CN-121977792-A - Detection equipment and detection method for nuclear reactor control rod driving mechanism

CN121977792ACN 121977792 ACN121977792 ACN 121977792ACN-121977792-A

Abstract

The application discloses detection equipment and a detection method of a nuclear reactor control rod driving mechanism, wherein the detection equipment comprises a moving platform, an adjusting platform, a positioning module, a telescopic module, a detection module and a controller, wherein the adjusting platform is arranged on the moving platform, the positioning module and the telescopic module are arranged on the adjusting platform, the positioning module is used for detecting the position of the adjusting platform, the detection module is arranged on the upper part of the telescopic module, and the telescopic module is used for conveying the detection module upwards to enable the detection module to enter a claw hooking component in the nuclear reactor control rod driving mechanism so as to realize detection of the claw component. The detection equipment can replace manual work to enter a narrow space for detection, and solves the problems of obtaining detection data in an irradiation, narrow and no-irradiation environment.

Inventors

WANG GUOHE
JIN SIQI
WU FENGQI
WANG HUAGANG
DU JIA
YUAN YE
FANG YI

Assignees

中广核研究院有限公司
中广核工程有限公司

Dates

Publication Date: 20260505
Application Date: 20260120

Claims (14)

1. A nuclear reactor control rod drive mechanism detection apparatus comprising: a mobile platform (10); an adjustment platform (20) mounted on the mobile platform (10); the positioning module (30) is arranged on the adjusting platform (20), and the positioning module (30) is used for detecting and positioning the position of the detection equipment so that the adjusting platform (20) is positioned below the nuclear reactor control rod driving mechanism (2); a telescoping module (40), the telescoping module (40) being disposed on the adjustment platform (20); The detection module (50), the detection module (50) is in the one end that keeps away from adjustment platform (20) of flexible module (40), flexible module (40) are used for with detection module (50) are to the actuating mechanism direction transport so that detection module (50) enter into the claw subassembly department in nuclear reactor control rod actuating mechanism (2).
2. The nuclear reactor control rod drive mechanism detection apparatus of claim 1, wherein the mobile platform (10) comprises a chassis (11), the detection module (50) comprises a detection camera (51) and a cable reeling device (53), the detection apparatus comprises a controller (60), the controller (60) is disposed on the chassis (11), the controller (60) is used for connecting an external industrial personal computer and a power supply, and the controller (60) is electrically connected with the mobile drive assembly (12), the positioning module (30), the telescopic module (40), the detection camera (51) and the cable reeling device (53), respectively.
3. The nuclear reactor control rod drive mechanism detection apparatus of claim 1 wherein the adjustment platform (20) comprises an X-axis adjustment mechanism (22), a Y-axis adjustment mechanism (23) and a mounting plate (24), the positioning module (30) and the telescoping module (40) being disposed on the mounting plate (24), the X-axis adjustment mechanism (22) being configured to control movement of the mounting plate (24) in the X-axis direction, the Y-axis adjustment mechanism (23) being configured to control movement of the mounting plate (24) in the Y-axis direction.
4. A nuclear reactor control rod drive mechanism detection apparatus as claimed in claim 1, wherein the mobile platform (10) comprises a chassis (11) and a mobile drive assembly (12) provided below the chassis (11), the mobile drive assembly (12) comprising a plurality of independently moving sets of drive wheels and corresponding drive motors which drive the drive wheels to drive the mobile platform (10) to move.
5. A nuclear reactor control rod drive mechanism detection apparatus as in claim 1, wherein the positioning module (30) comprises a laser scanner (31) for coarse positioning and a visual positioning device (32) for fine positioning.
6. A nuclear reactor control rod drive mechanism detection apparatus as claimed in claim 3, wherein said telescopic module (40) comprises a turning device (41), a telescopic device (42) and a lifting device (43) combined in sequence from said mobile platform (10) towards the drive mechanism; the turnover device (41) is rotatably arranged on the mounting plate (24), and the turnover device (41) is used for realizing 90-degree turnover of the whole telescopic module (40) from horizontal placement to vertical placement; The telescopic device (42) comprises a telescopic motor (421) and a screw rod assembly driven by the telescopic motor (421), the telescopic motor (421) is connected with the controller (60), the lifting device (43) is arranged on the screw rod assembly, and the screw rod assembly drives the lifting device (43) to integrally ascend or descend when in action; Lifting device (43) are including guiding motor (431), leading wheel (432) and stand pipe (433), guiding motor (431) are connected controller (60), leading wheel (432) are provided with two, two leading wheel (432) centre gripping stand pipe (433), detection module (50) set up on stand pipe (433), work as guiding motor (431) move the time drive two leading wheel (432) rotate and promote stand pipe (433) with detection module (50) upwards promote.
