Modular multi-region ultrasound examination integrated device

Abstract

The present disclosure belongs to the technical field of nuclear power and specifically relates to a modularized nozzle multi-region ultrasonic inspection integrated device. The present disclosure is based on a mechanical hand nozzle safety end inspection tool positioning and installation mode. Precise, safe and reliable installation of the nozzle safety end inspection tool is achieved, and underwater secondary calibration can be realized through multi-pose adjustment of the mechanical hand. A collaborative inspection operation mode based on double mechanical hands is adopted. The mechanical hand is used for spatial curved surface scanning of a nozzle port, the probe has good adhesion, the double mechanical arms can realize symmetrical inspection of the nozzle, and full-range dead-angle-free inspection is realized. The present disclosure adopts a modularized inspection function integrated scheme, different inspection tools are mounted on the same main component, a multi-tool and multi-function collaborative inspection mode of the nozzle region is realized, and the inspection range coverage and inspection precision of the nozzle region are improved.

Description

Technical Field

[0001] This invention belongs to the field of nuclear power technology, specifically relating to a modular integrated device for multi-regional ultrasonic inspection of a control unit. Background Technology

[0002] The reactor pressure vessel, also known as the reactor pressure shell, is a sealed container that houses the nuclear reactor and withstands its enormous operating pressure. It is a critical piece of equipment in pressurized water reactor nuclear power plants. The nuclear reactor pressure vessel requires regular inspection using inspection equipment to confirm its structural integrity and ensure that radioactive materials remain under control. The adaptability and versatility of inspection tools affect the scope and results of the inspection; however, more complex tools place higher demands on the overall safety of the equipment. Therefore, an integrated ultrasonic inspection device for the pressure vessel nozzle area needs to be designed to meet the inspection requirements of the pressure vessel nozzle area while ensuring safety. Summary of the Invention

[0003] To overcome the problems existing in related technologies, a modular integrated device for multi-region ultrasound examination is provided.

[0004] According to one aspect of the present disclosure, a modular multi-region ultrasound examination integrated device for a connector is provided, the modular multi-region ultrasound examination integrated device for a connector includes: a positioning frame, a tray tool library, a connector safety end inspection tool, a robotic arm, a fixed column, a linear scanner, and an ultrasound tray;

[0005] The positioning frame is installed on the flange face of the pressure vessel. It is positioned by using the frame legs and the threaded holes on the flange face of the pressure vessel. A fixed column is installed at the lower end of the positioning frame, and a pallet tool magazine is installed at the upper end of the fixed column. The pallet tool magazine is equipped with safety end inspection tools, a linear scanner and multiple ultrasonic pallets. Multiple sets of robotic arms are installed on the column at the lower end of the pallet tool magazine.

[0006] In one possible implementation, a robotic arm is used to transport the safety end inspection tool into the nozzle for installation.

[0007] In one possible implementation, the device further includes an auxiliary support;

[0008] When the robotic arm installs the safety end inspection tool into the designated position, the auxiliary support and the contact operation with the inner wall of the pipe provide support for the safety end inspection tool, while the linear scanner and ultrasonic tray are used to perform a full-range inspection of the safety end.

[0009] In one possible implementation, after the robotic arm completes the installation of the safety end inspection tool for the connector, the robotic arm detaches from the safety end inspection tool and docks with the ultrasonic tray on the pallet tool, carrying different ultrasonic trays to perform scanning of the inner rounded corners and tangential directions of the connector.

[0010] In one possible implementation, after the safety end inspection tool inside the nozzle completes its inspection, the robotic arm quickly docks with and installs the safety end inspection tool, then removes the safety end inspection tool from the nozzle and places it on a pallet tool library.

[0011] The beneficial effects of this disclosure are as follows:

[0012] 1. Positioning and installation method of the safety end inspection tool for the control tube based on a robotic arm. This method enables precise, safe, and reliable installation of the safety end inspection tool, and the multi-position adjustment of the robotic arm allows for underwater secondary calibration.

[0013] 2. Collaborative inspection mode based on dual robotic arms. The robotic arms are used to scan the curved surface of the connector, resulting in good probe fit. The dual robotic arms can achieve symmetrical inspection of the connector, realizing full-range inspection without blind spots.

[0014] 3. Rapid switching of inspection tools based on robotic arms. The robotic arm adopts a tool-changing disc structure, which can realize rapid switching between various underwater trays.

