Ultrasonic scanning device for reactor pressure vessels

Abstract

This invention discloses an ultrasonic scanning device for reactor pressure vessels, comprising a positioning unit and an ultrasonic scanning unit. The positioning unit includes a guide rail. The ultrasonic scanning unit includes a first substrate and three ultrasonic scanning components integrated on the first substrate. The three ultrasonic scanning components respectively perform ultrasonic scanning at three locations: the safety end weld of the nozzle, the nozzle side of the nozzle-cylinder connection weld, and the inner rounded corner area. The first substrate is connected to the guide rail and can move back and forth relative to the guide rail along its extension direction. The guide rail can rotate around its central axis in its extension direction. The three ultrasonic scanning components move back and forth along the guide rail with the first substrate to reach the corresponding working position and rotate circumferentially with the guide rail to perform a comprehensive scan at the corresponding working position, thereby improving the integration of the device. Furthermore, the calibration specimen is set on the first positioning component, and the ultrasonic probe calibration of the three ultrasonic scanning components can be performed underwater, eliminating the need for onshore calibration and improving work efficiency.

Description

Technical Field

[0001] This invention relates to the field of non-destructive testing technology for reactor pressure vessels, and more particularly to an ultrasonic scanning device for reactor pressure vessels. Background Technology

[0002] In the non-destructive testing of reactor pressure vessel nozzles, three locations need to be inspected: the safety end weld of the nozzle, the nozzle-to-cylinder connection weld, and the inner rounded corner area. However, currently, these three inspections require more than two pieces of equipment to complete. Multiple pieces of equipment need to operate sequentially and undergo effluent calibration, resulting in a long in-service inspection time for reactor pressure vessels and 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 reactor pressure vessels, addressing at least one deficiency of the prior art.

[0004] The technical solution adopted by the present invention to solve its 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 a nozzle of the reactor pressure vessel.

[0006] The ultrasonic scanning unit includes a first substrate, a first ultrasonic scanning component for scanning the weld seam at the safety end of the connector, a second ultrasonic scanning component for scanning the weld seam connecting the connector and the cylinder, and a third ultrasonic scanning component for scanning the inner rounded corner area. The first ultrasonic scanning component, the second ultrasonic scanning component, and the third ultrasonic scanning component are respectively disposed on the first substrate.

[0007] The first base is connected to the guide rail and is capable of moving back and forth relative to the guide rail along the extension direction of the guide rail; the guide rail is capable of rotating about its central axis in the extension direction.

[0008] In some embodiments, the first substrate includes a first substrate and a second substrate spaced apart, and a third substrate connected between the first substrate and the second substrate. The third substrate encloses a hollow first cavity, which 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 support and a first ultrasonic probe connected together, the first support being connected to the first substrate; the second ultrasonic scanning assembly includes a second support and a second ultrasonic probe connected together, the second support being connected to the third substrate; the third ultrasonic scanning assembly includes a third support and a third ultrasonic probe connected together, the third support being connected to both the first substrate and the second substrate.

[0010] In some embodiments, the first support includes a first cylinder connected to the first substrate, the first cylinder being drivenly connected to the first ultrasonic probe, the first ultrasonic probe being able to move back and forth between a first extended position and a first retracted position under the drive of the first cylinder, the first ultrasonic probe being closer to the first substrate in the first retracted position than in the first extended position.

[0011] And / or, the second support includes a second cylinder connected to the third substrate, the second cylinder being drivenly connected to the second ultrasonic probe, the second ultrasonic probe being able to move back and forth between a second extended position and a second retracted position under the drive of the second cylinder, the second ultrasonic probe being closer to the third substrate in the second retracted position than in the second extended position.

[0012] And / or, the third support 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 base plate, 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 base plate, the rotating shaft is connected to the rotating shaft seat, and the rotating shaft is rotatably connected to the first end and the second end of the support rod.

