using a permanent magnet or use a magnetic chuck 26 that may not have magnetism. The magnetic pole arrangement of the plurality of magnets housed in the magnetic chuck 26 is changed in accordance with the rotation of the lever 261 and the presence or absence of magnetism can be selected by changing the orientation of the magnetic force lines. If the electromagnet constitutes the magnetic chuck 26, the lever 261 becomes a switch for determining whether power is supplied or not, and the presence or absence of magnetism can be determined.

The holder 21 is provided with a chuck mount 2111 on which the magnetic chuck 26 can be seated. The chuck rest 2111 has an open side and a side wall so that the mounted magnetic chuck 26 can not be released in one direction in which the side wall is located.

The lower surface of the chuck mount part 2111 is penetrated to have a mount part engagement hole 2112 and a chuck engagement hole 262 is formed at a position corresponding to the position of the mount part engagement hole 2112 on the lower surface of the magnetic chuck 26 May be formed. It is possible to fix the magnetic chuck 26 to the chuck mount 2111 by fastening the chucking hole 262 to the chucking hole 2112 using a fixing member such as a screw.

In an embodiment of the present invention, the holder 21 has three holder branches 211 that are arranged at equal angles, and a chuck seating part 2111 recessed on the upper surface of each holder branch 211 is formed, 26) can be seated, respectively. However, the number and arrangement of the holder branches 211 is not limited thereto.

The side surface of the chuck mounting part 2111 may further include a chuck hole 2113 passing through the side surface. A screw can be fastened to the chuck hole 2113 and the screw presses the magnetic chuck 26 seated on the chuck seat 2111 to adjust the position where the magnetic chuck 26 is disposed. The position and arrangement of the magnetic chuck 26 can be controlled by adjusting the degree of engagement of the screws and projecting into the chuck seat 2111.

The holder branch 211 may be formed extending radially from the holder base 212. The holder branch 211 and the holder base portion 212 can extend in directions not parallel to each other. In order to grasp the sub-reactor head LH firmly and firmly in contact with the sub-reactor head LH formed in a direction not parallel to the direction in which the perforations 20 extend. In one embodiment of the present invention, the plane formed by the three holder branches 211 and the direction in which the holder base 212 extends form an angle of about 45 degrees, but the angle is not limited thereto.

The holder 21 is connected to the gripping arm 22 via the ball link 23. The holder 21 further includes a ball linkage hole 2121 recessed inwardly under the holder base portion 212. A spherical ball head 231 including a ball link 23 is inserted into the ball linking hole 2121. As the ball head 231 is inserted into the ball linkage hole 2121, the holder 21 is rotatably engaged with the ball link 23.

The extension portion 232 extends vertically downward from the ball head 231 and is coupled to the gripping arm 22. The extended portion 232 is formed like a bolt and can be coupled with the gripping arm 22 by being fastened to a female thread formed at the upper end of the gripping arm 22. Further, since the extension portion 232 is formed as a bolt, the length of the extension portion 232 can be adjusted by inserting the extension portion 232 into the female thread located at the upper end of the gripping arm 22. The entire length of the grip portion 20 can be finely adjusted by adjusting the length of the extension portion 232 inserted.

In order to engage the ball link 23 with the holder 21, a link fixing nut 24 may be used. After the ball head 231 of the ball link 23 is inserted into the ball linking hole 2121, the link fixing nut 24 is fastened so as to cover the ball linking hole 2121, (21). A female screw thread may be formed on the inner circumferential surface of the link fixing nut 24 and a male screw thread is formed in the peripheral region of the ball link fitting hole 2121 in the holder base portion 212 so that the link fixing nut 24 can be fastened .

The diameter of the ball head 231 can be made larger than the diameter of the extension 232 and the link fixing nut 24 can be inserted into the hole 234 in such a manner that the extension portion 232 can pass but the ball head 231 can not A through hole having a diameter can be provided. Only the extended portion 232 protrudes outward through the through hole when the ball head 231 is accommodated in the inner space formed by the ball linking hole 2121 and the link fixing nut 24. At the same time, the diameter of the ball head 231 is larger than the diameter of the through hole, so that the link fixing nut 24 restricts the movement so that the ball head 231 does not deviate to the outside.

