CN113113166A - Reactor pressure vessel internals debugging/reinstalling auxiliary monitoring system and method - Google Patents
Reactor pressure vessel internals debugging/reinstalling auxiliary monitoring system and method Download PDFInfo
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- CN113113166A CN113113166A CN202110387354.6A CN202110387354A CN113113166A CN 113113166 A CN113113166 A CN 113113166A CN 202110387354 A CN202110387354 A CN 202110387354A CN 113113166 A CN113113166 A CN 113113166A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 2
- 238000012806 monitoring device Methods 0.000 abstract description 12
- 238000007790 scraping Methods 0.000 abstract description 3
- 238000012857 repacking Methods 0.000 abstract 1
- KGBXLFKZBHKPEV-UHFFFAOYSA-N boric acid Chemical compound OB(O)O KGBXLFKZBHKPEV-UHFFFAOYSA-N 0.000 description 7
- 239000004327 boric acid Substances 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000000060 site-specific infrared dichroism spectroscopy Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
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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
- G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
- G21C19/207—Assembling, maintenance or repair of reactor components
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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 a reactor pressure vessel internals adjusting-separating/resetting auxiliary monitoring system and a method, the system comprises a front monitoring device, a control box and a monitoring panel terminal, and can provide 3 overlooking observation guide rods and a lifting appliance support ring positioning sleeve centering, sleeving and releasing whole process video for ground commanders; superposing an electronic reticle picture on a video picture as a centering reference coordinate, and simplifying centering judgment of the guide rod and the lifting appliance support ring positioning sleeve into centering an electronic reticle image by the guide rod; through laser rangefinder module and MCU module on the control box, the accurate distance that calculates between component tune-away/repacking operation guide bar top and the hoist support ring position sleeve to on superimposing data message and prompt information the video picture, supply ground commander to judge the use. The auxiliary judgment capability of ground commanders is improved, and collision and scraping accidents between the upper and lower members in the pile and the container, the container guide column or the storage support in the pile member transferring/resetting operation process are avoided.
Description
Technical Field
The invention belongs to the field of nuclear power ultra-large machinery overhaul, disassembly and assembly monitoring systems, and particularly relates to a reactor pressure vessel in-reactor component separation/reassembly auxiliary monitoring system and method.
Background
When the pressure vessel is subjected to special operations such as material changing or in-service inspection, a ring crane (a ring bridge crane for a nuclear power station) and an in-reactor component lifting appliance are needed to be used for transferring the internal components of the pressure vessel away from the vessel and temporarily storing the internal components on a storage rack; after the special operation of material changing or inspection is finished, the members on the storage rack are sequentially reinstalled into the pressure vessel by using the ring crane and the lifting appliance again. An electronic scale device is installed at the joint of the ring crane and the lifting appliance, and when the lifting appliance is used for transferring and transporting equipment, people are not allowed to remain on the lifting appliance operating platform.
The upper and lower components within the pressure vessel are already in a radiation activated state. In order to reduce the radiation dose to harm the environment in the nuclear island and operators, a reactor core water pool for detaching/reassembling the components in the reactor is filled with boric acid water, and the detaching/reassembling of the components is performed by immersing the components in the water. The operation and maintenance rules stipulate that the container guide rods (3) and the storage rack guide rods (3 upper members and two lower members) are matched with positioning sleeves (C1, C2, C3, C4 and C5) on the supporting rings of the lifting appliance to be used as a coarse guide device for the operation of the lifting appliance adjusting/resetting members.
In each time of the debugging/reinstalling operation of the pressure container internals, three position relation changes of twice centering, sleeving and releasing exist between the guide rod and the lifting appliance support ring positioning sleeve.
When the upper component is adjusted away/reassembled, 3 guide rods with the length of 5 meters are matched on the pressure vessel flange and are arranged at holes of pressure vessel flanges 58#, 29#, and 44#, and the horizontal reference height of the top of each guide rod is about 15 meters; the relative height of 3 guide rods of the upper component storage rack is 2.04 meters, the installation positions are provided with container flange plates 58#, 29# and 44# hole positions, and the horizontal reference height of the tops of the guide rods is about 9.5 meters;
when the lower component is adjusted away/reassembled, 3 guide rods with the length of 10 meters are matched on a pressure vessel flange and are arranged at holes of pressure vessel flanges 58#, 29#, and 44#, and the horizontal reference height of the top of each guide rod is about 20.5 meters; the relative height of the guide rod A of the lower component storage rack is 1.898 meters, the relative height of the guide rod B is 1.998 meters, the wall of the water pool is fixedly installed, and the horizontal reference height at the top of the guide rod is about 20.5 meters.
