Centring device and centring method for inspection of the outer wall of a through-piece

Abstract

The application relates to a centering device for through-wall inspection, which comprises a support body, a rotating mechanism and a distance measuring sensor. The support body is internally provided with a receiving cavity, the top of the receiving cavity is provided with a first opening, the bottom of the receiving cavity is provided with a camera and a laser positioner, the camera is opposite to the first opening and is located on the central axis of the first opening, and the laser positioners are uniformly distributed on a graduation circle with the camera as the center. The rotating mechanism is arranged at the top of the support body. 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 is always directed towards the direction of the central axis of the first opening. The application also provides a centering method for through-wall inspection based on the above-mentioned centering device. The centering device and the centering method provided by the application complete primary centering through the laser positioner and the camera, so that the loudspeaker cover can smoothly pass through the first opening; and secondary centering is completed through the rotating mechanism and the distance measuring sensor, so that the centering device is in the best inspection position.

Description

Technical Field

[0001] This application relates to the field of external wall inspection technology, and more specifically, to a centering device and method for inspecting the external wall of the penetration part of the top cover of a nuclear power plant reactor pressure vessel. Background Technology

[0002] The pressure vessel top cover 10 of a nuclear power plant reactor is a core piece of equipment in the reactor. For example... Figure 1 As shown, the main body of the pressure vessel top cover 10 is hemispherical. Several through-holes 20 are installed on the pressure vessel top cover 10, and a heat-insulating tube 30 is installed inside each through-hole 20. Each heat-insulating tube 30 has a horn-shaped cover 31 at its end, and the diameter of the horn-shaped cover 31 is larger than the outer diameter of the through-hole 20. Simultaneously, the heat-insulating tube 30 has a certain range of motion in the radial direction relative to the through-hole 20. Therefore, the axis 32 of the heat-insulating tube and the axis 21 of the through-hole are not concentric. Due to the special structural relationship between the heat-insulating tube 30 and the through-hole 20, the horn-shaped cover 31 usually hinders the external wall inspection mechanism from performing centering checks on the through-hole 20, thus affecting the progress of the external wall inspection of the through-hole. Summary of the Invention

[0003] The technical problem to be solved by this application is to provide a centering device for inspecting the outer wall of a penetrating component, and a centering method for performing inspection using the centering device.

[0004] The technical solution adopted by this application to solve its technical problem is: constructing a centering device for inspecting the outer wall of a penetrating component, comprising:

[0005] The support body has a storage cavity inside. The top of the storage cavity has a first opening. The bottom of the storage cavity has a camera and several laser locators. The camera faces the first opening and is located on the central axis of the first opening. The laser locators are evenly distributed on a pitch circle centered on the camera.

[0006] A rotating mechanism is located at the top of the support body;

[0007] A ranging sensor is mounted on the rotating mechanism, which drives the ranging sensor to rotate around the first opening. The ranging sensor always faces the direction of the central axis of the first opening.

[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 positioners are provided.

[0010] In some embodiments, the rotating mechanism comprises a rotating motor and a rotating disc, the rotating motor is arranged on the support body and the rotating motor is provided with a driving tooth, the rotating disc is arranged on the top of the support body and the lower part of the rotating disc is provided with a driven tooth engaged with the driving tooth.

[0011] In some embodiments, an upwardly extending sensor mounting seat is arranged above the rotating disc, and the distance measuring sensor is mounted on the upper part of the sensor mounting seat.

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

[0013] In some embodiments, the side wall of the receiving cavity is provided with a hollow hole.

[0014] In addition, the application also provides a centering method for through-wall inspection, which is based on the above-mentioned centering device and the upper computer connected thereto, and the upper computer comprises an algorithm processor and a display screen; the centering method comprises the following steps:

[0015] S1, the centering device is placed below the horn cover, the laser positioner emits laser light upward to irradiate the horn cover, the horn cover is photographed in real time by the camera and fed back to the display screen, the relative position relationship between the laser positioner and the horn cover is determined by observation, the horizontal position of the centering device is adjusted according to the relative position relationship between the laser positioner and the horn cover, so that the laser emitted by the laser positioner coincides with the outer edge of the horn cover;

[0016] S2, the centering device is moved upward, the horn cover enters the inside of the receiving cavity through the first opening, and the distance measuring sensor moves to a height position corresponding to the through-wall;

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

[0018] 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 relative to the axis of the through-wall;

[0019] S5, adjusting the horizontal position of the centering device according to the position information of the central axis of the first opening relative to the axis of the penetrating member, so that the central axis of the first opening coincides with the axis of the penetrating member, and completing the centering.