The ball head 231 can move in the inner space formed by the ball linking hole 2121 and the link fixing nut 24. Therefore, the ball head 231 and the ball linking hole 2121 are coupled with a ball hinge structure. Therefore, the holder 21 has a predetermined angular range that can rotate with respect to the ball head 231 about a direction not parallel to the extending direction of the extending portion 232. [ That is, although the holder 21 can not rotate completely freely about all directions about the ball link 23, it is possible to rotate within a certain angle range by an external force even in a direction in which the holder 21 can not freely rotate. With this configuration, when the holder 21 meets the under-reactor head LH, the holder 21 rotates correspondingly to the curved surface of the under-the-reactor head LH, thereby holding the under-reactor head LH more firmly .

An angle fixing nut 25 can be further fastened to the extension portion 232. The angle fixing nut 25 is a component having a female thread corresponding to a thread formed on the outer circumferential surface of the extension portion 232 and is screwed to the extension portion 232. After determining the angle at which the holder 21 is disposed, the angle fixing nut 25 is moved along the extension portion 232 so as to be in contact with the link fixing nut 24 and fastened. The angular fixing nut 25 comes into contact with the link fixing nut 24 and becomes a physical limit in one direction in which the link fixing nut 24 can rotate so that the angle at which the holder 21 is disposed can be limited .

The machining portion (30)

FIG. 9 is a perspective view showing a transfer unit 40 and a machining unit 30 of the apparatus for cutting a nozzle head under the reactor head 1 according to an embodiment of the present invention. 10 is a perspective view showing a z-axis conveying unit 41 and a machining unit 30 of the apparatus for cutting a nozzle head under the reactor head 1 according to an embodiment of the present invention.

The machining portion 30 is a component for machining a cutting edge VW adjacent to the nozzle of the under-reactor head LH. Therefore, the cutting tool T is engaged and the cutting tool T is contacted to the lower reactor head LH to rotate the cutting tool T.

The upper end of the processing portion 30 protrudes upward through the opening 14 formed in the upper surface of the apparatus body 10. A cutting tool T is coupled to the upper end of the machining portion 30. [ The lower nozzle head nozzle cutting processing apparatus 1 according to an embodiment of the present invention has a cutting tool T at the upper end thereof, Shaped machining portion 30 to which the workpiece W is attached. This is because the reactor lower head nozzle cutting processing apparatus 1 approaches from the lower side of the reactor lower head LH and therefore the cutting head VW can not be placed under the cutting tool T and machined.

The machining portion 30 may include a spindle 32 that rotates about one axis. The spindle 32 may rotate about a direction parallel to the z axis in one embodiment of the present invention. The spindle 32 extends to the upper end of the machining portion 30. [ Therefore, the cutting tool T coupled to the upper end of the machining portion 30 rotates about the z-axis in cooperation with the rotation of the spindle 32 to perform machining.

The machining portion 30 may include a machining portion driving member 33 for rotating the spindle 32. [ The machining portion driving member 33 transmits a rotational driving force to the spindle 32. The machining portion driving member 33 may be composed of a servo motor, but the type thereof is not limited thereto.

The machining portion 30 may include a machining portion bracket 34 to which the components of the machining portion 30 are coupled. The machining portion bracket 34 is engaged with the machining portion driving member 33 and the spindle 32 and the z axis block 414 and the z axis nut 412 of the z axis transfer portion 41 to be described later can be engaged . And the machining portion 30 and the z-axis conveying portion 41 are connected through the machining portion bracket 34. [

In addition to the cutting tool T, the machining unit 30 may be equipped with a touch probe. The touch probe can be mounted on the upper end 31 of the machining part and approach the nozzle by the elevating part 50 and confirm the center point of the nozzle by touching before the machining operation by the cutting tool T is performed . This is to identify the center point of the nozzle and determine the position of the cutting edge (VW). After the touch probe is separated from the upper end 31 of the machining portion 31, the cutting tool T is engaged with the upper end 31 of the machining portion to perform a cutting machining operation.