Wherein, there are 5 locating sleeves marked as C1, C2, C3, C4 and C5 on the lower supporting ring of the sling (figure 6). The C1, C2 and C3 positioning sleeves are matched with 58#, 29#, 44# guide rods of the pressure container mounting position and 58#, 29#, 44# guide rods of the upper member storage position, and the C4 and C5 positioning sleeves are matched with guide columns of the lower member storage position.
The technical defects existing in the existing operation and maintenance regulations are as follows:
1) when the in-pile component is detached/reassembled, a plurality of ground commanders judge the position relation of centering, sleeving and releasing between the guide rod and the positioning sleeve of the supporting ring of the lifting appliance by observing different point positions on a 20-meter platform, a cart channel of a loading and unloading machine, a lifting appliance operating platform and the like. The following drawbacks exist:
A) when the lifting appliance descends and the guide rod of the container or the storage rack and the positioning sleeve of the supporting ring of the lifting appliance are gradually close to each other, the quantitative data support and judgment basis for centering and sleeving the guide rod and the positioning sleeve of the supporting ring of the lifting appliance is lacked;
B) when the lifting appliance is lifted and the guide rod of the container or the storage rack is gradually separated from the positioning sleeve of the supporting ring of the lifting appliance, the quantized data support and judgment basis for separating the guide rod from the positioning sleeve of the supporting ring of the lifting appliance is lacked;
2) the centering, nesting and releasing processes between the guide rod and the positioning sleeve occur in boric acid water, a commander needs to vertically overlook (the incident angle is zero, and the reflection angle is zero to obtain the real image of a monitored object) to observe the relationship between the guide rod and the positioning sleeve and then perform operation judgment, and a certain visual judgment deviation is generated due to the refraction of water when slightly obliquely observing, so that the safety risk is brought to the hoisting operation.
Disclosure of Invention
The invention aims to overcome the defects and provides an auxiliary monitoring system and method for the separation/reassembly of the reactor internals of the reactor pressure vessel, which improve the auxiliary judgment capability of ground commanders, avoid the collision and scraping accidents of the upper and lower internals with the vessel, the vessel guide column or the storage bracket in the separation/reassembly operation process of the internals and ensure that the hoisting operation of the internals is safer and more reliable.
In order to achieve the aim, the reactor pressure vessel in-reactor component separation/reinstallation auxiliary monitoring system comprises a front monitoring device, a control box and a monitoring panel terminal;
the front-end monitoring equipment comprises a double-shaft horizontal cantilever upright rod, a first water-saving horizontal cantilever is hinged to the top end of the double-shaft horizontal cantilever upright rod, a second water-saving horizontal cantilever is hinged to the far end of the first water-saving horizontal cantilever, and a camera is fixed to the far end of the second water-saving horizontal cantilever;
the control box comprises a control box body, a wireless antenna is arranged on the control box body, and a battery power supply module, a power supply management module, a 5-port exchange module, a WiFi module, a laser ranging module and an MCU data calculation unit are arranged in the control box body;
the laser ranging module is used for dynamically measuring the distance between the control box and the bottom plate of the support of the ring crane hoisting trolley and sending measured real-time data to the MCU data calculation unit;
the MCU data calculation unit calculates distance data between the top of the guide rod and a positioning sleeve of a supporting ring of the lifting appliance according to the received distance data from the top of the control box to the bottom plate of the ring-hoisting trolley and preset data parameters, compares the distance data with a preset threshold value, generates corresponding prompt information for centering, sleeving and releasing, and superposes the prompt information on a video image;
the WiFi module is used for establishing a wireless transmission channel for data transmission between the control box and the plurality of monitoring panel terminals.
The first water-saving horizontal cantilever is driven to rotate by a first water-saving horizontal cantilever stepping motor, and the second water-saving horizontal cantilever is driven to rotate by a second water-saving horizontal cantilever stepping motor, so that the monitoring position of the camera is adjusted.
The first water-saving horizontal cantilever stepping motor, the second water-saving horizontal cantilever stepping motor and the camera are all powered by the control box through wired cables.
The control box body is provided with a handrail.
The control box body is provided with a control box power switch and an electric quantity voltage display screen, and the electric quantity voltage display screen is used for displaying the electric quantity voltage of the battery.