7. A nuclear reactor control rod drive mechanism detection apparatus as claimed in claim 6, wherein said lifting means (43) is provided with resilient adaptive means (434).
8. The detecting device for a driving mechanism of a control rod of a nuclear reactor according to claim 6 or 7, wherein the telescopic device (42) comprises a limit switch (422), the limit switch (422) is arranged at the top of the lifting device (43), the limit switch (422) is connected with the controller (60), and when the telescopic device (42) drives the lifting device (43) to lift, the controller (60) controls the telescopic motor (421) to stop operating after the limit switch (422) touches the driving mechanism of the control rod of the nuclear reactor.
9. A nuclear reactor control rod drive mechanism detection apparatus as claimed in claim 1, wherein the detection module (50) comprises a detection camera (51), a cable (52) and a cable reeling device (53), the cable reeling device (53) being arranged on the mobile platform (10), the cable (52) being connected below the detection camera (51), at least part of the cable (52) being reeled on the cable reeling device (53).
10. The nuclear reactor control rod drive mechanism inspection apparatus of claim 9 wherein said inspection camera (51) includes a rotatably disposed camera and a camera light source, and an angle adjustment motor for driving rotation of said camera and said camera light source.
11. A method of detecting a nuclear reactor control rod drive mechanism, comprising a nuclear reactor control rod drive mechanism detection apparatus according to any one of claims 1 to 10, the method comprising the steps of: S10, driving the detection equipment (1) to move through a moving platform (10) by the detection equipment (1) so as to move the detection equipment (1) from a nuclear reactor base (4) opening position to the inside of the nuclear reactor base (4); s20, after the detection equipment (1) enters the nuclear reactor base (4), a positioning module (30) performs coarse positioning firstly, and controls the detection equipment (1) to move to the position below the nuclear reactor control rod driving mechanism (2) through the moving platform (10); s30, performing fine positioning verification by a positioning module (30), and if position deviation exists, regulating and controlling the adjusting platform (20) to perform position deviation compensation on the adjusting platform (20), so that the adjusting platform (20) is accurately positioned below the nuclear reactor control rod driving mechanism (2); S40, lifting a telescopic module (40) on the adjusting platform (20) to convey a detection module (50) on the telescopic module (40) to a claw assembly in the nuclear reactor control rod driving mechanism (2); S50, repeating the steps S20 to S40, and detecting the claw assembly in each nuclear reactor control rod driving mechanism (2) until all the nuclear reactor control rod driving mechanisms (2) are inspected.
12. The method for detecting a driving mechanism of a nuclear reactor control rod according to claim 11, wherein the positioning module (30) comprises a laser scanner (31), and the step S20 is to perform laser scanning positioning on a positioning plate in the nuclear reactor base (4) by the laser scanner (31) to obtain coordinates of the positioning plate under the coordinate system of the detection device (1) and obtain a correspondence between the coordinate system of the detection device (1) and the coordinate system of the nuclear reactor base (4), thereby obtaining coordinates of each nuclear reactor control rod driving mechanism (2) under the coordinate system of the detection device (1) and realizing coarse positioning of the detection device (1).
13. The method of detecting a nuclear reactor control rod drive mechanism of claim 12 wherein the positioning module (30) includes a visual positioning device (32); In S30, after the detection device (1) moves below the nuclear reactor control rod driving mechanism (2), the visual positioning device (32) performs visual positioning verification, if there is a position deviation, the position deviation compensation is performed, and then secondary visual positioning verification is performed through the visual positioning device (32).
14. A method for detecting a driving mechanism of a control rod of a nuclear reactor according to claim 13, characterized in that in S30, if the position deviation exceeds the compensation range of the adjustment platform (20), the laser scanning positioning of the detection device (1) is resumed until the compensation range of the adjustment platform (20) is satisfied.

