Ultrasonic scanning device for reactor pressure vessel

Abstract

The invention discloses an ultrasonic scanning device for a reactor pressure vessel. The ultrasonic scanning device comprises a positioning unit and an ultrasonic scanning unit, the positioning unit comprises a guide rail; the ultrasonic scanning unit comprises a first base body and three ultrasonic scanning assemblies integrated on the first base body, and ultrasonic scanning work of a connecting pipe safety end welding seam, a connecting pipe barrel connecting welding seam connecting pipe side and an inner fillet area is completed through the three ultrasonic scanning assemblies. The first base body is connected with the guide rail and can move back and forth relative to the guide rail in the extending direction of the guide rail. The guide rail can rotate around the central axis in the extending direction of the guide rail. The three ultrasonic scanning assemblies move back and forth along the guide rail along with the first base body so as to reach the corresponding working positions and rotate in the circumferential direction along with the guide rail so as to conduct comprehensive scanning at the corresponding working positions, and therefore the integration degree of the device is improved. Besides, the calibration test piece is arranged on the first positioning assembly, ultrasonic probe calibration of the three ultrasonic scanning assemblies can be carried out underwater, ashore calibration is not needed, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of nondestructive testing of reactor pressure vessels, and in particular to an ultrasonic scanning device for a reactor pressure vessel. Background Art

[0002] In the non-destructive testing of reactor pressure vessel nozzles, three locations need to be inspected: the nozzle safety end weld, nozzle barrel connection weld, and the inner fillet area. However, the three inspections corresponding to these three locations currently require more than two devices to complete, and multiple devices need to be operated sequentially and calibrated for water discharge. The in-service inspection of reactor pressure vessels takes a long time, and there is still room for improvement in work efficiency. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an ultrasonic scanning device for a reactor pressure vessel in view of at least one defect of the above-mentioned prior art.

[0004] The technical solution adopted by the present invention to solve the technical problem is: to provide an ultrasonic scanning device for a reactor pressure vessel, which includes a positioning unit and an ultrasonic scanning unit;

[0005] The positioning unit includes a guide rail for at least partially extending into the interior of the nozzle of the reactor pressure vessel;

[0006] The ultrasonic scanning unit comprises a first substrate, a first ultrasonic scanning assembly for scanning the weld of the safety end of the pipe, a second ultrasonic scanning assembly for scanning the weld of the pipe barrel connection, and a third ultrasonic scanning assembly for scanning the inner fillet area, wherein the first ultrasonic scanning assembly, the second ultrasonic scanning assembly and the third ultrasonic scanning assembly are respectively arranged on the first substrate;

[0007] The first base is connected to the guide rail and can move back and forth relative to the guide rail along the extension direction of the guide rail; the guide rail can rotate around the central axis of the extension direction thereof.

[0008] In some embodiments, the first substrate includes a first substrate and a second substrate spaced apart from each other, and a third substrate connected between the first substrate and the second substrate, the third substrate encloses a first hollow cavity, the first cavity passes through the first substrate and the second substrate, and the guide rail passes through the first cavity;

[0009] The first ultrasonic scanning assembly includes a first bracket and a first ultrasonic probe connected to each other, and the first bracket is connected to the first substrate; the second ultrasonic scanning assembly includes a second bracket and a second ultrasonic probe connected to each other, and the second bracket is connected to the third substrate; the third ultrasonic scanning assembly includes a third bracket and a third ultrasonic probe connected to each other, and the third bracket is connected to the first substrate and the second substrate respectively.

[0010] In some embodiments, the first bracket includes a first cylinder connected to the first substrate, the first cylinder is in driving connection with the first ultrasonic probe, the first ultrasonic probe can move back and forth between a first extended position and a first retracted position under the drive of the first cylinder, and the first ultrasonic probe is closer to the first substrate in the first retracted position than in the first extended position;

[0011] And / or, the second bracket includes a second cylinder connected to the third substrate, the second cylinder is transmission-connected to the second ultrasonic probe, the second ultrasonic probe can move back and forth between a second extended position and a second retracted position under the drive of the second cylinder, and the second ultrasonic probe is closer to the third substrate in the second retracted position than in the second extended position.

[0012] And / or, the third bracket includes a third cylinder, a support rod, a rotating shaft and a rotating shaft seat, the fixed end of the third cylinder is connected to the second substrate, the output end of the third cylinder is connected to the first end of the support rod, the second end of the support rod is connected to the third ultrasonic probe, the rotating shaft seat is connected to the first substrate, the rotating shaft is connected to the rotating shaft seat, and the rotating shaft is rotatably connected to the position between the first end and the second end of the support rod.

[0013] In some embodiments, the ultrasonic scanning unit further includes a first driving motor disposed on the third substrate, and a gear drivingly connected to an output shaft of the first driving motor;

[0014] The guide rail is provided with a rack extending along the extension direction of the guide rail, and the gear is meshed with the rack.

[0015] In some embodiments, the positioning unit also includes a first positioning component for positioning on the inner circumference of the cylinder of the reactor pressure vessel and a second positioning component for positioning on the inner circumference of the connecting pipe, and the first positioning component and the second positioning component are respectively connected to both ends of the guide rail.