A use method of an auxiliary monitoring system for debugging/reinstalling a reactor internal component of a reactor pressure vessel comprises the following steps:
s1, when the front-end monitoring equipment and the control box are installed, enabling a vertical upward ranging laser beam emitted by the control box laser ranging module to irradiate on the plane of the bottom plate of the support of the ring crane lifting trolley;
s2, adjusting two horizontal cantilevers of the front-end monitoring equipment, extending the horizontal cantilevers out of the outer side of the operating platform fence of the lifting appliance, moving the monitoring camera to a monitoring position, and transmitting a video image to a monitoring flat terminal to enable the center point of a reticle in the image to be superposed with the center point of a monitored positioning sleeve of a supporting ring of the lifting appliance;
and S3, after the component is lifted by the lifting appliance, the position of the camera needs to be adjusted again because the lifting appliance deforms, and the positions of the two horizontal cantilevers are adjusted through the monitoring panel terminal, so that the central point of the electronic reticle in the image is coincided with the central point of the positioning sleeve of the supporting ring of the lifting appliance to be monitored.
When the laser ranging module collects dynamic data of the distance from the control box to the bottom plate of the support of the ring crane lifting trolley and sends the dynamic data to the MCU for data calculation, and when the distance between the top of the guide rod and the positioning sleeve of the support ring of the lifting appliance is smaller than or larger than a certain threshold value, prompt information is superposed in a video image, so that ground commanders can observe corresponding prompt information through monitoring pictures of the monitoring panel terminal.
The calculation method of the distance from the top of the guide rod to the positioning sleeve of the support ring of the lifting appliance comprises the following steps:
d＝m-a-l-b-c
wherein d is the distance from the top (19) of the guide rod to the positioning sleeve of the supporting ring of the lifting appliance, m is the horizontal reference height of the bottom plate of the trolley lifted by the ring, a is the distance from the top of an equipment box on the operating platform of the lifting appliance to the bottom plate of the support of the trolley lifted by the ring, l is the height of the equipment box, b is the length from the operating platform of the lifting appliance to the positioning sleeve of the supporting ring of the lifting appliance, and c is the horizontal reference height from the top of the guide rod.
Compared with the prior art, the remote multi-path overlooking observation guide rod and lifting appliance support ring positioning sleeve centering, sleeving and releasing whole-process video is provided for ground commanders by the aid of the front monitoring equipment, the control box and the monitoring panel terminal; superposing an electronic reticle picture on a video picture as a centering reference coordinate, and simplifying centering judgment of the guide rod and the lifting appliance support ring positioning sleeve into centering an electronic reticle image by the guide rod; through the laser ranging module and the MCU module on the control box, the distance between the top of the component adjusting/resetting operation guide rod and the lifting appliance support ring positioning sleeve is accurately calculated, and data information and prompt information are superposed on a video picture. The auxiliary judgment capability of ground commanders is improved, the collision and scraping accidents of the upper and lower members in the pile and the container, the container guide column or the storage support in the pile member separation/playback operation process are avoided, and the hoisting operation of the pile member is safer and more reliable.
The method of the invention provides the video and quantitative parameters of the centering, nesting and releasing states of the pressure vessel, the storage support guide rod and the lifting appliance support ring positioning sleeve by superposing the electronic reticle image and the special distance measuring method in the video and the video under the condition of not changing the debugging/reinstalling operation maintenance regulation of the reactor pressure vessel internals in the existing nuclear power industry, and assists the field operators to complete the debugging/reinstalling operation of the reactor internals more safely and reliably.
Drawings
FIG. 1 is a schematic structural diagram of a front monitoring device according to the present invention;
FIG. 2 is a schematic diagram of the range of extension and retraction of the monitoring device of the present invention;
FIG. 3 is a schematic view of a video overlay pixel picture in accordance with the present invention;
FIG. 4 is a schematic view of a control box according to the present invention;
FIG. 5 is a top view of the front monitoring device of the spreader operating platform in the embodiment;
FIG. 6 is a top view of the spreader in the embodiment;
FIG. 7 is a schematic diagram of a communications network of the present invention;
fig. 8 is a schematic diagram for calculating the vertical distance between the tops of the guide posts of the support ring of the lifting appliance in the invention.
