CN112378990A - Spent fuel pool bottom plate underwater detection and repair device and use method - Google Patents
Spent fuel pool bottom plate underwater detection and repair device and use method Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 230000008439 repair process Effects 0.000 title claims abstract description 30
- 239000002915 spent fuel radioactive waste Substances 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000003466 welding Methods 0.000 claims abstract description 68
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- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000498 cooling water Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 5
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 14
- 239000007789 gas Substances 0.000 description 7
- 238000001816 cooling Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 229910052786 argon Inorganic materials 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005187 foaming Methods 0.000 description 1
- 239000001307 helium Substances 0.000 description 1
- 229910052734 helium Inorganic materials 0.000 description 1
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000001819 mass spectrum Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
- B23K26/703—Cooling arrangements
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/02—Details of handling arrangements
- G21C19/06—Magazines for holding fuel elements or control elements
- G21C19/07—Storage racks; Storage pools
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses an underwater detection and repair device for a bottom plate of a spent fuel pool and a using method thereof, and the device comprises a rack (7), wherein a laser welding device (8) and an ACFM array probe (13) are arranged in the rack (7), and a Z-axis executing mechanism (10) moving in the vertical direction is provided for the ACFM array probe (13) and the laser welding device (8); a vertical distance sensor (6) and an image pickup device (12) are arranged at the lower part of the Z-axis actuating mechanism (10); the Z-axis actuating mechanism (10) drives the ACFM array probe (13) or the laser welding device (8) to move in the vertical direction under the driving of the Z-axis driving motor (16) through signals of the vertical distance sensor (6). The invention has simple structure and convenient operation, and reduces the environmental requirements on detection and restoration; the short-distance contact of workers with a high-irradiation environment is avoided, and the human body injury is reduced.
Description
Technical Field
The invention belongs to the technical field of underwater weld crack detection and repair, and particularly relates to an underwater weld crack detection and repair integrated device for a bottom plate of a spent fuel pool of a nuclear power plant.
Background
The spent fuel pool is a main facility for temporarily storing nuclear waste (spent fuel) in a nuclear power plant, is a large-scale metal structure mainly made of stainless steel materials, and adopts a large amount of welding technology in the manufacturing and installation processes. The welding seams are always in a water-carrying and high-radiation environment in the whole operation period of the nuclear power plant, local corrosion, damage and damage are easy to occur, and how to timely and accurately position cracks on the welding seams and repair the cracks to prevent water with radiation dose from leaking out is a key focus of attention in the special maintenance field of the nuclear power plant.
At present, domestic power plants mainly adopt a water tank to drain water, and manually weld after weld leakage detection is carried out by methods such as liquid permeation, vacuum foaming, helium mass spectrum leakage detection and the like. Because the spent fuel pond is in high radioactivity region, the welding seam that maintenance person directly is close the pond bottom can receive higher radiation, and some nuclear power plants do not have the condition with spent fuel pond evacuation, consequently use remote control equipment to replace the manual work to carry out welding seam crack detection under water and repair bottom the pond and have stronger real demand and meaning.
Disclosure of Invention
The invention relates to an integrated device for detecting and repairing cracks of an underwater weld joint of a bottom plate of a spent fuel pool.
