Centering equipment and centering method for inspection of outer wall of penetration piece

Abstract

The centering equipment comprises a support body, a rotating mechanism and a distance measuring sensor, a storage cavity is formed in the support body, a first opening is formed in the top of the storage cavity, a camera and a laser positioner are arranged at the bottom of the storage cavity, and the camera directly faces the first opening and is located on the central axis of the first opening; the laser positioners are uniformly distributed on a reference circle taking the camera as the center; the rotating mechanism is arranged on the top of the support. The distance measuring sensor is arranged on the rotating mechanism, the rotating mechanism drives the distance measuring sensor to rotate, and the distance measuring sensor always faces the direction of the central axis of the first opening. The invention further provides a centering method for penetration piece outer wall inspection based on the centering equipment. According to the centering equipment and the centering method provided by the invention, primary centering is completed through the laser positioner and the camera, so that the horn cover can smoothly penetrate through the first opening; and the second centering is completed through the rotating mechanism and the distance measuring sensor, so that the centering equipment is located at the optimal inspection position.

Description

Technical Field

[0001] The present application relates to the technical field of outer wall inspection, and more specifically, to a centering device and a centering method for inspecting the outer wall of a top cover penetration piece of a nuclear power plant reactor pressure vessel. Background Art

[0002] The pressure vessel head 10 of a nuclear power plant reactor is the core equipment of the nuclear reactor. Figure 1 As shown, the main part of the pressure vessel top cover 10 is hemispherical, and a number of penetrations 20 are installed on the pressure vessel top cover 10 through corresponding holes, and a heat sleeve 30 is installed inside the penetration 20. A horn cover 31 is provided at the end of each heat sleeve 30, and the diameter of the horn cover 31 is larger than the outer diameter of the penetration 20. At the same time, the heat sleeve 30 has a certain range of motion in the radial direction relative to the penetration 20. Therefore, the axis 32 of the heat sleeve is not concentric with the axis 21 of the penetration. Due to the special structural relationship between the heat sleeve 30 and the penetration 20, the horn cover 31 usually hinders the outer wall inspection mechanism from performing centering detection on the penetration 20, thereby affecting the progress of the outer wall inspection of the penetration. Summary of the invention

[0003] The technical problem to be solved by the present application is to provide a centering device for inspecting the outer wall of a penetration piece, and a centering method for testing using the centering device.

[0004] The technical solution adopted by the present application to solve the technical problem is to construct a centering device for inspecting the outer wall of a penetration piece, comprising:

[0005] A bracket body, wherein a storage cavity is disposed inside the bracket body, a first opening is disposed at the top of the storage cavity, a camera and a plurality of laser locators are disposed at the bottom of the storage cavity, the camera is directly facing the first opening and the camera is located on the central axis of the first opening, and the laser locators are evenly distributed on a pitch circle centered on the camera;

[0006] A rotating mechanism is arranged on the top of the bracket body;

[0007] The distance measuring sensor is arranged on the rotating mechanism, and the rotating mechanism drives the distance measuring sensor to rotate around the first opening, and the distance measuring sensor always faces the direction where the central axis of the first opening is located.

[0008] In some embodiments, the diameter of the pitch circle is equal to the diameter of the outer edge of the horn cover.

[0009] In some embodiments, three or more laser locators are provided.

[0010] In some embodiments, the rotating mechanism includes a rotating motor and a rotating disk, the rotating motor is arranged on the bracket body and is provided with driving teeth, the rotating disk is arranged on the top of the bracket body and is provided with driven teeth meshing with the driving teeth at the bottom of the rotating disk.

[0011] In some embodiments, a sensor mounting seat extending upward is provided above the rotating disk, and the ranging sensor is mounted on the upper part of the sensor mounting seat.

[0012] In some embodiments, the centering device includes a lifting mechanism, which is connected to the support body and drives the support body to move upward or downward.

[0013] In some embodiments, a hollow hole is formed on the side wall of the storage cavity.

[0014] In addition, the present application also provides a centering method for inspecting the outer wall of a penetration member, the centering method is based on the above-mentioned centering device and a host computer connected to the centering device, the host computer includes an algorithm processor and a display screen; the centering method includes the following steps:

[0015] S1, placing the centering device below the horn cover, the laser locator emitting laser light upward to illuminate the horn cover, photographing the horn cover in real time through the camera and feeding back to the display screen, determining the relative position relationship between the laser locator and the horn cover by observation, adjusting the horizontal position of the centering device according to the relative position relationship between the laser locator and the horn cover, so that the laser emitted by the laser locator coincides with the outer edge of the horn cover;

[0016] S2, moving the centering device upwards so that the speaker cover enters the storage cavity through the first opening until the distance measuring sensor moves to a height position corresponding to the penetration piece;