The system comprises a double-shaft horizontal cantilever upright rod, a first water-saving horizontal cantilever stepping motor, a second water-saving horizontal cantilever, a camera, a wired cable, a handrail, a control box power switch, a wired interface, a power voltage display screen, a control box body, a wireless antenna, a laser ranging module, a ring crane bridge arm crane trolley support base plate, a lifting appliance support ring positioning sleeve, a guide rod, a pressure container, a horizontal reference, a lifting appliance operating platform fence, a lifting appliance operating platform and a lifting appliance operating platform.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A reactor pressure vessel internals is transferred and is separated/the auxiliary monitoring system of the reinstallation, including leading supervisory equipment, control box and control panel terminal;
referring to fig. 1 and 2, the front-end monitoring device comprises a double-shaft horizontal cantilever upright rod 1, a first water-saving horizontal cantilever 3 is hinged at the top end of the double-shaft horizontal cantilever upright rod 1, a second water-saving horizontal cantilever 5 is hinged at the far end of the first water-saving horizontal cantilever 3, and a camera 6 is fixed at the far end of the second water-saving horizontal cantilever 5; the first water-saving horizontal cantilever 3 is driven to rotate by a first water-saving horizontal cantilever stepping motor 2, and the second water-saving horizontal cantilever 5 is driven to rotate by a second water-saving horizontal cantilever stepping motor 4. The first water-saving horizontal cantilever stepping motor 2, the second water-saving horizontal cantilever stepping motor 4 and the camera 6 are all powered by a wired cable 8.
Referring to fig. 4, the control box comprises a control box body 13, a wireless antenna 14 is arranged on the control box body 13, and a WiFi module, a 5-port switch module, a laser ranging module 15 and an MCU data calculation unit are arranged in the control box body 13; the control box body 14 is provided with an armrest 9. The control box body 13 is provided with a control box switch 10 and a power supply electric quantity display screen 12, and the display screen 12 is used for displaying electric quantity voltage.
The laser ranging module is used for measuring the distance from the top of the control box to the bottom plate 16 of the support of the circular hoisting trolley and sending the distance to the MCU data calculation unit;
the MCU data calculation unit is used for obtaining distance data between the guide rod 19 and the lifting appliance support ring positioning sleeve 18 after calculation according to the received data, and then comparing the distance data with a preset threshold value to generate corresponding prompt information;
the WiFi module is used for establishing a wireless data transmission channel between the monitoring panel terminal and the control box.
A use method of a reactor pressure vessel internals disconnecting/reinstalling auxiliary monitoring system comprises the following steps:
s1, when the front-end monitoring equipment and the control box are installed, the laser beam emitted by the laser ranging module of the control box and ranging vertically upwards is irradiated on the plane of the support bottom plate 16 of the ring crane lifting trolley;
s2, adjusting two horizontal cantilevers of a front-end monitoring device by using a control function of a tripod head of monitoring panel terminal software, extending the horizontal cantilevers out of the fence of the hanger operating platform, moving a monitoring camera to a proper monitoring position, and transmitting a video image to a monitoring panel terminal to enable the center point of a reticle in the image to coincide with the center point of the monitored hanger support ring positioning sleeve 18;
s3, after the member is lifted by the lifting appliance 17, the position of the camera 6 needs to be adjusted again because the lifting appliance deforms, and the positions of the two horizontal cantilevers are adjusted through the monitoring panel terminal, so that the central point of the electronic reticle in the image is coincided with the central point of the positioning sleeve 18 of the supporting ring of the lifting appliance to be monitored.
When the distance between the top 19 of the guide rod and the positioning sleeve of the lifting appliance support ring is smaller than or larger than a certain threshold value through MCU data calculation, prompt information is superposed in the video image, so that a ground commander can observe the corresponding prompt information through a monitoring picture of the monitoring tablet terminal. Referring to fig. 8, the distance between the top 19 of the guide bar and the positioning sleeve of the supporting ring of the spreader is calculated as follows:
d＝m-a-l-b-c
wherein d is the distance from the top (19) of the guide rod to the positioning sleeve of the supporting ring of the lifting appliance, m is the horizontal reference height (known parameter) of the bottom plate of the trolley lifted by the ring, a is the distance (dynamic acquisition) from the top of an equipment box on the operating platform of the lifting appliance to the bottom plate 16 of the bracket of the trolley lifted by the ring, l is the height (known parameter) of the equipment box, b is the length (known parameter) from the operating platform of the lifting appliance to the positioning sleeve 18 of the supporting ring of the lifting appliance, and c is the horizontal reference height (known parameter) from the top of the guide rod 19.