[0016] In some embodiments, the reactor pressure vessel ultrasonic scanning device further includes a calibration specimen, and the calibration specimen is disposed on the first positioning assembly.

[0017] In some embodiments, the first positioning assembly includes a second base and a second drive motor, the second drive motor is disposed in a second cavity enclosed by the second base, and the output shaft of the second drive motor is drivingly connected to the guide rail.

[0018] In some embodiments, the first positioning assembly further comprises a support arm and an underwater suction cup for adsorbing on the inner circumference of the cylinder, the support arm is connected to the second base, and the underwater suction cup is connected to an end of the support arm away from the second base;

[0019] And / or, the first positioning assembly further includes an underwater propeller connected to the second base.

[0020] In some embodiments, the first positioning assembly further includes a thrust trigger member, which is connected to an end of the support arm away from the second base and is located on one side of the underwater suction cup.

[0021] In some embodiments, the second positioning assembly includes a third base, a driving mechanism and a support member, the third base is connected to the second end of the guide rail, and the driving mechanism is disposed on the third base;

[0022] The driving mechanism is in transmission connection with the support member to drive the support member to move back and forth between a fourth extended position and a fourth retracted position, wherein the support member is closer to the third base body when in the fourth retracted position than when in the fourth extended position, and the support member abuts against the inner circumferential surface of the connecting pipe when in the fourth extended position.

[0023] In some embodiments, a plurality of balls are disposed on the third substrate, and the balls are used for rolling contact with the inner circumference of the connecting pipe.

[0024] The present invention has at least the following beneficial effects: the ultrasonic scanning device for the reactor pressure vessel of the present invention uses three ultrasonic scanning components to respectively complete the ultrasonic scanning work of three positions: the weld at the safety end of the pipe connection, the weld at the connection of the pipe barrel, and the inner fillet area; the three ultrasonic scanning components are integrated on the first substrate, and can move back and forth relative to the guide rail along the extension direction of the guide rail with the first substrate to reach the corresponding working position, and rotate circumferentially with the central axis of the guide rail in its extension direction to perform a comprehensive scan at the corresponding working position. As a result, the integration of the device is improved, and only one device is needed to complete the ultrasonic scanning work at three positions, shortening the time of in-service inspection of the reactor pressure vessel and correspondingly improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

[0026] Figure 1 is a schematic diagram of the three-dimensional structure of a reactor pressure vessel of some embodiments;

[0027] Figure 2 yes Figure 1 A schematic diagram of the partial structure of the reactor pressure vessel shown in another viewing angle;

[0028] Figure 3 is a schematic diagram of the three-dimensional structure of an ultrasonic scanning device for a reactor pressure vessel in some embodiments of the present invention;

[0029] Figure 4 yes Figure 3 A schematic diagram of the three-dimensional structure of an ultrasonic scanning unit of an ultrasonic scanning device for a reactor pressure vessel is shown;

[0030] Figure 5 yes Figure 4 The schematic diagram of the structure of the ultrasonic scanning unit shown in another viewing angle;

[0031] Figure 6 yes Figure 4 A schematic structural diagram of a second ultrasonic scanning component of the ultrasonic scanning unit shown;

[0032] Figure 7 yes Figure 4 A schematic structural diagram of a third ultrasonic scanning component of the ultrasonic scanning unit shown;

[0033] Figure 8 yes Figure 4 A schematic structural diagram of a first driving motor of the ultrasonic scanning unit shown;

[0034] Fig. 9 yes Figure 3 A schematic structural diagram of a first positioning assembly of an ultrasonic scanning device for a reactor pressure vessel;

[0035] Fig.10 yes Fig. 9 A schematic diagram of the longitudinal cross-sectional structure of the first positioning assembly shown;

[0036] Fig.11 yes Figure 3 A schematic structural diagram of a second positioning assembly of the reactor pressure vessel ultrasonic scanning device shown;

[0037] Fig.12 yes Fig.11 A schematic diagram of the exploded structure of the second positioning assembly shown;

[0038] Fig.13 yes Figure 5 The structure diagram of the ultrasonic scanning unit shown is shown in another perspective. DETAILED DESCRIPTION

[0039] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0040] When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or one or more intervening elements may also be present. The terms "first", "second", "third", etc. are only used to facilitate the description of the technical solution and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0041] like Figure 1 As shown, the reactor pressure vessel includes a cylinder 10 and a plurality of connecting pipes 11. One end of each connecting pipe 11 is connected to the cylinder 10 and communicates with the internal space enclosed by the cylinder 10. Depending on the function, the connecting pipe 11 can be divided into an outlet pipe and an inlet pipe. In some embodiments, the number of connecting pipes 11 is six, namely three inlet pipes and three outlet pipes. The reactor pressure vessel during service is located in an underwater environment. When performing ultrasonic scanning and inspection on the reactor pressure vessel, three positions need to be paid attention to: the connecting pipe safety end weld 121, the connecting pipe cylinder connection weld 122 (the location where the connecting pipe 11 and the cylinder 10 are welded) and the fillet area 123 (the junction of the inner circumference and the end face of the connecting pipe 11).

[0042] like Figure 2 As shown, for ease of explanation, the direction Y along the central axis of the connecting pipe 11 is defined as the "axial direction", the direction Z rotating around Y is defined as the "circumferential direction", and the direction X perpendicular to Y is defined as the "radial direction".