The transfer unit 40,

The transfer unit 40 is a component for determining the position of the processing unit 30 according to an embodiment of the present invention. The transfer unit 40 may include a z-axis transfer unit 41 coupled to the machining unit 30 and capable of moving the machining unit 30 along the z axis parallel to the vertical direction. The transfer unit 40 may include an x-axis transfer unit 42 coupled to the z-axis transfer unit 41 and capable of moving the z-axis transfer unit 41 along the x-axis, which is an axis perpendicular to the z-axis. The transfer unit 40 includes a y-axis transfer unit 43 coupled to the x-axis transfer unit 42 and the apparatus body 10 and capable of moving the x-axis transfer unit 42 along the y-axis perpendicular to the x- . ≪ / RTI > As described above, the reactor head nozzle cutting machine 1 according to the embodiment of the present invention includes the transfer portions 40 for each axis, so that the machining portion 30 can be moved in three axial directions.

The z-axis transfer unit 41 is a component that moves the machining unit 30 in a direction parallel to the z-axis, and is engaged with the machining unit 30. [ the z-axis screw portions 412 and 413 using the ball screw method can be used for the z-axis transfer portion 41 to linearly move the machining portion 30. [ The z-axis nut 412 included in the z-axis screw portions 412 and 413 is coupled to the machining portion 30 and the z-axis nut 412 is coupled to the z-axis screw portions 412 and 413 (Not shown). The z-axis screw shaft 413 extends in a direction parallel to the z-axis and rotates about the extended direction to move the z-axis nut 412 along the z-axis. Therefore, the machined portion 30 coupled to the z-axis nut 412 also moves along the z-axis. The z-axis screw portions 412 and 413 may further include a z-axis driving portion 411 that provides a driving force so that the z-axis screw shaft 413 can rotate. The z-axis driving unit 411 may be a servo motor, but its type is not limited thereto.

The z-axis feeder 41 may further include z-axis linear guides 414 and 415 for movably supporting the machining portion 30 so that the machining portion 30 can stably and linearly move along the z-axis. The z-axis linear guides 414 and 415 include a z-axis block 414 and a z-axis rail 415. The z-axis block 414 is a component that is coupled to the machining portion 30. The z-axis rail 415 is a component that couples the z-axis block 414 to move along the z-axis and extends in a direction parallel to the z-axis. The z-axis rail 415 supports the z-axis block 414 so as to stably and linearly move in the direction parallel to the z-axis. Consequently, the z-axis rail 415 supports the machining portion 30 so as to stably and linearly move in the direction parallel to the z-axis.

The z-axis feeder 41 may further include a z-axis case 416 to which the z-axis screw portions 412 and 413 and the z-axis linear guides 414 and 415 can be fixed. The z-axis case 416 is a component that becomes the skeleton of the z-axis feeder 41 and is fixed so that the z-axis rail 415 and the z-axis screw shaft 413 do not separate.

The x-axis feeder 42 is a component for moving the machining unit 30 in the direction parallel to the x-axis and is coupled with the z-axis feeder 41 to move the z-axis feeder 41 in a direction parallel to the x-axis . Since the z-axis transfer unit 41 is coupled to the machining unit 30, the machining unit 30 can be moved in the direction parallel to the x-axis by moving the z-axis transfer unit 41 in parallel with the x-axis.

the x-axis screw portions 422 and 423 using the ball screw method can be used for the x-axis feeder 42 to move the z-axis feeder 41 linearly. The x-axis nut 422 included in the x-axis screw portions 422 and 423 is coupled to the z-axis feed portion 41 and the x-axis nut 422 is coupled to the x-axis screw portions 422, Axis screw shaft 423 included in the x-axis screw shaft 423. The x-axis screw shaft 423 extends in a direction parallel to the x-axis and rotates about the extended direction to move the x-axis nut 422 along the x-axis. Therefore, the z-axis feeder 41 coupled to the x-axis nut 422 also moves along the x-axis. The x-axis screw portions 422 and 423 may further include an x-axis driving portion 421 that provides driving force for rotating the x-axis screw shaft 423. The x-axis driving unit 421 may be a servo motor, but the type thereof is not limited thereto.