In order to solve the technical problems, the invention adopts the technical scheme that: an underwater detection and repair device for a bottom plate of a spent fuel pool is controlled by a control console (1) and comprises a rack (7), wherein a laser welding device (8) and an ACFM array probe (13) are arranged in the rack (7), and a Z-axis executing mechanism (10) moving in the vertical direction is provided for the ACFM array probe (13) and the laser welding device (8); an X-axis actuating mechanism (17) for providing X-axis direction movement for the Z-axis actuating mechanism (10), and a Y-axis actuating mechanism (9) for providing Y-axis direction movement for the Z-axis actuating mechanism (10); the ACFM array probe (13) and the laser welding device (8) are respectively fixed on two sides of the Z-axis actuating mechanism (10) in a mode of opposite working directions; an X-axis driving motor (4) for providing power for the X-axis executing mechanism (17), a Y-axis driving motor (14) for providing power for the Y-axis executing mechanism (9), and a Z-axis driving motor (16) for providing power for the Z-axis executing mechanism (10); a probe rotation driving motor (11) which drives the ACFM array probe (13) to rotate circumferentially; the Z-axis rotating motor (15) is fixed on the Z-axis executing mechanism (10) and drives the Z-axis executing mechanism (10) to execute rotating action; a movable wheel (5) with a remote control brake function is arranged at the bottom of the frame (7); a vertical distance sensor (6) and an image pickup device (12) are arranged at the lower part of the Z-axis actuating mechanism (10); the Z-axis actuating mechanism (10) drives the ACFM array probe (13) or the laser welding device (8) to move in the vertical direction under the driving of the Z-axis driving motor (16) through signals of the vertical distance sensor (6).
Preferably, the camera device (12) is 2 underwater LED illuminating lamps of an irradiation-resistant underwater camera, and the camera device (12) is connected with the console (1).
Preferably, the ACFM array probe (13) is 10cm long and 2cm wide, and the ACFM array probe (13) measures the array probe of the weld crack through an alternating magnetic field.
Preferably, the laser welding device (8) integrates a laser head, a wire feeder, a water drainage gas hood and a cooling water loop, and can perform laser welding repair on detected weld cracks. (connection means is unclear)
Preferably, the X-axis actuating mechanism (17) and the Y-axis actuating mechanism (9) are respectively provided with a displacement sensor, a slide rail and a slide block; the sliding block slides on the sliding rail through the displacement sensor to form displacement.
Preferably, the Z-axis actuating mechanism (10) comprises a rack transmission mechanism, a sliding rail and a sliding block; the sliding block slides on the sliding rail through the rack transmission mechanism to form displacement.
Preferably, the Z-axis rotating motor (15) can drive the Z-axis actuating mechanism (10) to rotate for 180 degrees.
Preferably, the console (1) provides a man-machine interface for comprehensive control of laser-cooling-air feeding-motion, a data storage function and functions of processing, storing, automatic weld joint identification, detection and repair path planning of camera video signals and pictures.
Preferably, the console (1) comprises two display screens, one display screen is used for receiving sensor data of the rack (7) and touch screen control of each actuating mechanism and each driving motor, the welding device (8), the ACFM array probe (13) and the moving wheel (5) to execute actions, and the other display screen is communicated with the camera device (12) and used for displaying underwater real-time video pictures.
The invention also provides a using method of the spent fuel pool bottom plate underwater detection and repair device, which comprises the spent fuel pool bottom plate underwater detection and repair device,
the detection method comprises the following steps:
1) the rack (7) is placed at the bottom of the pool, the rack (7) is moved to a welding line to be detected at a low speed by the moving wheel (5) at the bottom, and the whole welding line is positioned below the rack (7);
2) the control console (1) controls the moving wheels (5) to brake, so that the rack (7) is kept stable;
3) the camera device (12) takes the frame (7) as a coordinate system to establish X/Y axis coordinates after shooting the steel plate at the bottom of the pool, converts a welding seam image into the X/Y axis coordinates through image recognition, and forms a planned scanning track of the ACFM array probe (13);
4) the X-axis driving motor (4) drives the X-axis executing mechanism (17), the Y-axis driving motor (14) drives the Y-axis executing mechanism (9) to move the Z-axis executing mechanism (10) to the starting point of the planned scanning track;
5) the Z-axis driving motor (16) drives the Z-axis actuating mechanism (10) to drive the ACFM array probe (13) to move downwards in the vertical direction to keep a proper distance from the welding line through the feedback of the vertical distance sensor (6);