[0043] See also Figure 3 The present invention shows an embodiment of an ultrasonic scanning device for a reactor pressure vessel, which includes a positioning unit and an ultrasonic scanning unit 3. The positioning unit includes at least a guide rail 20. The guide rail 20 is used to at least partially extend into the pipe 11 of the reactor pressure vessel and serve as a basis for the ultrasonic scanning unit 3 to move along the axial direction of the pipe 11. That is, the guide rail 20 can be fully extended into the pipe 11; the guide rail 20 can also partially extend into the pipe 11, and the other part is located outside the pipe 11 and inside the cylinder 10.

[0044] The ultrasonic scanning unit 3 includes a first substrate 30, a first ultrasonic scanning assembly 31, a second ultrasonic scanning assembly 32 and a third ultrasonic scanning assembly 33. The first ultrasonic scanning assembly 31, the second ultrasonic scanning assembly 32 and the third ultrasonic scanning assembly 33 are respectively arranged on the first substrate 30. Among them, the first ultrasonic scanning assembly 31 is used to scan the weld 121 of the safety end of the pipe. The second ultrasonic scanning assembly 32 is used to scan the pipe barrel connection weld 122. The third ultrasonic scanning assembly 33 is used to scan the inner fillet area 123. The first substrate 30 is connected to the guide rail 20 and can move back and forth relative to the guide rail 20 along the extension direction of the guide rail 20. Therefore, the first ultrasonic scanning assembly 31, the second ultrasonic scanning assembly 32 and the third ultrasonic scanning assembly 33 arranged on the first substrate 30 can move back and forth relative to the guide rail 20 along the extension direction of the guide rail 20 with the first substrate 30 to reach any axial position inside or outside the pipe 11. Furthermore, the guide rail 20 can also rotate 360° around the central axis in the extension direction thereof, thereby driving the ultrasonic scanning unit 3 to rotate around the central axis in the extension direction of the guide rail 20. Thus, the first ultrasonic scanning assembly 31 and the second ultrasonic scanning assembly 32 can perform a comprehensive scan on the inner circumference of the tube 11 to accurately identify defects, obtain ultrasonic images, etc. The third ultrasonic scanning assembly 33 can perform a comprehensive scan on the inner fillet area 123 on the inner circumference of the cylinder 10 to accurately identify defects, obtain ultrasonic images, etc.

[0045] Specifically, the working principle of the ultrasonic scanning component is to utilize the high-frequency sound waves that will produce reflection and refraction when they propagate in the medium and encounter the interface of different media. By receiving the reflected ultrasonic signal, the structure and defects inside the medium can be analyzed. When scanning the weld 121 at the safety end of the pipe, the first ultrasonic scanning component 31 is moved along the guide rail 20 into the pipe 11 and reaches the vicinity of the weld 121 at the safety end of the pipe, and the first ultrasonic scanning component 31 can be used to obtain the ultrasonic image information of the corresponding weld 121 at the safety end of the pipe. When scanning the pipe barrel connection weld 122, the second ultrasonic scanning component 32 is moved along the guide rail 20 into the pipe 11 and reaches the pipe side of the pipe barrel connection weld 122, and the second ultrasonic scanning component 32 can be used to obtain the ultrasonic image information of the corresponding pipe side of the pipe barrel connection weld 122. When scanning the inner fillet area 123, the third ultrasonic scanning assembly 33 is moved along the guide rail 20 to the outside of the pipe 11 and the inside of the cylinder 10, so that it faces the inner circumference of the cylinder 10 and performs ultrasonic scanning near the inner fillet area 123, and the ultrasonic image information corresponding to the inner fillet area 123 can be obtained. That is, the first ultrasonic scanning assembly 31 completes the ultrasonic scanning of the pipe safety end weld 121 in the pipe 11; the second ultrasonic scanning assembly 32 also completes the ultrasonic scanning of the pipe cylinder connection weld 122 in the pipe 11; and the third ultrasonic scanning assembly 33 completes the ultrasonic scanning of the inner fillet area 123 outside the pipe 11 and inside the cylinder 10.

[0046] In summary, the ultrasonic scanning device for the reactor pressure vessel of the present invention uses three ultrasonic scanning components to respectively complete the ultrasonic scanning work of the three positions of the pipe safety end weld 121, the pipe barrel connection weld 122 and the inner fillet area 123; the three ultrasonic scanning components are integrated on the first substrate 30, and can move back and forth relative to the guide rail 20 along the extension direction of the guide rail 20 with the first substrate 30 to reach the corresponding working position, and rotate circumferentially with the guide rail 20 around the central axis of its extension direction to perform a comprehensive scan at the corresponding working position. As a result, the integration of the device is improved, and only one device is needed to complete the ultrasonic scanning work of the three positions, shortening the time of in-service inspection of the reactor pressure vessel and correspondingly improving the work efficiency.

[0047] In some embodiments, a plurality of first ultrasonic scanning components 31 may be provided, and the plurality of first ultrasonic scanning components 31 may be uniformly distributed along the circumferential direction on the first substrate 30. The second ultrasonic scanning component 32 and the third ultrasonic scanning component 33 are also similar.

