CN-116877865-B - Heat exchanger heat transfer tube hole positioning method based on polar coordinate positioning

CN116877865BCN 116877865 BCN116877865 BCN 116877865BCN-116877865-B

Abstract

The invention discloses a heat transfer tube hole positioning method of a heat exchanger based on polar coordinate positioning, which comprises the steps of S1, mounting a mechanical arm on a flange surface of the heat exchanger, moving a turntable assembly to a tube plate, S2, adjusting and correcting each shaft of a multi-shaft mechanical arm to enable the mechanical arm to recover to a default initial state, S3, selecting a preset positioning reference hole site in the initial state of the mechanical arm, S4, adjusting the cross sight to the center of a reference hole by utilizing a cross sight at the front end of a mechanical arm probe to manually calibrate, S5, calculating the relation between a target hole and the reference hole through the calibrated reference hole, and relatively positioning the target hole. The invention avoids the complicated work of modifying the hardware equipment in an algorithm calculation mode, and can reduce the complexity of operation when the system maintenance and modification are performed because the hardware is not changed.

Inventors

WANG LIBO
FANG ZHIHONG
ZHANG YIN
HE XIPENG
ZHAO YANG
WU BAOWEI
SU RUN

Assignees

华能集团技术创新中心有限公司
西安热工研究院有限公司

Dates

Publication Date: 20260512
Application Date: 20230217

Claims (1)

1. The heat exchanger heat transfer tube hole positioning method based on polar coordinate positioning is characterized by comprising the following steps of: S1, a mechanical arm is arranged on a flange surface of a heat exchanger and moves a turntable assembly to a tube plate, after equipment is fixed on a nozzle flange surface of a steam generator, a rotating shaft of the turntable assembly is adjusted to 180 degrees, a displacement shaft is adjusted to 150mm, the equipment is positioned at a theoretical center position, and a sliding rail assembly is moved to the tube plate, wherein the tube plate has 665 heat transfer tube holes, the numbering rule is that the first row is 0 rows, the first column at the leftmost side is 26 columns, the rightmost side is +26 columns, and the column where a middle symmetrical shaft is positioned is 0 columns; s2, adjusting and correcting each shaft of the multi-shaft mechanical arm to enable the mechanical arm to recover to a default initial state, adjusting each shaft scale of the mechanical arm to an initial scale position, and carrying out initialization adjustment on each shaft through a video at the front end of the mechanical arm to enable each shaft to recover to an equipment default state; S3, selecting preset positioning reference holes in an initial state of the mechanical arm, wherein the selected reference holes are preferably uniformly distributed on the tube plate, and the reference holes are representative to other tube holes; S4, adjusting the cross sight to the center of the reference hole by utilizing the cross sight at the front end of the mechanical arm probe to perform manual calibration, performing manual calibration by utilizing the infrared cross sight carried by the front end probe when calibrating the reference hole, moving the cross sight to the center of the reference hole and performing calibration to obtain the real position of the reference hole, calculating the relative position relation between the target hole and the adjacent reference hole in a polar coordinate mode, and performing position calculation by utilizing the position relation to finally obtain the real position of the target hole; s5, calculating the relation between the target hole and the reference hole through the calibrated reference hole, and relatively positioning the target hole.

Description

Heat exchanger heat transfer tube hole positioning method based on polar coordinate positioning Technical Field The invention relates to the technical field of overhaul of heat exchangers of nuclear power plants, in particular to a heat exchanger heat transfer tube hole positioning method based on polar coordinate positioning. Background The steam generator is one of key equipment in the nuclear power system of the high-temperature gas cooled reactor, and is used for connecting and isolating the primary loop and the secondary loop of the high-temperature gas cooled reactor. In a vapor generator, the heat transfer tubes are an important component of the pressure boundary of the circuit and are an important barrier to the escape of radioactive fission products. The heat exchanger heat transfer tube plate is in a circular plate shape, and tube holes for the heat transfer tubes are distributed on the tube plate. The outside of the tube of the steam generator of the high-temperature gas cooled reactor in operation is filled with helium gas of a loop coolant with extremely high temperature, and superheated steam passes through the inside of the tube. Heat transfer tubes that operate for long periods of time at high temperatures and pressures and in high radiation dosage medium flushing environments can be damaged by mechanical or chemical reasons. Due to the high temperature, high radiation level and severe working conditions in the tube box of the steam generator, the detection of the tube plate by adopting manual approach leads to a large risk of radioactive contamination of personnel. Therefore, the heat transfer tube is mechanically overhauled. The maintenance is carried out in a mechanical mode, the sliding rail is fixed into the nozzle of the steam generator through the mounting bottom plate or other mechanical modes, the front end of the sliding rail rotates by one circle through the turntable assembly, and the maintenance device is carried on the turntable and can move in the radius range. And carrying out positioning maintenance by carrying a related maintenance probe in front of the turntable. When the heat transfer device is operated, the sliding rail extends into the front of the tube plate, the tube plate is in a round cake shape at the tail end of the evaporator, the polar coordinate is established to fully cover and position the tube plate of the heat transfer tube by utilizing the rotation characteristic of the turntable at the front end of the sliding rail, and the coordinates of all the heat transfer tubes on the tube plate are preset by utilizing the polar coordinates established by the turntable, so that the designated polar coordinates are reached by the rotation and the movement of the turntable. The sliding rail needs to extend forwards for a certain distance, the turntable and the overhauling probe have weight, and the real polar coordinate and the preset polar coordinate are slightly offset due to the fact that the sliding rail and the turntable are installed at the positions, so that the original preset polar coordinate cannot find the heat transfer pipe ideally. Disclosure of Invention In order to solve the problem of inaccurate positioning of the heat transfer tube, the invention provides a heat transfer tube hole positioning method of a heat exchanger based on polar coordinate positioning. The invention is realized by adopting the following technical scheme: a heat exchanger heat transfer tube hole positioning method based on polar coordinate positioning comprises the following steps: s1, a mechanical arm is mounted on a flange surface of a heat exchanger, and a turntable assembly is moved to a tube plate; s2, adjusting and correcting each shaft of the multi-shaft mechanical arm to enable the mechanical arm to be restored to a default initial state; S3, selecting a preset positioning reference hole site in the initial state of the mechanical arm; S4, adjusting the cross sight to the center of the reference hole by utilizing the cross sight at the front end of the mechanical arm probe to perform manual calibration; s5, calculating the relation between the target hole and the reference hole through the calibrated reference hole, and relatively positioning the target hole. In the step S1, after the equipment is fixed on the flange surface of the nozzle of the steam generator, the rotating shaft of the turntable assembly is adjusted to 180 degrees, the displacement shaft is adjusted to 150mm, the equipment is positioned at the theoretical center, and the sliding rail assembly is moved to the tube plate. In the step S1, the tube plates have 665 heat transfer tube holes, the numbering rule is that the first row is 0 rows, the leftmost first column is-26 columns, the rightmost column is +26 columns, and the column where the middle symmetry axis is 0 columns. In step S2, the scales of each shaft of the mechanical arm are adjusted to the initial scale positions, and each shaft is initialized a