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

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

[0015] In some embodiments, the positioning unit further includes a first positioning component for positioning on the inner circumferential surface of the reactor pressure vessel cylinder and a second positioning component for positioning on the inner circumferential surface of the nozzle, wherein 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 disposed on the first positioning component.

[0017] In some embodiments, the first positioning component includes a second base and a second drive motor, the second drive motor being disposed within a second cavity enclosed by the second base, and the output shaft of the second drive motor being connected to the guide rail via a transmission connection.

[0018] In some embodiments, the first positioning component further includes a support arm and an underwater suction cup for adsorbing onto the inner circumferential surface of the cylinder, the support arm being connected to the second base, and the underwater suction cup being connected to the end of the support arm away from the second base;

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

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

[0021] In some embodiments, the second positioning component includes a third base, a driving mechanism, and a support member, wherein 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 drive mechanism is connected to the support member to drive the support member to move back and forth between a fourth extended position and a fourth retracted position. The support member is closer to the third base in the fourth retracted position than in the fourth extended position. The support member abuts against the inner circumferential surface of the pipe in the fourth extended position.

[0023] In some embodiments, the third substrate is provided with a plurality of balls for rolling contact with the inner circumferential surface of the connector.

[0024] The present invention has at least the following beneficial effects: The ultrasonic scanning device for reactor pressure vessels of the present invention completes ultrasonic scanning of three locations—the safety end weld of the nozzle, the connecting weld of the nozzle and the cylinder, and the inner rounded corner area—using three ultrasonic scanning components. The three ultrasonic scanning components are integrated on a first substrate and can move back and forth relative to the guide rail along the extension direction of the first substrate to reach the corresponding working position. They also rotate circumferentially around the central axis of the guide rail in the extension direction to perform a comprehensive scan at the corresponding working position. This improves the integration of the device, requiring only one device to complete ultrasonic scanning of all three locations, shortening the in-service inspection time of the reactor pressure vessel, and correspondingly improving work efficiency. Attached Figure Description

[0025] 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 the accompanying drawings:

[0026] Figure 1 These are three-dimensional structural schematic diagrams of reactor pressure vessels according to some embodiments;

[0027] Figure 2 yes Figure 1 A schematic diagram of a partial structure of the reactor pressure vessel from another perspective;

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

[0029] Figure 4 yes Figure 3 A three-dimensional structural schematic diagram of the ultrasonic scanning unit of the ultrasonic scanning device for the reactor pressure vessel shown.

[0030] Figure 5 yes Figure 4 A schematic diagram of the ultrasonic scanning unit shown from another perspective;

[0031] Figure 6 yes Figure 4 A schematic diagram of the structure of the second ultrasonic scanning component of the ultrasonic scanning unit shown.

[0032] Figure 7 yes Figure 4 A schematic diagram of the structure of the third ultrasonic scanning component of the ultrasonic scanning unit shown.

[0033] Figure 8 yes Figure 4 A schematic diagram of the structure of the first drive motor of the ultrasonic scanning unit shown.

[0034] Figure 9 yes Figure 3 A schematic diagram of the first positioning component of the ultrasonic scanning device for the reactor pressure vessel is shown.

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

[0036] Figure 11 yes Figure 3 A schematic diagram of the second positioning component of the ultrasonic scanning device for the reactor pressure vessel is shown.

[0037] Figure 12 yes Figure 11 The exploded structure diagram of the second positioning component is shown below;

[0038] Figure 13 yes Figure 5 The diagram shows the structure of the ultrasonic scanning unit from another perspective. Detailed Implementation