[0048] like Figure 4 and Figure 5 As shown, in some embodiments, the first substrate 30 includes a first substrate 301 and a second substrate 302 spaced apart in the axial direction, and a third substrate 303 connected between the first substrate 301 and the second substrate 302. The third substrate 303 encloses a first hollow cavity 304, the first cavity 304 penetrates the first substrate 301 and the second substrate 302, and the guide rail 20 is arranged in the first cavity 304. The first ultrasonic scanning assembly 31 includes a first bracket and a first ultrasonic probe 311 connected to each other, and the first bracket is connected to the first substrate 301. The second ultrasonic scanning assembly 32 includes a second bracket and a second ultrasonic probe 321 connected to each other, and the second bracket is connected to the third substrate 303. The third ultrasonic scanning assembly 33 includes a third bracket and a third ultrasonic probe 331 connected to each other, and the third bracket is connected to the first substrate 301 and the second substrate 302 respectively.

[0049] Specifically, the first bracket can provide a support basis and a position adjustment basis for the first ultrasonic probe 311. The first ultrasonic probe 311 can transmit ultrasonic waves to a position near the weld 121 at the safety end of the pipe, and receive the reflected ultrasonic waves. The reflected ultrasonic waves are converted into electrical signals and can form an ultrasonic image after being amplified and processed. Similarly, the second bracket can provide a support basis and a position adjustment basis for the second ultrasonic probe 321. The second ultrasonic probe 321 can transmit ultrasonic waves to a position near the pipe side of the pipe barrel connecting weld 122, and receive the reflected ultrasonic waves. The reflected ultrasonic waves are converted into electrical signals and can form an ultrasonic image after being amplified and processed. Similarly, the third bracket can provide a support basis and a position adjustment basis for the third ultrasonic probe 331. The third ultrasonic probe 331 can transmit ultrasonic waves to a position near the inner fillet area 123, and receive the reflected ultrasonic waves. The reflected ultrasonic waves are converted into electrical signals and can form an ultrasonic image after being amplified and processed.

[0050] like Figure 4 and Figure 5 As shown, in some embodiments, the first bracket includes a first cylinder 312 and a first transmission mechanism 313. The first cylinder 312 is connected to the first substrate 301, and the first cylinder 312 is transmission-connected to the first ultrasonic probe 311 through the first transmission mechanism 313. In other embodiments, the first transmission mechanism 313 can be omitted, and the output end of the first cylinder 312 can be directly transmission-connected to the first ultrasonic probe 311. The first ultrasonic probe 311 can move back and forth between the first extended position and the first retracted position under the drive of the first cylinder 312, and the first ultrasonic probe 311 is closer to the first substrate 301 in the first retracted position than in the first extended position. Specifically, the first cylinder 312 can drive the first ultrasonic probe 311 away from the first substrate 301 in the radial direction, so as to reach the first extended position, so that the first ultrasonic probe 311 is as close to or in contact with the inner circumferential surface of the pipe 11 as possible. The first cylinder 312 can also drive the first ultrasonic probe 311 to approach the first substrate 301 in the radial direction, so as to recycle the first ultrasonic probe 311. Therefore, when the first ultrasonic probe 311 is in the first retracted position, the ultrasonic scanning unit 3 can be moved along the guide rail 20 so that the first ultrasonic probe 311 reaches the vicinity of the weld 121 at the safety end of the pipe. The first ultrasonic probe 311 reaches the first extended position driven by the first cylinder 312 and rotates with the guide rail 20 to complete a comprehensive scanning operation. After the scanning is completed, the first ultrasonic probe 311 is retracted to the first retracted position so as not to hinder the overall axial movement of the ultrasonic scanning unit 3.

[0051] like Figures 4 to 6As shown, in some embodiments, the second bracket includes a second cylinder 322. The second cylinder 322 is connected to the third substrate 303, and the second cylinder 322 is in transmission connection with the second ultrasonic probe 321. The second ultrasonic probe 321 can move back and forth between the second extended position and the second retracted position under the drive of the second cylinder 322. The second ultrasonic probe 321 is closer to the third substrate 303 in the second retracted position than in the second extended position. Specifically, the second cylinder 322 can drive the second ultrasonic probe 321 to move away from the third substrate 303 in the radial direction, so as to reach the second extended position, so that the second ultrasonic probe 321 is as close to or in contact with the inner circumferential surface of the pipe 11 as possible. The second cylinder 322 can also drive the second ultrasonic probe 321 to approach the third substrate 303 in the radial direction, so as to retract the second ultrasonic probe 321. Therefore, when the second ultrasonic probe 321 is in the second retracted position, the ultrasonic scanning unit 3 can be moved along the guide rail 20, so that the second ultrasonic probe 321 reaches the vicinity of the connecting weld 122 of the connecting tube body. The second ultrasonic probe 321 reaches the second extended position driven by the second cylinder 322 and rotates with the guide rail 20 to complete the scanning work; after the scanning is completed, the second ultrasonic probe 321 is retracted to the second retracted position, so as not to hinder the overall axial movement of the ultrasonic scanning unit 3.