Referring to fig. 5 and 6, the embodiment:
1. equipment installation preparation work;
1.1 before the hoisting work begins, three sets of front monitoring equipment and control boxes are arranged on a hoist operating platform. The double-shaft horizontal cantilever upright rod 1 of the first front monitoring device is structurally connected to the position, close to the C1, of the inner side of the fence of the lifting appliance operating platform, close to the positioning sleeve 18 of the lifting appliance supporting ring, the double-shaft horizontal cantilever upright rod 1 of the second front monitoring device is structurally connected to the position, close to the C2, of the inner side of the fence of the lifting appliance operating platform, close to the positioning sleeve 18 of the lifting appliance supporting ring, and the double-shaft horizontal cantilever upright rod 1 of the third front monitoring device is structurally connected to the position, close to the C3, of the inner side of the fence of the lifting appliance operating platform. The front monitoring equipment is connected with the lifting appliance operating platform fence by using the structural connecting piece and the safety rope, and is fastened and fixed to prevent accidental falling. The component storage rack guide bar needs to be roughly positioned and guided with the C4 position and the C5 position of the sling support ring positioning sleeve 18 according to the operation and maintenance regulations, and camera monitoring devices are not arranged at the C4 position and the C5 position. And because the centering, the sheathing and the releasing are completed in the air, the existing operation and maintenance rules are used when the lower component is placed on the storage rack and lifted from the storage rack.
1.2 place the control box nearby near the first leading supervisory equipment of hoist operation platform, use and fix it and operation platform rail relatively with the safety rope, prevent that it from falling by accident. And connecting the wired cables 8 of the three front-mounted monitoring devices, connecting the WiFi antenna, and turning on the power supply of the equipment.
1.3 finely adjusting the position of the control box to enable a vertical upward ranging laser beam emitted by the laser ranging module to strike on the plane of the support bottom plate 16 of the annular hoisting trolley.
1.4 the monitoring panel terminal powers up, selects the SSID interface of the WiFi module 2.4GHz frequency band of the control box to carry out wireless data connection. Opening APP software of the monitoring tablet terminal:
A) switching monitoring modes of hoisting objects (an upper component and a lower component), and designating a MUC calculation mode of a front-end control box;
B) selecting a video monitoring picture, adjusting two horizontal cantilevers of the video monitoring picture through an APP software cradle head control function to adjust the horizontal range position of the cantilevers, enabling the horizontal cantilevers to extend out of the outer side of the fence of the hanger operation platform, and enabling the picture of the monitoring camera to show 18 images of the hanger support ring positioning sleeve. And the APP software is used for controlling the camera lens to change the focal length, so that the image of the positioning sleeve with the proper size and convenient to observe is obtained. An electronic reticle image (as shown in fig. 3) is superimposed on the video image, and the horizontal position of the horizontal cantilever in the front-end device is finely adjusted by using the control function of the APP software pan-tilt again, so that the reticle center point of the camera coincides with the center point of the monitored hanger support ring positioning sleeve 18, that is, the image of the hanger support ring positioning sleeve 18 shows the dot and axial symmetry of the electronic reticle image. The video image is superimposed with the distance information and the prompt information between the guide rod 19 and the positioning sleeve 18 of the lifting appliance support ring.
(2) The upper component is lifted off the pressure vessel 20;
2.1 moving the lifting appliance 17 above the pressure container 20, observing the position relation and the distance between the guide rods 19 of 5 meters on the pressure container 20 and the positioning sleeves by using a monitoring panel terminal, adjusting the ring lifting position to ensure that the images of the three guide rods 19 on the pressure container 20 and the electronic reticle graph present circular dots and axial symmetry, slowly descending the height of the lifting appliance 17 after the guide rods 19 are sleeved in the positioning sleeves until the support leg sleeves of the lifting appliance are sleeved on the quick coupling nuts of the upper in-pile components, and reading the number of the electronic scale to be 0;
2.2 the operator gets on the operating platform of the lifting appliance, and the lifting appliance and the three telescopic rods connected with the upper component are sequentially locked and then leave. Lifting a lifting appliance 17 vertically upwards by using an APP software cradle head control function, finely adjusting the horizontal position of a horizontal cantilever in the front equipment to enable the center point of a reticle of a camera to coincide with the center point of a monitored lifting appliance support ring positioning sleeve 18, keeping the upper component immersed in boric acid water after the lifting appliance support ring positioning sleeve 18 is completely separated from the height of a container guide rod 19 and keeping a certain safety distance, and horizontally moving the lifting appliance 17 to be above the position of an upper component storage rack;
according to the law of refraction n sin α/sin β, where α is the angle of incidence and β is the angle of refraction. When light is vertically incident into calm water along the normal direction, the specific case that the incident angle is zero and the refraction angle is also zero can be inferred that when the camera is vertically placed downwards, the camera can acquire the real image of the monitored object in boric acid water (the turbidity is 0).