To engage the x-axis nut 422 with the z-axis feed portion 41, a transfer plate may be used. The transfer plate is a component that is engaged with the z-axis case 416 of the z-axis transfer unit 41 and seats with the x-axis nut 422 at the same time. Accordingly, the movement of the x-axis nut 422 in the direction parallel to the x-axis can be transmitted to the z-axis transferring unit 40 and the machining unit 30.

The x-axis feeder 42 may further include an x-axis linear guide 424, 425 that movably supports the z-axis feeder 41 so that the z-axis feeder 41 can stably and linearly move along the x- have. The x-axis linear guides 424 and 425 include an x-axis block 424 and an x-axis rail 425. The x-axis block 424 is a component that is coupled to the z- The x-axis rail 425 is a component that is coupled so that the x-axis block 424 can move along the x-axis and extends in a direction parallel to the x-axis. The x-axis rail 425 supports the x-axis block 424 so as to stably and linearly move in the direction parallel to the x-axis. As a result, the x-axis rail 425 supports the z-axis feeder 41 so as to stably and linearly move in the direction parallel to the x-axis.

The x-axis transfer unit 42 may further include an x-axis support unit 426 to which the x-axis screw units 422 and 423 and the x-axis linear guides 424 and 425 can be fixed. The x-axis support portion 426 is a component that becomes the skeleton of the x-axis feed portion 42, and is fixed so that the x-axis rail 425 and the x-axis screw shaft 423 do not separate. The y-axis block 434 and the y-axis nut of the y-axis transfer unit 43, which will be described later, can be coupled to the x-axis support unit 426. The x-axis support portion 426 is provided with an x-axis support portion opening 428 which is opened vertically upward and downward, and two x-axis rails 425 are disposed on both sides of the x-axis support portion opening 428 , the z-axis transporting unit 41 and the machining unit 30 can move in the x-axis direction and the z-axis direction between the two rails.

The y-axis transferring unit 43 is a component for moving the machining unit 30 in the direction parallel to the x-axis and is coupled with the x-axis transferring unit 42 to move the x-axis transferring unit 42 in the direction parallel to the y-axis . The y-axis transfer unit 43 is coupled to the x-axis transfer unit 42, the x-axis transfer unit 42 is coupled to the z-axis transfer unit 41, and the z-axis transfer unit 41 is coupled to the machining unit 30 The machined portion 30 can be moved in the direction parallel to the y-axis by moving the x-axis transfer portion 42 in parallel with the y-axis.

A y-axis screw portion using a ball screw method may be used to move the x-axis transfer portion 42 linearly by the y-axis transfer portion 43. A y-axis nut (not shown) included in the y-axis screw part is coupled to the x-axis transfer part 42, and a y-axis nut is coupled to a y-axis screw shaft 433 included in the y- do. The y-axis screw shaft 433 extends in a direction parallel to the y-axis and rotates about the extended direction to move the y-axis nut along the y-axis. Therefore, the x-axis feeder 42 coupled to the y-axis nut also moves along the y-axis. The y-axis screw portion may further include a y-axis driving portion 431 that provides a driving force to rotate the y-axis screw shaft 433. The y-axis driving unit 431 may be a servo motor, but the type thereof is not limited thereto.

The y-axis feeder 43 may further include y-axis linear guides 434 and 435 that movably support the x-axis feeder 42 so that the x-axis feeder 42 can stably and linearly move along the y- have. The y-axis linear guides 434 and 435 include a y-axis block 434 and a y-axis rail 435. The y-axis block 434 is a component that is coupled to the x- The y-axis rail 435 is a component that is coupled to allow the y-axis block 434 to move along the y-axis and extends in a direction parallel to the y-axis. The y-axis rail 435 supports the y-axis block 434 so as to stably and linearly move in a direction parallel to the y-axis. As a result, the y-axis rails 435 support the x-axis transporting portion 42 so as to stably and linearly move in the direction parallel to the y-axis.

The y-axis rail 435 and the y-axis screw shaft 433 can be coupled to the inner surface of the device body 10. Whereby the entire transferring portion 40 is engaged with the apparatus body 10. [

The driving unit included in each axis conveying unit 40 and the screw shaft to which the driving force is transmitted may be directly connected or may be connected through a synchronous belt.