6) the probe rotation driving motor (11) drives the ACFM array probe (13) to rotate, so that the probe is perpendicular to the welding line;
7) the X-axis actuating mechanism (17) and the Y-axis actuating mechanism (9) are matched to drive the ACFM array probe (13) to scan and detect a welding seam according to a planned running track;
8) after the scanning detection is finished, the ACFM array probe (13) is lifted, and the Z-axis actuating mechanism (10) returns to the central position of the rack (7);
the repairing method comprises the following steps:
1) the control console (1) analyzes the weld state according to the scanning detection result, determines the relative coordinate position of the crack and generates a planned repair track;
2) the Z-axis rotating motor (15) drives the Z-axis actuating mechanism (10) to rotate 180 degrees by taking the X-axis direction as an axis, and the laser welding device (8) is rotated to the lower part;
3) the X-axis driving motor (4) drives the X-axis executing mechanism (17), the Y-axis driving motor (14) drives the Y-axis executing mechanism (9), and meanwhile, the Z-axis executing mechanism (10) is moved to the starting point of the planned restoration track;
4) the Z-axis driving motor (16) drives the Z-axis actuating mechanism (10) to drive the laser welding device (8) to move downwards to a proper position in the vertical direction under the feedback of a vertical distance sensor arranged in the laser welding device (8);
5) the laser welding device (8) performs laser welding on the cracks;
6) after welding, the laser welding device (8) is lifted, and the Z-axis actuating mechanism (10) returns to the central position of the rack (7).
Compared with the traditional detection and repair device, the invention has the following advantages:
1) the integrated device for underwater detection and repair of the bottom plate of the spent fuel pool is simple in structure and convenient to operate.
2) The device can be completely immersed in water, does not need to drain water from a water tank, and reduces the environmental requirements on detection and restoration.
3) The device can be controlled by a manual remote control to work, so that the workers are prevented from being in close contact with a high-irradiation environment, and the human body injury is reduced.
4) The device adopts an ACFM array probe based on an alternating magnetic field measurement method to detect the weld cracks, and the scheme has no damage to the detection site and no material consumption and waste generation.
5) The device can switch the detection part into the repair part after detecting the crack, automatically generate a repair track, repair the crack by using the laser welding device, complete detection and repair at one time and greatly save the working time.
Drawings
FIG. 1 is a schematic view of an underwater weld crack detection device for a spent fuel pool;
FIG. 2 is a front view of an underwater weld crack detection device for a spent fuel pool;
FIG. 3 is a top view of an underwater weld crack detection device for a spent fuel pool;
FIG. 1-Console; 2-a laser; 3-a water cooling tank; 4-X axis drive motor; 5-moving wheel with brake function; 6-vertical distance sensor; 7-a frame; 8-laser welding device integrating a drainage gas hood, a laser head, a wire feeder and the like; 9-Y axis actuator; a 10-Z axis actuator; 11-probe rotation driving motor; 12-a camera device; 13-ACFM array probe; 14-Y axis drive motors; 15-Z axis rotating machine; a 16-Z axis drive motor; 17-X axis actuator.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The device for detecting the cracks of the underwater weld joints of the spent fuel pool comprises a control console 1, a rack 7, a laser welding device 8 and an ACFM array probe 13 which are arranged in the rack 7, and a Z-axis executing mechanism 10 which moves in the vertical direction and is used for providing the ACFM array probe 13 and the laser welding device 8; an X-axis actuator 17 for providing X-axis direction movement for the Z-axis actuator 10, and a Y-axis actuator 9 for providing Y-axis direction movement for the Z-axis actuator 10; the ACFM array probe 13 and the laser welding device 8 are respectively fixed on two sides of the Z-axis actuator 10 in a mode of opposite working directions; an X-axis driving motor 4 for providing power for the X-axis actuating mechanism 17, a Y-axis driving motor 14 for providing power for the Y-axis actuating mechanism 9, and a Z-axis driving motor 16 for providing power for the Z-axis actuating mechanism 10; a probe rotation driving motor 11 for driving the ACFM array probe 13 to rotate circumferentially; the Z-axis rotating motor 15 is fixed on the Z-axis executing mechanism 10 and drives the Z-axis executing mechanism 10 to execute rotating action; a movable wheel 5 with a remote control brake function is arranged at the bottom of the frame 7; a vertical distance sensor 6 and an image pickup device 12 are arranged at the lower part of the Z-axis actuating mechanism 10; the Z-axis actuator 10 drives the ACFM array probe 13 or the laser welding device 8 to move in the vertical direction under the driving of the Z-axis driving motor 16 according to the signal of the vertical distance sensor 6.