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

[0021] The present application has at least the following beneficial effects: the centering device and the centering method for penetrating member outer wall inspection provided by the present application complete the first centering through the cooperation of the laser positioner and the camera, so that the central axis of the first opening coincides with the axis of the hot jacket pipe, thereby enabling the horn cover to smoothly pass through the first opening into the receiving cavity for the next operation; the second centering is completed through the cooperation of the rotating mechanism and the distance measuring sensor, so that the central axis of the first opening coincides with the axis of the penetrating member, thereby enabling the centering device to be in the best inspection position and enabling the penetrating member outer wall to be accurately inspected. BRIEF DESCRIPTION OF DRAWINGS

[0022] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0023] Figure 1 is a structural schematic view of a pressure vessel top cover and a penetrating member to be inspected;

[0024] Figure 2 is a structural schematic view of the centering device for penetrating member outer wall inspection provided by the present application;

[0025] Figure 3 is Figure 2 is a schematic view of the centering device in the working state in

[0026] BRIEF DESCRIPTION OF DRAWINGS

[0027] pressure vessel top cover 10, penetrating member 20, axis of penetrating member 21, hot jacket pipe 30, horn cover 31, axis of hot jacket pipe 32;

[0028] support body 100, bottom plate 110, receiving cavity 120, first opening 121, rotating disc 200, rotating motor 210, sensor mounting seat 220, driven tooth 230, distance measuring sensor 300, camera 400, laser positioner 500. DETAILED DESCRIPTION

[0029] In order to make the technical features, objectives and effects of the present application clearer, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of ways beyond the specific embodiments described and claimed herein. It can be apparent that there are many ways of implementing the present application, and the present application should not be limited to the specific embodiments disclosed in the following description.

[0030] In the description of the present application, it should be understood that the terms "longitudinal", "lateral", "upper", "lower", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship commonly used when the product of the present application is used, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0031] In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0032] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above" the second feature can be directly above or obliquely above the second feature, or only indicate that the first feature is higher than the second feature in horizontal height. The first feature "below" the second feature can be directly below or obliquely below the second feature, or only indicate that the first feature is lower than the second feature in horizontal height.

[0034] Reference Figure 1The main body of the pressure vessel top cover 10 of an existing nuclear power plant reactor is hemispherical. Several through-holes 20 are installed on the pressure vessel top cover 10, and a heat-shrinking sleeve 30 is installed inside each through-hole. A flared shroud 31 is provided at the end of each heat-shrinking sleeve 30, and the diameter of the flared shroud 31 is larger than the outer diameter of the through-hole 20. The through-hole 20 has its central axis 21 as its axis, and the heat-shrinking sleeve 30 has its central axis 32 as its axis. Because the inner diameter of the through-hole 20 is larger than the outer diameter of the heat-shrinking sleeve 30, the heat-shrinking sleeve 30 has a certain range of radial movement relative to the through-hole 20. Therefore, the axes 21 and 32 are often not coincident. Figure 1 As shown. The misalignment between the axis 21 of the through-piece and the axis 32 of the heat jacket makes it inconvenient to inspect the outer wall of the through-piece. If the inspection mechanism is concentric with the axis 21 of the through-piece, it is easy to collide with the horn cover 31 at the end of the heat jacket 30. If the inspection mechanism is concentric with the axis 32 of the heat jacket, the inspection mechanism is in an eccentric position relative to the through-piece 20, which affects the accuracy of the inspection.

[0035] To address the aforementioned issues, this embodiment provides a centering device and method for inspecting the outer wall of a penetrating component. Through two centering operations, the horn cover 31 can be effectively avoided, and the inspection mechanism can be kept concentric with the axis 21 of the penetrating component, ensuring the accuracy of the inspection.