The elevating part (50)

Referring again to FIGS. 5 and 6, the apparatus for cutting a nozzle head for a sub-reactor head 1 according to an embodiment of the present invention may further include a lifting unit 50 for lifting and lowering the apparatus body 10. The elevating part 50 supports the apparatus body 10 from below and allows the apparatus body 10 to be positioned adjacent to the reactor lower head LH by vertically moving the apparatus body 10 upward and downward Element.

The elevating portion 50 includes a table 51 on which an apparatus body 10 is mounted on an upper surface, two links 53 and 54 rotatably coupled to the table 51, lower ends 532 and 542 of the link, And a liftable member that connects the base 52 and the table 51 and that can be expanded and contracted.

The table 51 is formed in a flat plate shape so that the apparatus body 10 can be seated on the upper surface and the upper ends 531 and 541 of two links can be rotatably connected to the lower surface. The upper end of at least one of the two links 53 and 54 may be rotatably connected to the table 51 and may be movably connected to the upper end of the other link. In an embodiment of the present invention, the upper end 541 of one link is movably connected to the upper end 531 of the other link.

The bottom portion 52 is a component located at the lowermost side of the apparatus for processing a head portion under the reactor head according to an embodiment of the present invention, and the lower ends 532 and 542 of the two links are rotatably connected to the upper surface . The lower end of at least one of the two links 53 and 54 may be rotatably connected to the base 52 and movably connected to the lower end of the other link. In one embodiment of the present invention, the lower end 542 of the one link is movably connected to the upper end 532 of the other link. For the linear movement of the lower ends 532, 542 of such a link, a base linear guide 55 may be formed in the base 52. The guide block of the base linear guide 55 is coupled to the movable lower end of the lower ends 532 and 542 of the link, thereby making it possible to more smoothly move in the linear direction.

The two links 53 and 54 may be composed of a plurality of link members. A plurality of link members are connected in a line, and the link members are rotatably connected to each other to form the respective links 53 and 54. Also, each of the links 53 and 54 may be arranged in a zigzag shape as shown. In the embodiment of the present invention, each of the links 53 and 54 is configured such that two link members are rotatably coupled to each other. In addition, the links 53 and 54 are arranged so as to form a zigzag shape in the opposite direction to each other. However, the arrangement is not limited thereto.

When the elevating member is extended, the lower end of at least one of the two links 53, 54 moves in a direction approaching the lower end of the other link, and at least one of the two links 53, Moves in the direction approaching the top of the other link. As the links 53 and 54 move, the links 53 and 54 that have been compressed in the zigzag form are unfolded in the z-axis direction. The distance between the table 51 connected to the upper ends 531 and 541 of the link and the base 52 connected to the lower end is increased and the apparatus body 10 seated on the table 51 is lifted up vertically. The device body 10 can be lifted in the same manner as this electric lift. The method of lowering the apparatus body 10 is reversed.

Hereinafter, a method of using the apparatus 1 for cutting a nozzle under head according to an embodiment of the present invention will be described with reference to FIGS. 5 and 11. FIG.

11 is a side view showing a state in which the grasping portion 20 and the reactor lower head LH of the apparatus for cutting the lower head of a reactor head 1 according to an embodiment of the present invention are grasped.

When the reactor lower head nozzle cutting apparatus 1 is positioned below the reactor lower head LH, the lift unit 50 is operated to place the apparatus main body in a position adjacent to the reactor head nozzle N.

As described above, the grip portion 20 extends vertically upward and is seated on the upper seating portion 11 and the lower seating portion 12. The length of the gripping arm 22 of the gripping portion 20 and the length of the ball link 23 inserted are adjusted so that each gripping portion 20 has a height corresponding to the outer surface of the reactor lower head LH do.