The specific application mode of the device for detecting and repairing the underwater weld cracks of the spent fuel pool comprises the following steps:
1. the control cabinet 1, the laser 2 and the water cooling tank 3 are placed on the bank side of the spent fuel pool, and are connected with the rack through cables, the rack 7 is hung into water by a factory building crane (in an initialization stage, the Z-axis actuating mechanism 10 is located at the center of the rack, the ACFM array probe 13 is located at the lower part of the rack, the laser welding device 8 is located at the upper part of the rack), the rack is placed at the bottom of the pool, the crane drives the rack 7 to move to a welding line needing to be detected at a low speed by means of a moving wheel 5 at the bottom of the rack through a rope, and the welding line is.
2. After the frame 7 is stopped stably, the control console 1 controls the brake part of the moving wheel 5 to execute the function, so that the frame 7 is kept stable.
3. The camera 12 takes the bottom steel plate of the pool as a coordinate system to establish X/Y axis coordinates after shooting, converts the welding seam image into the X/Y axis coordinates through image recognition, and forms a planned scanning track of the ACFM array probe 13.
And 4, driving an X-axis actuating mechanism 17 and a Y-axis actuating mechanism 9 to move by an X-axis driving motor 4 and a Y-axis driving motor 14 so as to move the Z-axis actuating mechanism 10 to the starting point of the planned scanning track.
And 5, driving the Z-axis actuating mechanism 10 by the Z-axis driving motor 16 under the feedback of the vertical distance sensor 6 to drive the ACFM array probe 13 to move downwards in the vertical direction to keep a proper distance from the welding seam.
6. The probe rotation driving motor 11 drives the ACFM array probe 13 to rotate, so that the probe is perpendicular to the welding seam.
And 7, driving the ACFM array probe 13 to scan the welding seam according to the planned running track by the X-axis actuator 17 and the Y-axis actuator 9.
8. After the scanning is finished, the ACFM array probe 13 is lifted, and the Z-axis actuator 10 is reset to the initial state, namely the Z-axis actuator 10 returns to the central position of the rack 7.
9. And the console 1 analyzes the state of the weld joint according to the scanning result, determines the relative coordinate position of the crack if the crack exists, and generates a planned repair track.
And 10, a Z-axis rotating motor 15 drives a Z-axis actuating mechanism 10 to rotate 180 degrees by taking the X-axis direction as an axis, the ACFM array probe 13 is rotated to the upper part, and the laser welding device 8 is rotated to the lower part so as to convert the detection function of the equipment into the repair function.
And 11, driving an X-axis actuating mechanism 17 and a Y-axis actuating mechanism 9 to move by an X-axis driving motor 4 and a Y-axis driving motor 14 so as to move the Z-axis actuating mechanism 10 to the starting point of the planned restoration track.
And 12, a Z-axis driving motor 16 drives a Z-axis actuating mechanism 10 to drive the laser welding device 8 to move downwards to a proper position in the vertical direction under the feedback of a vertical distance sensor arranged in the laser welding device 8, and at the moment, the bottom of the drainage gas hood is contacted with the bottom plate of the water pool.
13. The gas feed pipe built in the laser welding device 8 fills high-pressure cooling argon gas into the water discharge gas hood, and a local dry-type working space is formed in the water discharge gas hood. The laser head then laser welds the crack with the aid of a wire feeder and a cooling water circuit.