[0036] Figure 2 This application illustrates a centering device for inspecting the outer wall of a penetrating member according to some embodiments. The centering device includes a support body 100, a rotating mechanism, a distance sensor 300, a camera 400, and several laser locators 500. Specifically, the support body 100 has a receiving cavity 120 inside, with a first opening 121 at the top of the receiving cavity 120. The diameter of the first opening 121 is larger than the outer diameter of the horn cover 31. A base plate 110 is provided at the bottom of the receiving cavity 120. The rotating mechanism is located at the top of the support body 100, and the distance sensor 300 is mounted on the rotating mechanism. The camera 400 and the laser locators 500 are mounted on the base plate 110. The camera 400 faces the first opening 121 and is located on the central axis of the first opening 121. The laser locators 500 are evenly distributed on a pitch circle centered on the camera 400. The rotating mechanism drives the distance sensor 300 to rotate around the first opening 121, while the distance sensor 300 always faces the direction of the central axis of the first opening 121.

[0037] In some embodiments, the diameter of the pitch circle where the laser positioner 500 is located is equal to the diameter of the outer edge of the horn cover 31, and three or more laser positioners 500 are provided. Since the diameter of the pitch circle where the laser positioner 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 of the heat jacket 32, the laser emitted by the laser positioner 500 will fall on the outer edge of the horn cover 31, which can be displayed very intuitively; and the fact that three or more laser positioners 500 are provided can improve the accuracy of the judgment. With the above structure, during the initial centering, it can be determined whether the central axis of the first opening 121 coincides with the axis of the heat jacket 32 ​​by whether the laser emitted by the laser positioner 500 falls entirely on the outer edge of the horn cover 31.

[0038] In some embodiments, the rotating mechanism includes a rotary motor 210 and a rotating disk 200. The rotary motor 210 is mounted on the support body 100 and has a drive tooth that drives the drive tooth to rotate. The rotating disk 200 is mounted on the top of the support body 100, and a driven tooth 230 that meshes with the drive tooth is located at the lower part of the rotating disk 200. When the rotary motor 210 is working, the driven tooth drives the driven tooth 230 to rotate, thereby causing the rotating disk 200 to rotate. Furthermore, the rotary motor 210 is preferably a servo motor for better control.

[0039] In some embodiments, a sensor mounting base 220 extending upward is provided above the rotating disk 200, and the ranging sensor 300 is mounted on the upper part of the sensor mounting base 220. The sensor mounting base 220 raises the position of the ranging sensor 300, making it easier for the ranging sensor 300 to access the through member 20.

[0040] In some embodiments, the centering device includes a lifting mechanism connected to the support body 100. The lifting mechanism drives the support body 100 to move up or down to cooperate with the centering device to deliver the ranging sensor 300 to the position of the corresponding through member 20.

[0041] In some embodiments, the side wall of the receiving cavity 120 is provided with a perforation. The perforation can prevent collision between the speaker cover 31 and the support body 100 when adjusting the horizontal position of the centering device.

[0042] Furthermore, this application also provides a centering method for inspecting the outer wall of a penetrating component. The centering method is based on the aforementioned 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: S1, placing the centering device below the horn cover 31, the laser positioner 500 emitting a laser beam upwards to illuminate the horn cover 31, and the camera 400 capturing real-time images of the horn cover 31 and displaying the images on the screen. The relative positional relationship between the laser positioner 500 and the horn cover 31 is determined by observation. Based on this relative positional relationship, the horizontal position of the centering device is adjusted so that the laser beam emitted by the laser positioner 500 coincides with the outer edge of the horn cover 31, thus aligning the central axis of the first opening 121 with the axis of the heat-shrink tubing 32, completing the first centering step; S2, moving the centering device upwards so that the horn cover 31 enters the receiving cavity 120 through the first opening 121, until the distance sensor 300 moves to a height position corresponding to the penetrating component. Figure 3 As shown; S3, the rotating mechanism drives the ranging sensor 300 to rotate, causing the ranging sensor 300 to rotate around the penetrating member 20 for one revolution. During the rotation, the ranging sensor 300 measures the distance values ​​from the ranging sensor 300 to the outer wall of the penetrating member 20 at multiple angles. The measured distance values ​​and corresponding angle values ​​are fed back to the algorithm processor; S4, the algorithm processor processes the information fed back in step S3 to obtain the position information of the central axis of the first opening 121 relative to the axis 21 of the penetrating member; S5, the horizontal position of the centering device is adjusted according to the position information of the central axis of the first opening 121 relative to the axis 21 of the penetrating member obtained in step S4, so that the central axis of the first opening 121 and the axis 21 of the penetrating member coincide, completing the second centering. At this time, the centering device is in the optimal inspection position, and the inspection mechanism set on the centering device can perform high-precision inspection of the outer wall of the penetrating member 20.