The holder 21 is coupled with the ball link 23 in a ball hinge type as described above and includes a magnetic chuck 26 capable of adjusting an arranged angle within a predetermined range, . Therefore, the angle of the upper surface 213 of the holder is adjusted so as to be in contact with the outer surface of the sub-reactor head LH, and the angle of the holder 21 is limited by using the angle fixing nut 25. Further, a screw is fastened to the chuck hole 2113 so that the angle of the magnetic chuck 26 and the position of the magnetic chuck 26 are adjusted so as to be in contact with the outer surface of the reactor lower head LH. Thereafter, the lever 261 of the magnetic chuck 26 is operated so that the magnetic chuck 26 is magnetized. The magnetic chuck 26 having magnetism grasps the outer surface of the under-reactor head LH by using magnetic force.

The grip portion 20 seated on the upper seating portion 11 and the grasp portion 20 seated on the lower seating portion 12 are formed so that the outer surface of the reactor lower head LH is curved, And the position of the outer side surface of the reactor lower head LH is held. The distance from the upper surface of the apparatus body 10 to the holder 21 of the grip portion 20 that is seated on the upper seating portion 11 and the distance from the upper surface of the apparatus body 10 to the lower seating portion 12 The distances to the holder 21 of the grip portion 20 are different from each other.

The touch probe is mounted on the upper end 31 of the machining part, the nozzle is approached by the elevating part 50, and the center point of the nozzle can be confirmed through the contact. Then, after the touch probe is separated from the upper end 31 of the machining portion 31, the cutting tool T is coupled to the upper end 31 of the machining portion.

The machining portion 30 and the transfer portion 40 are operated so that the cutting head of the nozzle head for cutting the lower nozzle head of the reactor 1 is grasping the outer surface of the lower head portion LH of the reactor, T) is brought into contact with the cutting edge (VW) adjacent to the nozzle to perform a cutting operation. The transfer unit 40 receives the control signal and moves the position of the machining unit 30 so that the cutting operation is performed.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. Furthermore, the terms "comprises", "comprising", or "having" described above mean that a component can be implanted unless otherwise specifically stated, But should be construed as including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

1: reactor head nozzle cutting processing device 10: device body
11: upper seating part 12: lower seating part
13: device side wall 14: opening
20: grip part 21: holder
22: grip arm 23: ball link
24: Link fixing nut 25: Angle fixing nut
26: magnetic chuck 30: machining part
31: upper part of machining part 32: spindle
33: machining part driving member 34: machining part bracket
40: feed section 41: z-axis feed section
42: x-axis feed part 43: y-axis feed part
50: elevating part 51: table
52: base portion 53, 54: link
55: Base linear guide 211: Holder branch
212: holder base portion 213: upper surface of the holder
231: ball head 232: extension part
261: Lever 262: Chuck coupling hole
411: z-axis driving unit 412: z-axis nut
413: z axis screw shaft 414: z axis block
415: z-axis rail 416: z-axis case
421: x-axis driving part 422: x-axis nut
423: x-axis screw shaft 424: x-axis block
425: x-axis rail 426: x-axis support
427: Transfer plate 428: x-axis support opening
431: y-axis driving part 433: y-axis screw shaft
434: y-axis block 435: y-axis rail
531, 541: top of link 532, 542: bottom of link
2111: Chuck seat part 2112: Seat part coupling hole
2113: chuck opening 2121: ball link engaging hole
H: Reactor head LH: Reactor bottom head
N: Lower nozzle head of the reactor T: Cutting tool
VW: Cutting Edge Study

Claims (13)