[0052] like Figure 4 , Figure 5 and Figure 7 As shown, in some embodiments, the third bracket includes a third cylinder 332, a support rod 333, a rotating shaft 334 and a rotating shaft seat 335. The fixed end of the third cylinder 332 is connected to the second substrate 302, the output end of the third cylinder 332 is connected to the first end of the support rod 333, the second end of the support rod 333 is connected to the third ultrasonic probe 331, the rotating shaft seat 335 is connected to the first substrate 301, the rotating shaft 334 is connected to the rotating shaft seat 335, and the rotating shaft 334 is rotatably connected to the position between the first end and the second end of the support rod 333. That is, the third cylinder 332 is transmission-connected to the third ultrasonic probe 331, and the third ultrasonic probe 331 can move back and forth between the third extended position and the third retracted position under the drive of the third cylinder 332, and the third ultrasonic probe 331 is closer to the second substrate 302 in the third retracted position than in the third extended position. Specifically, Figure 7The shown orientation is for reference. The support rod 333 and the third cylinder 332 together constitute a lever mechanism. When the output end of the third cylinder 332 outputs power to push the first end of the support rod 333 forward (to the right), the support rod 333 rotates counterclockwise around the rotating shaft 334 (fixed point), and the second end of the support rod 333 where the third ultrasonic probe 331 is located moves downward, so that the third ultrasonic probe 331 gradually approaches the third cylinder 332 until it reaches the third retracted position; when the output end of the third cylinder 332 outputs power to pull the first end of the support rod 333 backward (to the left), the support rod 333 rotates clockwise around the rotating shaft 334 (fixed point), and the second end of the support rod 333 where the third ultrasonic probe 331 is located moves upward, so that the third ultrasonic probe 331 gradually moves away from the third cylinder 332 until it reaches the third extended position. Therefore, when the third ultrasonic probe 331 is in the third retracted position, the ultrasonic scanning unit 3 can be moved along the guide rail 20, so that the third ultrasonic probe 331 reaches the outside of the connecting pipe 11, the inside of the cylinder 10, and the inner fillet area 123. The third ultrasonic probe 331 reaches the third extended position driven by the third cylinder 332, and emits ultrasonic waves vertically toward the inner fillet area 123 at an angle perpendicular to the scanning surface, and rotates with the guide rail 20 to complete a comprehensive scanning operation; after the scanning is completed, the third ultrasonic probe 331 is retracted to the third retracted position, so as not to hinder the overall axial movement of the ultrasonic scanning unit 3.

[0053] like Figure 4 and Figure 5 As shown, in some embodiments, the first substrate 301 and the second substrate 302 are respectively provided with a groove 50, and the groove 50 on the first substrate 301 and the groove 50 on the second substrate 302 are arranged opposite to each other. The shaft seat 335 is connected to the edge area of ​​the groove 50 on the first substrate 301. The shaft 334 spans the groove 50 on the first substrate 301. The first end of the support rod 333 is located in the groove 50 on the first substrate 301. When the third ultrasonic probe 331 is in the third retracted position, the third ultrasonic probe 331 is accommodated in the groove 50 on the second substrate 302.

[0054] like Figure 4 , Figure 5 and Figure 8As shown, in some embodiments, in order to realize the ultrasonic scanning unit 3 to move back and forth relative to the guide rail 20 along the extension direction of the guide rail 20, the ultrasonic scanning unit 3 further includes a first driving motor 34 disposed on the third substrate 303 and a gear 35 connected to the output shaft of the first driving motor 34. A rack (not shown) extending along the extension direction of the guide rail 20 is disposed on the guide rail 20, and the gear 35 is meshed with the rack. Thus, the torque output by the first driving motor 34 is transmitted to the gear 35, and the gear 35 is relatively displaced with the rack when rotating, thereby driving the first substrate 30, the first ultrasonic scanning assembly 31 disposed on the first substrate 30, the second ultrasonic scanning assembly 32 and the third ultrasonic scanning assembly 33 to move back and forth relative to the guide rail 20 along the extension direction of the guide rail 20. It can be understood that the above-mentioned gear rack transmission mechanism is mainly used to convert the rotary motion of the first driving motor 34 into linear motion. In other embodiments, in addition to the rack and pinion transmission mechanism, other transmission forms may be used to convert the rotary motion of the first drive motor 34 into linear motion, such as a ball screw mechanism, a crank slider mechanism, etc.

[0055] like Figure 3 As shown, in some embodiments, the positioning unit further includes a first positioning assembly 21 and a second positioning assembly 22, and the first positioning assembly 21 and the second positioning assembly 22 are respectively connected to the two ends of the guide rail 20. The first positioning assembly 21 is used to be positioned on the inner circumference of the cylinder 10 of the reactor pressure vessel. The second positioning assembly 22 is used to be positioned on the inner circumference of the connecting pipe 11. That is, when working, the first positioning assembly 21 is located inside the cylinder 10 and outside the connecting pipe 11; the second positioning assembly 22 is located inside the connecting pipe 11. The first positioning assembly 21 and the second positioning assembly 22 are used to perform two-point positioning on the outside and inside of the connecting pipe 11, thereby ensuring the stability and reliability of the ultrasonic scanning unit 3 moving along the guide rail 20 and rotating with the guide rail 20.