Description

Detection equipment and detection method for nuclear reactor control rod driving mechanism Technical Field The application relates to the field of nuclear reactor equipment detection, in particular to detection equipment and detection method of a nuclear reactor control rod driving mechanism. Background Under the long-term operation of the nuclear power station, the claw component in the nuclear reactor control rod driving mechanism is influenced by high-energy gamma rays and various high-energy particle bombardment, and the mechanical structure and materials of the claw component change, so that the claw component is corroded and worn, and the operation safety of the nuclear power station is influenced. At present, the state of the control rod driving mechanism is indirectly judged only by measuring the rod falling time and manually monitoring the sound of the rod falling stroke at home and abroad, and an advanced and reliable detection means for the abrasion loss of the hook component is lacked. Disclosure of Invention In order to solve one of the technical problems in the prior art, the application provides a detection device of a nuclear reactor control rod driving mechanism and a detection method of the nuclear reactor control rod driving mechanism based on the detection device. A nuclear reactor control rod drive mechanism detection apparatus according to a first aspect of the present application includes a mobile platform; the adjusting platform is arranged on the mobile platform; the positioning module is arranged on the adjusting platform and is used for detecting and positioning the position of the detection equipment so that the adjusting platform is positioned below the nuclear reactor control rod driving mechanism; The telescopic module is arranged on the adjusting platform; The detection module is arranged at one end, far away from the adjusting platform, of the telescopic module, and the telescopic module is used for conveying the detection module to the direction of the driving mechanism so that the detection module enters the claw component in the driving mechanism of the nuclear reactor control rod. According to the detection equipment of the nuclear reactor control rod driving mechanism provided by the first aspect of the application, the mobile platform comprises a chassis, the detection module comprises a detection camera and a cable reeling device, the detection equipment comprises a controller, the controller is arranged on the chassis and is used for being connected with an external industrial personal computer and a power supply, and the controller is respectively and electrically connected with the mobile driving assembly, the positioning module, the telescopic module, the detection camera and the cable reeling device. According to the detection equipment of the nuclear reactor control rod driving mechanism provided by the first aspect of the application, the adjusting platform comprises an X-axis adjusting mechanism, a Y-axis adjusting mechanism and a mounting disc, the positioning module and the telescopic module are arranged on the mounting disc, the X-axis adjusting mechanism is used for controlling the mounting disc to move in the X-axis direction, and the Y-axis adjusting mechanism is used for controlling the mounting disc to move in the Y-axis direction. According to the detection equipment of the nuclear reactor control rod driving mechanism provided by the first aspect of the application, the mobile platform comprises a chassis and a mobile driving assembly arranged at the lower part of the chassis, the mobile driving assembly comprises a plurality of sets of driving wheels which move independently and corresponding driving motors, and the driving motors drive the driving wheels so as to drive the mobile platform to move. According to a first aspect of the application, there is provided a detection apparatus for a nuclear reactor control rod drive mechanism, the positioning module comprising a laser scanner for coarse positioning and a visual positioning device for fine positioning. According to the detection equipment of the nuclear reactor control rod driving mechanism provided by the first aspect of the application, the telescopic module comprises a turnover device, a telescopic device and a lifting device which are sequentially combined from bottom to top; The turnover device is rotatably arranged on the mounting plate and is used for realizing 90-degree turnover of the whole telescopic module from horizontal placement to vertical placement; the telescopic device comprises a telescopic motor and a screw rod assembly driven by the telescopic motor, the telescopic motor is connected with the controller, the lifting device is arranged on the screw rod assembly, and the screw rod assembly drives the lifting device to integrally ascend or descend when in action; The lifting device comprises a guide motor, guide wheels and guide pipes, wherein the guide motor is connected wi