[0017] S3, the rotating mechanism drives the distance measuring sensor to rotate, so that the distance measuring sensor rotates around the penetration member for one circle, and the distance measuring sensor measures the distance values ​​from the distance measuring sensor to the outer wall of the penetration member at multiple angles during the rotation process, and the measured multiple distance values ​​and corresponding angle values ​​are fed back to the algorithm processor;

[0018] S4, processing the information fed back in step S3 on the algorithm processor to obtain position information of the center axis of the first opening relative to the axis of the penetration member;

[0019] S5. Adjust the horizontal position of the centering device according to the position information of the center axis of the first opening relative to the axis of the penetration member obtained in step S4, so that the center axis of the first opening coincides with the axis of the penetration member, thereby completing the centering.

[0020] In some embodiments, in step S2, the centering device is driven by the lifting mechanism to move upward.

[0021] The implementation of the present application has at least the following beneficial effects: the centering device and centering method for inspecting the outer wall of the through-piece provided by the present application, through the initial centering completed by the cooperation of the laser locator and the camera, the central axis of the first opening is made to coincide with the axis of the thermal sleeve, so that the horn cover can smoothly pass through the first opening into the storage cavity for the next operation; the second centering is completed by the cooperation of the rotating mechanism and the ranging sensor, so that the central axis of the first opening is made to coincide with the axis of the through-piece, so that the centering device is in the best inspection position, and the outer wall of the through-piece can be accurately inspected. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application will be further described below with reference to the accompanying drawings and embodiments, in which:

[0023] Figure 1 It is a schematic diagram of the structure of the pressure vessel top cover and the penetration to be inspected;

[0024] Figure 2 It is a schematic diagram of the structure of the centering device for inspecting the outer wall of the penetration provided by the present application;

[0025] Figure 3 yes Figure 2 Schematic diagram of the centering device in the working state;

[0026] Description of Figure Numbers:

[0027] Pressure vessel top cover 10, penetration piece 20, penetration piece axis 21, thermal sleeve 30, horn cover 31, thermal sleeve axis 32;

[0028] The bracket body 100 , the bottom plate 110 , the storage cavity 120 , the first opening 121 , the rotating disk 200 , the rotating motor 210 , the sensor mounting seat 220 , the driven gear 230 , the distance measuring sensor 300 , the camera 400 , and the laser locator 500 . DETAILED DESCRIPTION

[0029] In order to have a clearer understanding of the technical features, purposes and effects of the present application, the specific implementation methods of the present application are now described in detail with reference to the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that the terms "longitudinal", "lateral", "up", "down", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings or the orientations or positional relationships in which the products of the present application are usually placed when used. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0031] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0032] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] Reference Figure 1The main part of the pressure vessel top cover 10 of the existing nuclear power plant reactor is hemispherical. A number of penetrations 20 are installed on the pressure vessel top cover 10 through corresponding holes. A thermal sleeve 30 is installed inside the penetration 20. A trumpet cover 31 is provided at the end of the thermal sleeve 30. The diameter of the trumpet cover 31 is larger than the outer diameter of the penetration 20. The penetration 20 takes the penetration axis 21 as the central axis, and the thermal sleeve 30 takes the thermal sleeve axis 32 as the central axis. Since the inner diameter of the penetration 20 is larger than the outer diameter of the thermal sleeve 30, the thermal sleeve 30 has a certain range of movement in the radial direction relative to the penetration 20. Therefore, the penetration axis 21 and the thermal sleeve axis 32 often do not overlap, such as Figure 1 The non-concentricity between the through-piece axis 21 and the thermowell axis 32 makes it inconvenient to inspect the outer wall of the through-piece. If the inspection mechanism is concentric with the through-piece axis 21, it is easy to collide with the horn cover 31 at the end of the thermowell 30. If the inspection mechanism is concentric with the thermowell axis 32, the inspection mechanism is in an eccentric position relative to the through-piece 20, affecting the accuracy of the inspection.

[0035] In view of the above problems, this embodiment provides a centering device and a centering method for inspecting the outer wall of a penetration piece. Through two centerings, the horn cover 31 can be effectively avoided, and the inspection mechanism can be kept concentric with the axis 21 of the penetration piece, thereby ensuring the accuracy of the inspection.

[0036] Figure 2 The centering device for checking the outer wall of a through-piece provided in some embodiments of the present application is shown, and the centering device includes a bracket body 100, a rotating mechanism, a distance sensor 300, a camera 400 and several laser locators 500. Specifically, a storage cavity 120 is provided inside the bracket body 100, a first opening 121 is provided at the top of the storage cavity 120, the diameter of the first opening 121 is larger than the outer diameter of the horn cover 31, and a bottom plate 110 is provided at the bottom of the storage cavity 120. The rotating mechanism is provided at the top of the bracket body 100, the distance sensor 300 is provided on the rotating mechanism, and the camera 400 and the laser locator 500 are installed on the bottom plate 110. The camera 400 is directly opposite to the first opening 121 and the camera 400 is located on the central axis of the first opening 121, and the laser locators 500 are evenly distributed on the dividing circle centered on the camera 400. The rotating mechanism drives the distance sensor 300 to rotate around the first opening 121, and the distance sensor 300 always faces the direction where the central axis of the first opening 121 is located.