14. After the scanning is completed, the laser welding apparatus 8 is lifted, and the Z-axis actuator 10 is reset to the initial state.
And 15, the Z-axis driving mechanism 17 rotates again, the ACFM array probe is switched to the lower position, the function of the equipment is switched to the detection state, and the equipment detects the whole welding seam again according to the detection track.
16. And after the welding seam is detected again and no crack is found, the Z-axis actuating mechanism 10 is reset to the initial state, the brake part of the movable wheel 5 is retracted, and the crane drives the rack to move to the next position to be detected/repaired.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations. The foregoing examples or embodiments are merely illustrative of the present invention, which may be embodied in other specific forms or in other specific forms without departing from the spirit or essential characteristics thereof. The described embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. The scope of the invention should be indicated by the appended claims, and any changes that are equivalent to the intent and scope of the claims should be construed to be included therein.
Claims (10)
1. The underwater detection and repair device for the bottom plate of the spent fuel pool is characterized by being controlled by a control console (1) and comprising a rack (7), wherein a laser welding device (8) and an ACFM array probe (13) are arranged in the rack (7), and a Z-axis executing mechanism (10) moving in the vertical direction is provided for the ACFM array probe (13) and the laser welding device (8); an X-axis actuating mechanism (17) for providing X-axis direction movement for the Z-axis actuating mechanism (10), and a Y-axis actuating mechanism (9) for providing Y-axis direction movement for the Z-axis actuating mechanism (10); the ACFM array probe (13) and the laser welding device (8) are respectively fixed on two sides of the Z-axis actuating mechanism (10) in a mode of opposite working directions; an X-axis driving motor (4) for providing power for the X-axis executing mechanism (17), a Y-axis driving motor (14) for providing power for the Y-axis executing mechanism (9), and a Z-axis driving motor (16) for providing power for the Z-axis executing mechanism (10); a probe rotation driving motor (11) which drives the ACFM array probe (13) to rotate circumferentially; the Z-axis rotating motor (15) is fixed on the Z-axis executing mechanism (10) and drives the Z-axis executing mechanism (10) to execute rotating action; a movable wheel (5) with a remote control brake function is arranged at the bottom of the frame (7); a vertical distance sensor (6) and an image pickup device (12) are arranged at the lower part of the Z-axis actuating mechanism (10); the Z-axis actuating mechanism (10) drives the ACFM array probe (13) or the laser welding device (8) to move in the vertical direction under the driving of the Z-axis driving motor (16) through signals of the vertical distance sensor (6).
2. The device for detecting and repairing the bottom plate of the spent fuel pool underwater is characterized in that the camera device (12) is an irradiation-resistant underwater camera or 2 underwater LED illuminating lamps, and the camera device (12) is connected with the console (1).
3. The underwater detection and repair device for the bottom plate of the spent fuel pool according to claim 1, wherein the ACFM array probe (13) is 10cm long and 2cm wide, and the ACFM array probe (13) is an array probe for measuring the weld cracks through an alternating magnetic field.
4. The underwater detection and repair device for the bottom plate of the spent fuel pool according to claim 1, wherein the laser welding device (8) is a device integrating a laser head, a wire feeder, a drainage gas hood and a cooling water loop, and can perform laser welding repair on detected weld cracks.
5. The underwater detection and repair device for the bottom plate of the spent fuel pool according to claim 1, wherein the X-axis actuator (17) and the Y-axis actuator (9) are respectively provided with a displacement sensor, a slide rail and a slide block; the sliding block slides on the sliding rail through the displacement sensor to form displacement.
6. The underwater spent fuel pool bottom plate detecting and repairing device according to claim 1, wherein the Z-axis actuator (10) comprises a rack gear, a slide rail and a slide block; the sliding block slides on the sliding rail through the rack transmission mechanism to form displacement.
7. The underwater detecting and repairing device for the bottom plate of the spent fuel pool according to claim 1, wherein the Z-axis rotating motor (15) can drive the Z-axis actuator (10) to rotate 180 degrees.