The distance between the monitoring objects in the water can be correctly measured after the detection instrument in the air cannot separate two media of air and water by looking up data and experimental tests. How to measure the position relation of the head of the guide post in water and the positioning sleeve of the supporting ring of the lifting appliance in the air and the accurate distance between the head of the guide post and the positioning sleeve of the supporting ring of the lifting appliance in the air. By looking up nuclear island technical drawings and on-site real-time investigation, the accurate distance between the head of the guide column and the positioning sleeve of the supporting ring of the lifting appliance can be calculated by measuring the distance between the bottom plate of the lifting car and the working platform of the lifting appliance in real time, so that the position relation (centering, sleeving and releasing) between the head of the guide column and the positioning sleeve of the supporting ring of the lifting appliance is calculated.
2.3 adjusting the position of the ring crane, enabling the images of the three guide rods 19 of the upper component storage rack and the images of the electronic reticle to be in circular point and axial symmetry, enabling the guide rods 19 to be sleeved in the positioning sleeves and then slowly descending the height of the lifting appliance 17 until the reading of the electronic scale is 0, and enabling personnel to climb the lifting appliance operation platform to unlock the lifting appliance 17 and the three telescopic rods connected with the upper component in sequence and then leave;
2.4 ring hangs and rises hoist 17 perpendicularly upwards, uses APP software cloud platform control function fine adjustment leading equipment in horizontal cantilever horizontal position, makes the reticle central point of camera coincide with the central point of hoist support ring position sleeve 18 of monitoring, makes hoist support ring position sleeve 18 throw off the storage rack guide bar 19 height completely after, the upper member is transferred and is separated the operation and accomplish.
(3) The upper component reinstalls the pressure vessel 20;
3.1 moving the lifting appliance 17 above the upper component storage rack, adjusting the position of the ring crane, and making the images of the three guide rods 19 of the storage rack and the figures of the electronic reticle present circular points and axial symmetry, so that the guide rods 19 are sleeved in the positioning sleeves and then slowly descend the height of the lifting appliance 17 until the support leg sleeves are sleeved on the quick coupling nuts of the upper in-pile components, and the value of the electronic scale is 0;
3.2 the operator steps on the operating platform of the lifting appliance, and locks the lifting appliance 17 and three telescopic rods connected with the upper component in sequence. Lifting a lifting appliance 17 vertically upwards by using an APP software cradle head control function, finely adjusting the horizontal position of a horizontal cantilever in the front equipment, enabling the center point of a reticle of a camera to coincide with the center point of a monitored lifting appliance support ring positioning sleeve 18, enabling the lifting appliance support ring positioning sleeve 18 to be completely separated from the height of a storage rack guide rod 19, keeping a certain safety distance, keeping an upper component immersed in boric acid water, and horizontally moving the lifting appliance 17 to the position above a pressure container 20;
3.3 adjusting the position of the ring crane, so that the images of the three guide rods 19 of the container and the images of the electronic reticle are in circular point and axial symmetry, the guide rods 19 are sleeved in the positioning sleeves and then slowly fall down on the lifting appliance 17 until the reading of the electronic scale is 0, and the personnel climb the lifting appliance operating platform to unlock the lifting appliance 17 and the three telescopic rods connected with the upper component in sequence and then leave;
3.4 the ring crane lifts the sling 17 vertically upwards, uses APP software pan-tilt control function to fine adjust the horizontal position of the horizontal cantilever in the front equipment, makes the center point of the reticle of the camera coincide with the center point of the monitored sling support ring positioning sleeve 18, and finishes the upper component reinstallation operation after the sling support ring positioning sleeve 18 is completely separated from the height of the guide rod 19 of the pressure vessel 20.