[0039] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0040] When an element is referred to as being "on" or "below" another element, that element can be located "directly" or "indirectly" on the other element, or there may be one or more intermediary elements. The terms "first," "second," "third," etc., are used only for the convenience of describing the technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0041] like Figure 1 As shown, the reactor pressure vessel includes a cylinder 10 and several nozzles 11. One end of each nozzle 11 is connected to the cylinder 10 and communicates with the internal space enclosed by the cylinder 10. Depending on their function, the nozzles 11 can be divided into outlet pipes and inlet pipes. In some embodiments, the number of nozzles 11 is six, consisting of three inlet pipes and three outlet pipes. During service, the reactor pressure vessel is located in an underwater environment. When performing ultrasonic scanning inspection on the reactor pressure vessel, three locations need to be focused on: the nozzle safety end weld 121, the nozzle-cylinder connection weld 122 (the location where the nozzle 11 and the cylinder 10 are welded), and the inner rounded corner area 123 (the junction of the inner circumferential surface and the end face of the nozzle 11).

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

[0043] Please see Figure 3 This invention discloses an embodiment of an ultrasonic scanning device for a reactor pressure vessel, comprising 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 extend at least partially into the interior of the nozzle 11 of the reactor pressure vessel and serves as the basis for the ultrasonic scanning unit 3 to move axially along the nozzle 11. That is, the guide rail 20 can extend entirely into the interior of the nozzle 11; or the guide rail 20 can extend partially into the interior of the nozzle 11, with the other part located outside the nozzle 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 disposed on the first substrate 30. Specifically, the first ultrasonic scanning assembly 31 is used to scan the weld 121 at the safety end of the connector. The second ultrasonic scanning assembly 32 is used to scan the weld 122 connecting the connector cylinder. The third ultrasonic scanning assembly 33 is used to scan the inner rounded corner region 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 its extension direction. Therefore, the first ultrasonic scanning assembly 31, the second ultrasonic scanning assembly 32, and the third ultrasonic scanning assembly 33 disposed on the first substrate 30 can move back and forth relative to the guide rail 20 along its extension direction to reach any axial position inside or outside the connector 11. Furthermore, the guide rail 20 can rotate 360° around its central axis in the direction of extension, thereby driving the ultrasonic scanning unit 3 to rotate circumferentially around the central axis in the direction of extension of the guide rail 20. Thus, the first ultrasonic scanning assembly 31 and the second ultrasonic scanning assembly 32 can perform a comprehensive scan of the inner circumferential surface of the connector 11 to accurately identify defects and obtain ultrasonic images. The third ultrasonic scanning assembly 33 can perform a comprehensive scan of the inner rounded corner area 123 on the inner circumferential surface of the cylinder 10 to accurately identify defects and obtain ultrasonic images.

[0045] Specifically, the working principle of the ultrasonic scanning component is based on the fact that when high-frequency sound waves propagate in a medium, they are reflected and refracted at the interface of different media. By receiving the reflected ultrasonic signals, the internal structure and defects of the medium can be analyzed. When scanning the safety end weld 121 of the connector, the first ultrasonic scanning component 31 is moved along the guide rail 20 into the connector 11 and reaches the vicinity of the safety end weld 121, thereby obtaining ultrasonic image information of the corresponding safety end weld 121. When scanning the connector cylinder connection weld 122, the second ultrasonic scanning component 32 is moved along the guide rail 20 into the connector 11 and reaches the connector side of the connector cylinder connection weld 122, thereby obtaining ultrasonic image information of the connector side of the corresponding connector cylinder connection weld 122. When scanning the inner rounded corner region 123, the third ultrasonic scanning component 33 is moved along the guide rail 20 to the outside of the connector 11 and the inside of the cylinder 10, so that it faces the inner circumferential surface of the cylinder 10 and performs ultrasonic scanning on the vicinity of the inner rounded corner region 123, thereby obtaining the ultrasonic image information of the corresponding inner rounded corner region 123. That is, the first ultrasonic scanning component 31 completes the ultrasonic scanning of the safety end weld 121 of the connector 11; the second ultrasonic scanning component 32 also completes the ultrasonic scanning of the connector-cylinder connection weld 122 within the connector 11; while the third ultrasonic scanning component 33 completes the ultrasonic scanning of the inner rounded corner region 123 outside the connector 11 and inside the cylinder 10.