[0056] In order to realize the 360° circumferential rotation of the guide rail 20 around the central axis of its extension direction, as shown in FIG. Figure 3 , Fig. 9 and Fig.10 As shown, in some embodiments, the first positioning assembly 21 includes a second base 210 and a second drive motor 211, the second drive motor 211 is disposed in a second cavity 212 enclosed by the second base 210, and the output shaft of the second drive motor 211 is transmission-connected to the guide rail 20. Thus, the torque output by the second drive motor 211 is transmitted to the guide rail 20, thereby driving the guide rail 20 to rotate circumferentially.

[0057] like Figure 3 , Fig. 9 and Fig.10As shown, in some embodiments, the first positioning assembly 21 also includes a support arm 213 and an underwater suction cup 214 for adsorbing on the inner circumference of the cylinder 10, the support arm 213 is connected to the second substrate 210, and the underwater suction cup 214 is connected to one end of the support arm 213 away from the second substrate 210. Specifically, the underwater suction cup 214 in the prior art has multiple types, and one can be selected according to specific needs. For example, the underwater suction cup 214 can be a vacuum underwater suction cup, which includes a motor, a vacuum pump and a suction cup, and the motor drives the vacuum pump to extract the air and water in the suction cup to form a negative pressure to adsorb the object. Alternatively, the underwater suction cup 214 can be an underwater electric suction cup, which includes a housing, a submersible motor and an impeller arranged in the housing, and the submersible motor drives the impeller to rotate at high speed to generate a vortex, and the vortex core forms a negative pressure, and the first positioning assembly 21 is provided with adhesion through the electromechanical and hydraulic integrated device.

[0058] like Figure 3 , Fig. 9 and Fig.10 As shown, in some embodiments, the first positioning assembly 21 also includes an underwater propeller 215 connected to the second base 210. The underwater propeller 215 is mainly used to provide self-driving force for the reactor pressure vessel ultrasonic scanning device as a whole. The underwater propeller 215 converts power into thrust to enable the reactor pressure vessel ultrasonic scanning device to move as a whole in the water. Specifically, there are many types of underwater propellers 215 in the prior art, and one can be selected according to specific needs. For example, the underwater propeller 215 can be a propeller-type vector underwater propeller, which generates thrust by rotating the propeller, and can be a fixed or variable pitch design to achieve different propulsion effects and maneuverability. Alternatively, the underwater propeller 215 can also be a water jet vector propeller, which uses a propulsion pump to rotate at high speed to generate a high-speed water flow, and generates a reaction force through the injection of water flow to propel.

[0059] like Fig.11 and Fig.12As shown, in some embodiments, the second positioning assembly 22 includes a third base 220, a driving mechanism 221 and a first support member 222. The third base 220 is connected to the second end of the guide rail 20, and the driving mechanism 221 is disposed on the third base 220. The driving mechanism 221 is transmission-connected to the first support member 222 to drive the first support member 222 to move back and forth between a fourth extended position and a fourth retracted position. The first support member 222 is closer to the third base 220 in the fourth retracted position than in the fourth extended position. The first support member 222 abuts against the inner circumferential surface of the connecting pipe 11 in the fourth extended position. Specifically, the driving mechanism 221 may include a fourth cylinder 2211 and a connecting rod mechanism 2212. The connecting rod mechanism 2212 is connected between the fourth cylinder 2211 and the first support member 222. The fourth cylinder 2211 drives the connecting rod mechanism 2212 to move, thereby driving the first support member 222 to move between the fourth extended position and the fourth retracted position. Further, as Fig.11 and Fig.12 In the illustrated embodiment, the third base 220 includes a first portion 2201 and a second portion 2202 connected to each other, the driving mechanism 221 is disposed on the first portion 2201, and the second portion 2202 is connected to the second end of the guide rail 20. The driving mechanism 221 and the first support member 222 are contained in a third cavity defined by the first portion 2201 and the second portion 2202. The first support member 222 can extend or retract into the third cavity. The first support member 222 can be an elastic member or a ball capable of rolling contact with the inner circumference of the connecting pipe 11 to prevent the inner circumference of the connecting pipe 11 from being scratched.

[0060] Furthermore, if Fig.11 and Fig.12 As shown, in some embodiments, a plurality of balls 223 are provided on the first part 2201 of the third substrate 220, and the balls 223 are used to roll in contact with the inner circumference of the connecting pipe 11 to prevent the third substrate 220 from scratching the inner circumference of the connecting pipe 11 or the inner circumference of the cylinder 10, thereby preventing the wall from damaging the inner circumference of the connecting pipe 11 or the inner circumference of the cylinder 10.

[0061] At least one of the first substrate 30, the second substrate 210 and the third substrate 220 may be made of a buoyancy material, such as a foam material, a glass microbead foam material, or the like.

[0062] like Fig.13As shown, in some embodiments, the ultrasonic scanning unit further includes a fifth cylinder 51 and a second transmission mechanism 52 disposed on the third substrate, and the second transmission mechanism 52 is connected between the fifth cylinder 51 and the second support member 53. The fifth cylinder 51 is transmission-connected to the second support member 53 through the second transmission mechanism 52. The second support member 53 can move back and forth between the fifth extended position and the fifth retracted position under the drive of the fifth cylinder 51, and the second support member 53 is closer to the third substrate 303 when it is in the fifth retracted position than when it is in the fifth extended position. The second support member 53 abuts against the inner circumference of the pipe 11 when it is in the fifth extended position. Specifically, the second transmission mechanism 52 can be a connecting rod mechanism. In other embodiments, the second transmission mechanism 52 can also be ignored, and the output end of the fifth cylinder 51 is directly transmission-connected to the second support member 53. The second support member 53 can be an elastic member or a ball that can roll in contact with the inner circumference of the pipe 11 to prevent scratching the inner circumference of the pipe 11.