(4) The lower member is removed from the pressure vessel 20;
4.1 moving the lifting appliance 17 to the upper part of the pressure container 20, adjusting the position of the ring crane to make the images of the three guide rods 19 of the container and the figures of the electronic reticle show circular points and axial symmetry, after the guide rods 19 are sleeved into the positioning sleeves, slowly lowering the height of the lifting appliance 17 until the three support leg sleeves of the lifting appliance 17 fall onto the three connecting nuts on the flange of the lower in-pile component, and reading the number of the electronic scale is 0;
4.2 the operator gets on the operating platform of the lifting appliance, and the lifting appliance 17 and the three telescopic rods connected with the upper component are locked in sequence and then leave. Lifting a lifting appliance 17 vertically upwards by using an APP software cradle head control function, finely adjusting the horizontal position of a horizontal cantilever in the front equipment to enable the center point of a reticle of a camera to coincide with the center point of a monitored lifting appliance support ring positioning sleeve 18, keeping the height of the lifting appliance support ring positioning sleeve 18 completely separated from a container guide rod 19 after a certain safety distance, keeping the upper flange surface of a lower component 1.4-1.6 m higher than a platform of 20 meters, immersing the rest part in boric acid water, and horizontally moving the lifting appliance 17 to the position above a lower component storage rack;
4.3 adjusting the position of the ring crane, aligning two guide rods of the storage rack with positioning sleeves C4 and C5 of a supporting ring of the lifting appliance through visual observation by a ground commander, slowly descending the height of the lifting appliance 17 after the positioning sleeves are sleeved, and after the electronic scale reads 0, climbing the operating platform of the lifting appliance by the ground commander to sequentially unlock three telescopic rods connected with the lifting appliance 17 and an upper member and then leave;
4.4 ring hangs and rises hoist 17 perpendicularly upwards, uses APP software cloud platform control function fine adjustment leading horizontal cantilever horizontal position in the equipment, makes the reticle central point of camera coincide with the central point of hoist support ring position sleeve 18 of monitoring, and ground commander passes through the visual observation, makes hoist support ring position sleeve 18 throw off the storage rack guide bar 19 height after totally, accomplishes down the component and transfers from pressure vessel 20.
(5) Lower component reinstallation of the pressure vessel 20;
5.1 moving the lifting appliance 17 above the lower component storage rack, adjusting the position of the annular lifting appliance, and slowly descending the height of the lifting appliance 17 until the value of the electronic scale is 0 after a ground commander centers two guide rods of the storage rack and sleeves a positioning sleeve through visual observation;
5.2 the operator gets on the operating platform of the lifting appliance, locks the lifting appliance 17 and the three telescopic rods connected with the upper component in sequence and then leaves. Lifting a lifting appliance 17 vertically upwards by using an APP software cloud deck control function, finely adjusting the horizontal position of a horizontal cantilever in the front equipment to ensure that the center point of a reticle of a camera is superposed with the center point of a monitored lifting appliance support ring positioning sleeve 18, and ensuring that the lifting appliance support ring positioning sleeve 18 is completely separated from the height of a lower component storage rack guide rod 19 by visual observation by a ground commander, the upper flange surface of the lower component is kept 1.4-1.6 m higher than a platform of 20 m, the other part of the lower component is immersed in boric acid water, and the lifting appliance 17 horizontally moves to the position above a pressure container 20;
5.3 adjusting the position of the ring crane to enable the images of the three guide rods 19 of the pressure container 20 and the images of the electronic reticle to be in circular point and axial symmetry, slowly descending the height of the lifting appliance 17 until the reading of the electronic scale is 0, and sequentially unlocking three telescopic rods connected with the lifting appliance 17 and the upper component by a person lifting the lifting appliance operating platform and then leaving;
5.4 lifting the lifting appliance 17 vertically upwards by the ring crane, finely adjusting the horizontal position of a horizontal cantilever in the front equipment by using the control function of the APP software cradle head to ensure that the center point of a reticle of the camera is coincided with the center point of a monitored lifting appliance support ring positioning sleeve 18, and completing the operation of lower component resetting the pressure container 20 after the lifting appliance support ring positioning sleeve 18 is completely separated from the height of a container guide rod 19.