Device body;
A plurality of grippers extending vertically upward from the apparatus body and having a holder provided at an upper end thereof for contacting the lower head of the reactor to hold the lower head of the reactor so as to fix the apparatus body to the reactor lower head;
A machining portion protruding upward from the apparatus body and rotating about the protruding direction so as to process a cutting edge of a reactor head nozzle through a cutting tool coupled to the upper end; And
And a transfer unit coupled to the processing unit and configured to change a position at which the cutting head of the sub-reactor head nozzle penetrating the sub-reactor head is moved by the processing unit by moving the position of the processing unit,
Wherein the plurality of gripping portions include two gripping portions which are different in distance from each other to a vertical direction from the upper surface of the apparatus body so as to grasp the outer surface of the lower head of the reactor positioned at different heights,
Wherein the holder includes a plurality of holder branches radially extending about an upper end of the gripper. The method according to claim 1,
Wherein the holder comprises:
And a plurality of magnetic chucks capable of selecting the presence or absence of magnetism and grasping the lower head of the nuclear reactor using magnetic force when magnetic force is applied thereto. 3. The method of claim 2,
Wherein the holder further comprises a chuck seat part which may not be separated in one direction by seating the magnetic chuck,
The chuck seat part has a chuck hole through which the screw penetrates the side surface of the chuck seat part and the screw presses the magnetic chuck seated on the chuck seat part by tightening the screw so that the position of the magnetic chuck can be adjusted Of the head of a nozzle under the reactor. The method according to claim 1,
The gripping portion includes:
A gripping arm extending vertically upward from the apparatus body; And
And a ball link connecting the extension and the holder by having an elongated ball head to which the holder is rotatably coupled and an extension extending from the ball head and coupled to the gripping arm, Cutting device. 5. The method of claim 4,
Wherein the holder and the ball head are coupled to each other by a ball hinge structure so that the holder has a predetermined angle range that can rotate with respect to the ball head about a direction not parallel to the extending direction of the extending portion, Cutting device. 5. The method of claim 4,
Wherein the extension portion is constituted by a bolt, whereby the length of the extension portion coupled to the gripping arm can be changed. The method according to claim 1,
Wherein the holder has an upper surface in contact with the reactor lower head,
Wherein the upper surface of the holder is arranged in a direction not parallel to a direction in which the grip portion extends. delete The method according to claim 1,
The transfer unit
A z-axis transferring unit coupled to the machining unit and capable of moving the machining unit along a z axis parallel to the vertical direction;
An x-axis transferring portion coupled to the z-axis transferring portion and capable of moving the z-axis transferring portion along an x-axis that is a single axis perpendicular to the z-axis; And
And a y-axis transferring portion coupled to the x-axis transferring portion and the apparatus body and capable of moving the x-axis transferring portion along a y-axis perpendicular to the z-axis and the x-axis. 10. The method of claim 9,
The z-
A z-axis nut coupled to the machining portion and a z-axis nut coupled to the z-axis nut so as to move in the z-axis direction and extending in a direction parallel to the z-axis and rotating about an extended direction, A z-axis screw portion including a screw shaft; And
And a z-axis linear guide including a z-axis block coupled to the machining portion and a z-axis rail coupled to move along the z-axis and extending in a direction parallel to the z-axis,
The x-
And an x-axis nut coupled to the z-axis conveying unit, and the x-axis nut are coupled to move in the x-axis direction, extend in a direction parallel to the x-axis, An x-axis screw portion including an x-axis screw shaft for moving the screw; And
An x-axis block coupled to the z-axis transfer unit, and an x-axis linear guide coupled to the x-axis block for movement along the x-axis and including an x-axis rail extending in a direction parallel to the x-
The y-
A y-axis nut coupled to the x-axis transfer unit and the y-axis nut are coupled to move in the y-axis direction, extend in a direction parallel to the y-axis, and rotate about an extended direction, A y-axis screw portion including a y-axis screw shaft for moving the screw shaft; And
And a y-axis linear guide including a y-axis block coupled to the x-axis transfer unit and a y-axis rail coupled to move the y-axis block along the y-axis and extending in a direction parallel to the y- Nozzle cutting device. The method according to claim 1,
Further comprising a lift portion for supporting the apparatus body from below and capable of positioning the apparatus body adjacent to the reactor lower head by vertically lifting the apparatus body vertically. 12. The method of claim 11,
The elevating unit includes:
A table on which the apparatus body is seated;
Two links to which the top is rotatably coupled to the table;
A base portion to which the lower end of the link is rotatably coupled; And
A lifting member connecting the base and the table,
Wherein when the elevating member is extended, the lower end of at least one of the two links moves in a direction approaching the lower end of the other link, and the upper end of at least one of the two links is connected to the upper end So as to vertically lift the apparatus body that is seated on the table. The method according to claim 1,
Wherein the machining portion and the gripping portion,
And extends in the same direction as the direction in which the reactor lower head nozzle extends.

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