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

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

[0045] The centering device and method for inspecting the outer wall of the penetrating component provided in this application achieve initial centering through the cooperation of a laser locator 500 and a camera 400, aligning the central axis of the first opening 121 with the axis 32 of the heat sleeve, thus allowing the horn cover 31 to smoothly pass through the first opening 121 and enter the receiving cavity 120 for the next operation; the second centering, achieved through the cooperation of a rotating mechanism and a distance sensor 300, aligns the central axis of the first opening 121 with the axis 21 of the penetrating component, thus placing the centering device in the optimal inspection position for precise inspection of the outer wall of the penetrating component.

[0046] The above embodiments merely illustrate specific implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application's patent. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of this application, and can also make several modifications and improvements, all of which fall within the protection scope of this application. Therefore, any equivalent transformations and modifications made within the scope of the claims of this application should be covered by the claims of this application.

Claims

1. A centering device for through-wall inspection, characterized by, The application relates to a centering device and a centering method. The centering device comprises a support body, a receiving cavity is arranged in the support body, a first opening allowing a loudspeaker cover to pass through is arranged at the top of the receiving cavity, a camera and a plurality of laser positioners are arranged at the bottom of the receiving cavity, the camera is opposite to the first opening and is located on the central axis of the first opening, and the laser positioners are uniformly distributed on a graduation circle with the camera as the center. A rotating mechanism is arranged at the top of the support 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 of the central axis of the first opening.

2. The centering apparatus for through-wall inspection of claim 1, wherein, The diameter of the graduation circle is equal to the diameter of the outer edge of the loudspeaker cover.

3. The centering apparatus for through-wall inspection of claim 2, wherein, The laser positioners are three or more.

4. The centering apparatus for through-wall inspection of claim 1, wherein, The rotating mechanism comprises a rotating motor and a rotating disc, the rotating motor is arranged on the support body and is provided with driving teeth, the rotating disc is arranged at the top of the support body and is provided with driven teeth which are engaged with the driving teeth at the lower part of the rotating disc, and the central axis of the rotating disc is coincident with the central axis of the first opening.

5. The centering apparatus for through-wall inspection of claim 4, wherein, An upwardly-extending sensor mounting seat is arranged above the rotating disc, and the distance measuring sensor is mounted on the upper part of the sensor mounting seat.

6. The centering apparatus for through-wall inspection of claim 1, wherein, The centering device comprises a lifting mechanism which is connected with the support body and drives the support body to move upwards or downwards.

7. The centering apparatus for through-wall inspection of claim 1, wherein, Hollow holes are arranged in the side wall of the receiving cavity.

8. A centering method for through-wall inspection, characterized by, The centering method is based on the centering device and a host computer connected with the centering device, the host computer comprises an algorithm processor and a display screen, and the centering method comprises the following steps: S1, the centering device is arranged below the loudspeaker cover, the laser positioners emit laser beams to the loudspeaker cover in the upward direction, the camera is used to take pictures of the loudspeaker cover in real time and feed back to the display screen, the relative position relationship between the laser positioners and the loudspeaker cover is determined by observation, the horizontal position of the centering device is adjusted according to the relative position relationship between the laser positioners and the loudspeaker cover, and the laser beams emitted by the laser positioners are coincident with the outer edge of the loudspeaker cover; S2, the centering device is moved upwards, the loudspeaker cover enters the receiving cavity through the first opening, and the distance measuring sensor is moved to a height position corresponding to the through part; S3, the rotating mechanism drives the distance measuring sensor to rotate, the distance measuring sensor rotates around the through part for one circle, the distance measuring sensor measures distance values of the distance measuring sensor to the outer wall of the through part at a plurality of angles in the rotating process, and the plurality of distance values and corresponding angle values are fed back to the algorithm processor; S4, the information fed back in step S3 is processed on the algorithm processor, and position information of the central axis of the first opening relative to the axis of the through part is obtained. S5, adjusting the horizontal position of the centering device according to the position information of the central axis of the first opening relative to the axis of the through member, so that the central axis of the first opening coincides with the axis of the through member, and completing the centering.

9. The centering method for through-wall inspection of claim 8, wherein, In step S2, the centering device is driven by the lifting mechanism to move upward.

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