Claims (8)
1. A reactor pressure vessel internals is transferred and is separated/the auxiliary monitoring system of the reinstallation, wherein, including leading the supervisory equipment, control box and monitoring the terminal station of the flat bed;
the front-end monitoring equipment comprises a double-shaft horizontal cantilever upright rod (1), a first water-saving horizontal cantilever (3) is hinged to the top end of the double-shaft horizontal cantilever upright rod (1), a second water-saving horizontal cantilever (5) is hinged to the far end of the first water-saving horizontal cantilever (3), and a camera (6) is fixed to the far end of the second water-saving horizontal cantilever (5);
the control box comprises a control box body (13), a wireless antenna (14) is arranged on the control box body (13), and a WiFi module, a 5-port exchange module, a laser ranging module (15) and an MCU (microprogrammed control unit) data calculation unit are arranged in the control box body (13);
the laser ranging module is used for measuring the distance from the control box to a bottom plate (16) of a support of the ring crane hoisting trolley and sending measured real-time data to the MCU data calculation unit;
the MCU data calculation unit is used for calculating distance data between the top (19) of the guide rod and a positioning sleeve (18) of a supporting ring of the lifting appliance according to the received data and preset data parameters, comparing the distance data with a preset threshold value, generating corresponding prompt information, and sending the prompt information to the monitoring panel terminal to be superposed on a video image;
the WiFi module is used for establishing a wireless transmission channel for data transmission between the control box and the plurality of monitoring panel terminals.
2. The reactor pressure vessel internals detachment/reassembly auxiliary monitoring system according to claim 1, wherein the first water saving horizontal jib (3) is driven to rotate by a first water saving horizontal jib stepper motor (2), and the second water saving horizontal jib (5) is driven to rotate by a second water saving horizontal jib stepper motor (4).
3. The reactor pressure vessel internals detachment/reassembly auxiliary monitoring system according to claim 2, wherein the first water-saving horizontal cantilever stepper motor (2), the second water-saving horizontal cantilever stepper motor (4) and the camera (6) are powered and in data communication by a wired cable (8).
4. The reactor pressure vessel internals debugging/reassembly auxiliary monitoring system according to claim 1, wherein the control box (14) is provided with a handrail (9).
5. The reactor pressure vessel internals detachment/reassembly auxiliary monitoring system according to claim 1, wherein the control box body (13) is provided with a control box power switch (10) and a battery voltage display screen (12), and the battery voltage display screen (12) is used for displaying battery voltage of a self-contained battery.
6. The use method of the reactor pressure vessel internals tuning away/reinstalling auxiliary monitoring system of claim 1, characterized by comprising the following steps:
s1, when the front-end monitoring equipment and the control box are installed, the laser ranging module of the control box emits a laser beam for ranging vertically upwards to irradiate on the plane of the support bottom plate (16) of the ring crane lifting trolley;
s2, adjusting two horizontal cantilevers of the front-end monitoring equipment, extending the horizontal cantilevers out of the outer side of the operating platform fence of the lifting appliance, moving the monitoring camera to a monitoring position, and transmitting a video image to a monitoring flat terminal to enable the center point of a reticle in the image to be superposed with the center point of a monitored lifting appliance support ring positioning sleeve (18);
s3, after the component is lifted by the lifting appliance (17), the position of the camera (6) needs to be adjusted again because the lifting appliance deforms, and the positions of the two horizontal cantilevers are adjusted through the monitoring panel terminal, so that the central point of the electronic reticle in the image is superposed with the central point of the supporting ring positioning sleeve (18) of the lifting appliance to be monitored.
7. The use method of the reactor pressure vessel internals decoupling/reassembly auxiliary monitoring system according to claim 6, wherein the laser ranging module is configured to calculate the acquired dynamic data of the distance from the control box to the bottom plate (16) of the support of the ring crane trolley through the MCU data to obtain prompt information to be superimposed on the video image when the distance from the top (19) of the guide rod to the positioning sleeve of the support ring of the hanger is smaller than or greater than a preset threshold value, so that a ground commander can observe the corresponding prompt information through the monitoring picture of the monitoring panel terminal.
8. The use method of the reactor pressure vessel internals alignment/reassembly auxiliary monitoring system according to claim 7, wherein the distance from the guide rod top (19) to the spreader support ring locating sleeve is calculated as follows:
d＝m-a-l-b-c
wherein d is the distance from the top of the guide rod (19) to the positioning sleeve of the supporting ring of the lifting appliance, m is the horizontal reference height of the bottom plate of the trolley lifted by the ring, a is the distance from the top of an equipment box on the operating platform of the lifting appliance to the bottom plate (16) of the support of the trolley lifted by the ring, l is the height of the equipment box, b is the length from the operating platform of the lifting appliance to the positioning sleeve (18) of the supporting ring of the lifting appliance, and c is the horizontal reference height from the top of the guide rod (19).
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