[0037] In some embodiments, the diameter of the pitch circle where the laser locator 500 is located is equal to the diameter of the outer edge of the horn cover 31, and three or more laser locators 500 are provided. Since the diameter of the pitch circle where the laser locator 500 is located is equal to the diameter of the outer edge of the horn cover 31, when the central axis of the first opening 121 coincides with the axis 32 of the thermal sleeve, the laser emitted by the laser locator 500 will fall on the outer edge of the horn cover 31, which can be displayed very intuitively; and three or more laser locators 500 are provided, which can improve the accuracy of judgment. Through the above structure, during the initial centering, it can be judged whether the central axis of the first opening 121 coincides with the axis 32 of the thermal sleeve based on whether the laser emitted by the laser locator 500 falls entirely on the outer edge of the horn cover 31.

[0038] In some embodiments, the rotating mechanism includes a rotating motor 210 and a rotating disk 200. The rotating motor 210 is arranged on the bracket body 100. The rotating motor 210 is provided with a driving tooth, and the rotating motor 210 drives the driving tooth to rotate; the rotating disk 200 is arranged on the top of the bracket body 100, and the lower part of the rotating disk 200 is provided with a driven tooth 230 meshing with the driving tooth. When the rotating motor 210 is working, the driven tooth 230 is driven to rotate by the driving tooth, thereby driving the rotating disk 200 to rotate. Further, the rotating motor 210 is preferably a servo motor for better control.

[0039] In some embodiments, a sensor mounting seat 220 extending upward is provided above the rotating disk 200, and the distance measuring sensor 300 is mounted on the upper part of the sensor mounting seat 220. The distance measuring sensor 300 is raised by the sensor mounting seat 220, so that the distance measuring sensor 300 is more easily accessible to the penetration member 20.

[0040] In some embodiments, the centering device includes a lifting mechanism connected to the bracket body 100 , and the lifting mechanism drives the bracket body 100 to move up or down to cooperate with the centering device to send the distance measuring sensor 300 to the position of the corresponding penetration piece 20 .

[0041] In some embodiments, a hollow hole is provided on the side wall of the storage cavity 120. The hollow hole can prevent the collision between the speaker cover 31 and the bracket body 100 when adjusting the horizontal position of the centering device.

[0042] In addition, the present application also provides a centering method for inspecting the outer wall of a penetration piece, and the centering method is based on the above-mentioned centering device and a host computer connected to the centering device, and the host computer includes an algorithm processor and a display screen; the centering method includes the following steps: S1, placing the centering device below the horn cover 31, and the laser locator 500 emits a laser to illuminate the horn cover 31 directly above, and the horn cover 31 is photographed in real time by the camera 400 and fed back to the display screen, and the relative position relationship between the laser locator 500 and the horn cover 31 is determined by observation, and the horizontal position of the centering device is adjusted according to the relative position relationship between the laser locator 500 and the horn cover 31, so that the laser emitted by the laser locator 500 coincides with the outer edge of the horn cover 31, that is, the central axis of the first opening 121 coincides with the axis 32 of the thermal sleeve, and the first centering is completed; S2, moving the centering device upward, so that the horn cover 31 passes through the first opening 121 and enters the storage cavity 120, until the ranging sensor 300 moves to a height position corresponding to the penetration piece, such as Figure 3 As shown; S3, the rotating mechanism drives the distance sensor 300 to rotate, so that the distance sensor 300 rotates around the penetration piece 20 for one circle. During the rotation process, the distance sensor 300 measures the distance values ​​from the distance sensor 300 to the outer wall of the penetration piece 20 at multiple angles, and the measured multiple distance values ​​and the corresponding angle values ​​are fed back to the algorithm processor; S4, the information fed back in step S3 is processed on the algorithm processor to obtain the position information of the central axis of the first opening 121 relative to the penetration piece axis 21; S5, according to the position information of the central axis of the first opening 121 relative to the penetration piece axis 21 obtained in step S4, the horizontal position of the centering device is adjusted to make the central axis of the first opening 121 coincide with the penetration piece axis 21, and the second centering is completed. At this time, the centering device is in the best inspection position, and the inspection mechanism arranged on the centering device can perform high-precision inspection on the outer wall of the penetration piece 20.