[0015] 4. Diverse inspection methods based on the pallet tool library. The pallet tool library carries different pallets, enabling redundant pallet arrangement and allowing switching of inspection tools according to the inspection object and scope.

[0016] 5. Overall fixed installation method based on positioning frame. By fixing the positioning frame to the flange face and integrating modular components into the fixed column, the overall device can achieve precise positioning and safe and reliable operation.

[0017] This disclosure adopts a modular inspection function integration scheme, which integrates different inspection tools onto the same main component to realize a multi-tool and multi-functional collaborative inspection mode in the control area, thereby improving the inspection coverage and inspection accuracy of the control area. Attached Figure Description

[0018] Figure 1 This is an axial cross-sectional view of a modular, multi-zone ultrasound examination integrated device according to an exemplary embodiment.

[0019] Figure 2 This is a radial cross-sectional view of a modular, multi-zone ultrasound examination integrated device according to an exemplary embodiment. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is an axial sectional view of a modular, multi-zone ultrasound examination integrated device according to an exemplary embodiment. Figure 2 This is a radial cross-sectional view of a modular multi-zone ultrasound examination integrated device according to an exemplary embodiment, see below. Figure 1 and Figure 2 The modular multi-area ultrasound examination integrated device disclosed herein includes: a positioning frame 1, a tray tool library 2, a connector safety end inspection tool 3, a robotic arm 4, a fixed column 5, a linear scanner 6, an ultrasound tray 7, and an auxiliary support 8.

[0022] The positioning frame 1 is installed on the flange face of the pressure vessel, using the frame legs and threaded holes on the flange face for positioning. A fixed column 5 is installed at the lower end of the positioning frame 1, and a tray tool magazine 2 is installed at the upper end of the fixed column 5. The tray tool magazine 2 is equipped with a safety end inspection tool 3 and various ultrasonic trays 7. Multiple robotic arms 4 are installed on the lower column of the tray tool magazine 2. The robotic arms 4 transport the pipe safety end inspection tool 3 into the pipe for installation. When the robotic arm 4 installs the pipe safety end inspection tool 3 in the designated position, the auxiliary support 8 contacts the inner wall of the pipe to provide support for the pipe safety end inspection tool 3, keeping it stable. The linear scanner 6 and ultrasonic trays 7 perform a comprehensive inspection of the safety end. After the robotic arm 4 completes the installation of the pipe safety end inspection tool 3, it detaches from the pipe safety end inspection tool 3 and docks with the ultrasonic trays 7 on the tray tool 2, using different ultrasonic trays 7 to perform scanning of the pipe's inner rounded corners and tangential areas. After the safety end inspection tool 3 of the inner pipe completes the inspection, the robotic arm 4 quickly docks with the safety end inspection tool 3 and removes the safety end inspection tool 3 from the pipe and places it on the pallet tool library 2.

[0023] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A modular, multi-region ultrasound examination integrated device with a connecting pipe, characterized in that, The modular multi-area ultrasonic inspection integrated device for the connector includes: a positioning frame, a tray tool library, a connector safety end inspection tool, a robotic arm, a fixed column, a linear scanner, and an ultrasonic tray. The positioning frame is installed on the flange face of the pressure vessel. The frame legs are used for installation and positioning with the threaded holes on the flange face of the pressure vessel. A fixed column is installed at the lower end of the positioning frame, and a pallet tool magazine is installed at the upper end of the fixed column. The pallet tool magazine is equipped with safety end inspection tools, a linear scanner and multiple ultrasonic pallets. Multiple sets of robotic arms are installed on the column at the lower end of the pallet tool magazine. The robotic arm is used to transport the safety end inspection tool for the connector into the connector for installation. The device also includes auxiliary support; When the robotic arm installs the pipe safety end inspection tool into the designated position, the auxiliary support and the contact operation with the inner wall of the pipe provide support for the pipe safety end inspection tool, and the linear scanner and ultrasonic tray are used to perform a full-range inspection of the safety end. After the robotic arm completes the installation of the safety end inspection tool for the connector, it detaches from the safety end inspection tool and docks with the ultrasonic tray on the pallet tool. Different ultrasonic trays are used to perform scanning of the inner rounded corners and tangential direction of the connector. After the safety end inspection tool inside the nozzle completes the inspection, the robotic arm quickly docks with the safety end inspection tool and removes the tool from the nozzle, placing it on the pallet tool magazine.

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