8. The underwater spent fuel pool bottom plate detecting and repairing device according to claim 1, wherein the console (1) provides a man-machine interface for comprehensive control of laser-cooling-air-feeding-movement, a data storage function and functions of processing, storing, automatic weld joint recognition, detecting and repairing path planning of camera video signals and pictures.
9. The underwater detection and repair device for the bottom plate of the spent fuel pool according to claim 8, wherein the console (1) comprises a console with two display screens, one display screen is used for receiving sensor data of the frame (7) and controlling the execution of the actions of the actuators and the driving motors, the welding device (8), the ACFM array probe (13) and the moving wheel (5) through a touch screen, and the other display screen is communicated with the camera device (12) and is used for displaying real-time underwater video pictures.
10. An application method of the device for underwater detection and repair of the bottom plate of the spent fuel pool is characterized by comprising the device for underwater detection and repair of the bottom plate of the spent fuel pool as claimed in any one of claims 1 to 9, wherein the detection method comprises the following steps:
1) the rack (7) is placed at the bottom of the pool, the rack (7) is moved to a welding line to be detected at a low speed by the moving wheel (5) at the bottom, and the whole welding line is positioned below the rack (7);
2) the control console (1) controls the moving wheels (5) to brake, so that the rack (7) is kept stable;
3) the camera device (12) takes the frame (7) as a coordinate system to establish X/Y axis coordinates after shooting the steel plate at the bottom of the pool, converts a welding seam image into the X/Y axis coordinates through image recognition, and forms a planned scanning track of the ACFM array probe (13);
4) the X-axis driving motor (4) drives the X-axis executing mechanism (17), the Y-axis driving motor (14) drives the Y-axis executing mechanism (9) to move the Z-axis executing mechanism (10) to the starting point of the planned scanning track;
5) the Z-axis driving motor (16) drives the Z-axis actuating mechanism (10) to drive the ACFM array probe (13) to move downwards in the vertical direction to keep a proper distance from the welding line through the feedback of the vertical distance sensor (6);
6) the probe rotation driving motor (11) drives the ACFM array probe (13) to rotate, so that the probe is perpendicular to the welding line;
7) the X-axis actuating mechanism (17) and the Y-axis actuating mechanism (9) are matched to drive the ACFM array probe (13) to scan and detect a welding seam according to a planned running track;
8) after the scanning detection is finished, the ACFM array probe (13) is lifted, and the Z-axis actuating mechanism (10) returns to the central position of the rack (7);
the repairing method comprises the following steps:
1) the control console (1) analyzes the weld state according to the scanning detection result, determines the relative coordinate position of the crack and generates a planned repair track;
2) the Z-axis rotating motor (15) drives the Z-axis actuating mechanism (10) to rotate 180 degrees by taking the X-axis direction as an axis, and the laser welding device (8) is rotated to the lower part;
3) the X-axis driving motor (4) drives the X-axis executing mechanism (17), the Y-axis driving motor (14) drives the Y-axis executing mechanism (9), and meanwhile, the Z-axis executing mechanism (10) is moved to the starting point of the planned restoration track;
4) the Z-axis driving motor (16) drives the Z-axis actuating mechanism (10) to drive the laser welding device (8) to move downwards to a proper position in the vertical direction under the feedback of a vertical distance sensor arranged in the laser welding device (8);
5) the laser welding device (8) performs laser welding on the cracks;
6) after welding, the laser welding device (8) is lifted, and the Z-axis actuating mechanism (10) returns to the central position of the rack (7).
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Address after: No. 29 Hong Cao Road, Xuhui District, Shanghai Applicant after: Shanghai Nuclear Engineering Research and Design Institute Co.,Ltd. Address before: No. 29 Hong Cao Road, Xuhui District, Shanghai Applicant before: SHANGHAI NUCLEAR ENGINEERING RESEARCH & DESIGN INSTITUTE Co.,Ltd. |
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Application publication date: 20210219 |