[0043] In the above step S4 , the algorithm processor uses specific algorithm software to process the multiple distance values ​​and the corresponding angle values ​​to obtain the position information of the center axis of the first opening 121 relative to the through-piece axis 21 .

[0044] In the above step S2, the centering device is driven by the lifting mechanism to move upward.

[0045] The centering device and centering method for inspecting the outer wall of a through-piece provided in the present application perform initial centering by the cooperation of a laser locator 500 and a camera 400, so that the central axis of the first opening 121 coincides with the axis 32 of the thermal sleeve, thereby allowing the horn cover 31 to smoothly pass through the first opening 121 into the storage cavity 120 for the next step of operation; and perform a second centering by the cooperation of a rotating mechanism and a ranging sensor 300, so that the central axis of the first opening 121 coincides with the axis 21 of the through-piece, thereby placing the centering device in the best inspection position, and enabling accurate inspection of the outer wall of the through-piece.

[0046] The above embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present application, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present application. Therefore, all equivalent changes and modifications made to the scope of the claims of the present application should belong to the scope covered by the claims of the present application.

Claims

1. A centering device for inspecting the outer wall of a penetration, characterized in that: include: A bracket body, wherein a storage cavity is disposed inside the bracket body, a first opening is disposed at the top of the storage cavity for allowing the speaker cover to pass through, a camera and a plurality of laser locators are disposed at the bottom of the storage cavity, the camera is directly facing the first opening and the camera is located on the central axis of the first opening, and the laser locators are evenly distributed on a pitch circle centered on the camera; A rotating mechanism is arranged on the top of the bracket body; A distance measuring sensor is arranged on the rotating mechanism; The rotating mechanism drives the distance measuring sensor to rotate around the first opening, and the distance measuring sensor always faces the direction where the central axis of the first opening is located.

2. The centering device for inspecting the outer wall of a penetration piece according to claim 1, characterized in that: The diameter of the pitch circle is equal to the diameter of the outer edge of the horn cover.

3. The centering device for inspecting the outer wall of a penetration piece according to claim 2, characterized in that: The number of the laser locators is three or more.

4. The centering device for inspecting the outer wall of a penetration piece according to claim 1, characterized in that: The rotating mechanism includes a rotating motor and a rotating disk. The rotating motor is arranged on the bracket body and is provided with driving teeth. The rotating disk is arranged on the top of the bracket body and is provided with driven teeth meshing with the driving teeth at the bottom of the rotating disk. The central axis of rotation of the rotating disk coincides with the central axis of the first opening.

5. The centering device for inspecting the outer wall of a penetration piece according to claim 4, characterized in that: A sensor mounting seat extending upward is arranged above the rotating disk, and the distance measuring sensor is mounted on the upper part of the sensor mounting seat.

6. The centering device for inspecting the outer wall of a penetration piece according to claim 1, characterized in that: The centering device comprises a lifting mechanism, the lifting mechanism is connected to the support body, and the lifting mechanism drives the support body to perform an ascending or descending movement.

7. The centering device for inspecting the outer wall of a penetration piece according to claim 1, characterized in that: The side wall of the storage cavity is provided with a hollow hole.

8. A centering method for inspecting the outer wall of a penetration, characterized in that: The centering method is based on the centering device according to any one of claims 1 to 7 and a host computer connected to the centering device, wherein the host computer includes an algorithm processor and a display screen; the centering method includes the following steps: S1, placing the centering device below the horn cover, the laser locator emitting laser light upward to illuminate the horn cover, photographing the horn cover in real time through the camera and feeding back to the display screen, determining the relative position relationship between the laser locator and the horn cover by observation, adjusting the horizontal position of the centering device according to the relative position relationship between the laser locator and the horn cover, so that the laser emitted by the laser locator coincides with the outer edge of the horn cover; S2, moving the centering device upwards so that the speaker cover enters the storage cavity through the first opening until the distance measuring sensor moves to a height position corresponding to the penetration piece; S3, the rotating mechanism drives the distance measuring sensor to rotate, so that the distance measuring sensor rotates around the penetration member for one circle, and the distance measuring sensor measures the distance values ​​from the distance measuring sensor to the outer wall of the penetration member at multiple angles during the rotation process, and the measured multiple distance values ​​and corresponding angle values ​​are fed back to the algorithm processor; S4, processing the information fed back in step S3 on the algorithm processor to obtain position information of the center axis of the first opening relative to the axis of the penetration member; S5. Adjust the horizontal position of the centering device according to the position information of the center axis of the first opening relative to the axis of the penetration member obtained in step S4, so that the center axis of the first opening coincides with the axis of the penetration member, thereby completing the centering.

9. The centering method for inspecting the outer wall of a penetration piece according to claim 8, characterized in that: In step S2, the centering device is driven by the lifting mechanism to move upward.

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