[0063] like Figure 3 , Fig. 9 and Fig.10 As shown, in some embodiments, the first positioning assembly 21 further includes a thrust trigger 216, which is connected to an end of the support arm 213 away from the second base 210 and is located on one side of the underwater suction cup 214. Figure 3 , Fig. 9 and Fig.10 In the illustrated embodiment, three support arms 213 are provided, and two underwater suction cups 214 are provided on each support arm 213, and the thrust trigger 216 is located between the two underwater suction cups 214. A control system is provided on land, and the control system is in communication connection with the thrust trigger 216, the first drive motor 34, the second drive motor 211, the first cylinder 312, the second cylinder 322, the third cylinder 332, the fourth cylinder 2211 and the fifth cylinder 51, and is used to control these components. As the reactor pressure vessel ultrasonic scanning device moves as a whole, the support arm 213 gradually approaches the interior of the cylinder 10 and stays near the opening of the connecting pipe 11, and the underwater suction cup 214 gradually approaches and fits the inner circumference of the cylinder 10. When the thrust trigger member 216 contacts the inner circumference of the cylinder 10, the thrust trigger member 216 generates a feedback signal. The control system receives the feedback signal and controls the fourth cylinder 2211 to operate, so that the first support member 222 reaches the fourth extended position (abutting against the inner circumference of the connecting pipe 11). At the same time, the fifth cylinder 51 can also be controlled to operate, so that the second support member 53 reaches the fifth extended position (abutting against the inner circumference of the connecting pipe 11).

[0064] like Figure 2 , Fig. 9 and Fig.10As shown, in some embodiments, the reactor pressure vessel ultrasonic scanning device further includes a calibration specimen 40, which is disposed on the first positioning assembly 21. The calibration specimen 40 is used to calibrate the performance of the first ultrasonic probe 311, the second ultrasonic probe 321, and the third ultrasonic probe 331. Taking the calibration of the first ultrasonic probe 311 as an example, the calibration process is as follows: S1, start the first drive motor 34, move the ultrasonic scanning unit 3 along the guide rail 20 in the direction close to the first positioning assembly 21 to the top of the calibration specimen 40; S2, start the first cylinder 312, drive the first ultrasonic probe 311 to extend in the direction away from the first substrate 301, so that the first ultrasonic probe 311 fits the calibration specimen 40; S3, start the second drive motor 211, drive the guide rail 20 and the ultrasonic scanning unit 3 on the guide rail 20 to rotate circumferentially, thereby driving the first ultrasonic probe 311 to rotate circumferentially; start the first drive motor 34, move the ultrasonic scanning unit 3 axially back and forth along the guide rail 20, thereby driving the first ultrasonic probe 311 to move axially back and forth. The relative position between the first ultrasonic probe 311 and the calibration specimen 40 can be changed by the circumferential rotation and axial movement of the ultrasonic scanning unit 3. The first ultrasonic probe 311 transmits ultrasonic waves at different positions on the calibration specimen 40 and receives ultrasonic signals fed back, and the performance of the first ultrasonic probe 311 is calibrated by these ultrasonic signals fed back. The same applies to the above calibration process where the first ultrasonic probe 311 is replaced by the second ultrasonic probe 321 and the third ultrasonic probe 331. Since the calibration specimen 40 is set on the first positioning assembly 21, the ultrasonic probe calibration of the three ultrasonic scanning assemblies can be carried out underwater, and the reactor pressure vessel ultrasonic scanning device does not need to be calibrated on shore, which saves the calibration work time and improves the work efficiency.

[0065] The material of the calibration specimen 40 is the same as that of the cylinder 10 or the connecting pipe 11. The calibration specimen 40 may be tile-shaped, that is, the calibration specimen 40 has an arc surface, thereby simulating the inner circumferential surface shape of the cylinder 10 or the connecting pipe 11. Of course, the calibration specimen 40 may be a test block with a square structure.

[0066] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the scope covered by the claims of the present invention.

Claims

1. A reactor pressure vessel ultrasonic scanning device, characterized in that: It comprises a positioning unit and an ultrasonic scanning unit (3); The positioning unit comprises a guide rail (20) for at least partially extending into the interior of a pipe (11) of a reactor pressure vessel; The ultrasonic scanning unit (3) comprises a first base (30), a first ultrasonic scanning assembly (31) for scanning the weld (121) of the safety end of the pipe, a second ultrasonic scanning assembly (32) for scanning the weld (122) of the pipe barrel connection, and a third ultrasonic scanning assembly (33) for scanning the fillet area (123), wherein the first ultrasonic scanning assembly (31), the second ultrasonic scanning assembly (32) and the third ultrasonic scanning assembly (33) are respectively arranged on the first base (30); The first base (30) is connected to the guide rail (20) and can move back and forth relative to the guide rail (20) along the extension direction of the guide rail (20); the guide rail (20) can rotate around the central axis of its extension direction.

2. The reactor pressure vessel ultrasonic scanning device according to claim 1, characterized in that: The first base (30) comprises a first substrate (301) and a second substrate (302) which are spaced apart, and a third substrate (303) connected between the first substrate (301) and the second substrate (302), wherein the third substrate (303) encloses a first hollow cavity (304), the first cavity (304) passes through the first substrate (301) and the second substrate (302), and the guide rail (20) is disposed in the first cavity (304); The first ultrasonic scanning assembly (31) comprises a first bracket and a first ultrasonic probe (311) connected to each other, and the first bracket is connected to the first substrate (301); the second ultrasonic scanning assembly (32) comprises a second bracket and a second ultrasonic probe (321) connected to each other, and the second bracket is connected to the third substrate (303); the third ultrasonic scanning assembly (33) comprises a third bracket and a third ultrasonic probe (331) connected to each other, and the third bracket is connected to the first substrate (301) and the second substrate (302), respectively.

3. The reactor pressure vessel ultrasonic scanning device according to claim 2, characterized in that: The first bracket comprises a first cylinder (312) connected to the first substrate (301), the first cylinder (312) being in transmission connection with the first ultrasonic probe (311), the first ultrasonic probe (311) being capable of moving back and forth between a first extended position and a first retracted position under the drive of the first cylinder (312), the first ultrasonic probe (311) being closer to the first substrate (301) when in the first retracted position than when in the first extended position; And / or, the second bracket comprises a second cylinder (322) connected to the third substrate (303), the second cylinder (322) is drivingly connected to the second ultrasonic probe (321), the second ultrasonic probe (321) is capable of moving back and forth between a second extended position and a second retracted position under the drive of the second cylinder (322), and the second ultrasonic probe (321) is closer to the third substrate (303) when it is in the second retracted position than when it is in the second extended position; And / or, the third bracket includes a third cylinder (332), a support rod (333), a rotating shaft (334) and a rotating shaft seat (335), the fixed end of the third cylinder (332) is connected to the second substrate (302), the output end of the third cylinder (332) is connected to the first end of the support rod (333), the second end of the support rod (333) is connected to the third ultrasonic probe (331), the rotating shaft seat (335) is connected to the first substrate (301), the rotating shaft (334) is connected to the rotating shaft seat (335), and the rotating shaft (334) is rotatably connected to the position between the first end and the second end of the support rod (333).

4. The reactor pressure vessel ultrasonic scanning device according to claim 2, characterized in that: The ultrasonic scanning unit (3) further comprises a first driving motor (34) arranged on the third substrate (303), and a gear (35) drivingly connected to an output shaft of the first driving motor (34); The guide rail (20) is provided with a rack extending along the extension direction of the guide rail (20), and the gear (35) is meshed with the rack.

5. The reactor pressure vessel ultrasonic scanning device according to claim 1, characterized in that: The positioning unit further comprises a first positioning component (21) for positioning on the inner circumference of the cylinder (10) of the reactor pressure vessel and a second positioning component (22) for positioning on the inner circumference of the connecting pipe (11), wherein the first positioning component (21) and the second positioning component (22) are respectively connected to two ends of the guide rail (20).

6. The reactor pressure vessel ultrasonic scanning device according to claim 5, characterized in that: The reactor pressure vessel ultrasonic scanning device further comprises a calibration specimen (40), wherein the calibration specimen (40) is arranged on the first positioning assembly (21).

7. The reactor pressure vessel ultrasonic scanning device according to claim 5, characterized in that: The first positioning assembly (21) comprises a second base (210) and a second drive motor (211); the second drive motor (211) is arranged in a second cavity (212) enclosed by the second base (210); and an output shaft of the second drive motor (211) is drivingly connected to the guide rail (20).

8. The reactor pressure vessel ultrasonic scanning device according to claim 7, characterized in that: The first positioning assembly (21) further comprises a support arm (213) and an underwater suction cup (214) for adsorbing on the inner circumferential surface of the cylinder (10), the support arm (213) being connected to the second base (210), and the underwater suction cup (214) being connected to an end of the support arm (213) away from the second base (210); And / or, the first positioning assembly (21) further comprises an underwater propeller (215) connected to the second base (210).

9. The reactor pressure vessel ultrasonic scanning device according to claim 8, characterized in that: The first positioning assembly (21) further comprises a thrust trigger member (216), which is connected to an end of the support arm (213) away from the second base (210) and is located on one side of the underwater suction cup (214).

10. The reactor pressure vessel ultrasonic scanning device according to claim 5, characterized in that: The second positioning assembly (22) comprises a third base (220), a driving mechanism (221) and a support member (222), the third base (220) being connected to the second end of the guide rail (20), and the driving mechanism (221) being arranged on the third base (220); The driving mechanism (221) is transmission-connected to the support member (222) so as to drive the support member (222) to move back and forth between a fourth extended position and a fourth retracted position; the support member (222) is closer to the third base body (220) when it is in the fourth retracted position than when it is in the fourth extended position; and the support member (222) abuts against the inner circumferential surface of the connecting pipe (11) when it is in the fourth extended position.

11. The reactor pressure vessel ultrasonic scanning device according to claim 10, characterized in that: A plurality of balls (223) are arranged on the third base body (220), and the balls (223) are used for rolling contact with the inner peripheral surface of the connecting pipe (11).

Images