[0046] In summary, the ultrasonic scanning device for reactor pressure vessels of the present invention uses three ultrasonic scanning components to perform ultrasonic scanning at three locations: the safety end weld 121 of the nozzle, the connecting weld 122 of the nozzle cylinder, and the inner rounded corner 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 its extension direction to reach the corresponding working position. They also rotate circumferentially around the central axis of the guide rail 20 to perform a comprehensive scan at the corresponding working position. This improves the integration of the device, requiring only one unit to complete ultrasonic scanning at all three locations, shortening the in-service inspection time of the reactor pressure vessel and correspondingly improving 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 evenly distributed circumferentially on the first substrate 30. The same applies to the second ultrasonic scanning component 32 and the third ultrasonic scanning component 33.

[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 along 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 hollow first cavity 304, which passes through the first substrate 301 and the second substrate 302, and a guide rail 20 passes through the first cavity 304. The first ultrasonic scanning assembly 31 includes a first support and a first ultrasonic probe 311 connected together, and the first support is connected to the first substrate 301. The second ultrasonic scanning assembly 32 includes a second support and a second ultrasonic probe 321 connected together, and the second support is connected to the third substrate 303. The third ultrasonic scanning assembly 33 includes a third support and a third ultrasonic probe 331 connected together, and the third support is connected to the first substrate 301 and the second substrate 302 respectively.

[0049] Specifically, the first support provides a foundation for the first ultrasonic probe 311, which can emit ultrasonic waves to a location near the weld 121 at the safety end of the connector and receive the reflected ultrasonic waves. The reflected ultrasonic waves are converted into electrical signals, amplified, and processed to form an ultrasonic image. Similarly, the second support provides a foundation for the second ultrasonic probe 321, which can emit ultrasonic waves to a location near the connector side of the weld 122 connecting the connector cylinder and receive the reflected ultrasonic waves. The reflected ultrasonic waves are converted into electrical signals, amplified, and processed to form an ultrasonic image. Likewise, the third support provides a foundation for the third ultrasonic probe 331, which can emit ultrasonic waves to a location near the inner rounded corner region 123 and receive the reflected ultrasonic waves. The reflected ultrasonic waves are converted into electrical signals, amplified, and processed to form an ultrasonic image.

[0050] like Figure 4 and Figure 5 As shown, in some embodiments, the first support 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 driven by the first transmission mechanism 313 to the first ultrasonic probe 311. In other embodiments, the first transmission mechanism 313 may be omitted, and the output end of the first cylinder 312 may be directly driven by the first ultrasonic probe 311. Driven by the first cylinder 312, the first ultrasonic probe 311 can move back and forth between a first extended position and a first retracted position. In the first retracted position, the first ultrasonic probe 311 is closer to the first substrate 301 than in the first extended position. Specifically, the first cylinder 312 can drive the first ultrasonic probe 311 radially away from the first substrate 301 to reach the first extended position, so that the first ultrasonic probe 311 is as close as possible to or in contact with the inner circumferential surface of the connector 11. The first cylinder 312 can also drive the first ultrasonic probe 311 radially closer to the first substrate 301, thereby retracting the first ultrasonic probe 311. Therefore, when the first ultrasonic probe 311 is in the first retracted position, the ultrasonic scanning unit 3 can move along the guide rail 20 to reach the vicinity of the weld 121 at the safety end of the connector. Driven by the first cylinder 312, the first ultrasonic probe 311 reaches the first extended position and rotates with the guide rail 20 to complete the full scanning work. After the scanning is completed, the first ultrasonic probe 311 is retracted to the first retracted position, so as not to hinder the axial movement of the ultrasonic scanning unit 3 as a whole.

[0051] like Figures 4 to 6As shown, in some embodiments, the second support includes a second cylinder 322. The second cylinder 322 is connected to the third substrate 303 and is drively connected to the second ultrasonic probe 321. Driven by the second cylinder 322, the second ultrasonic probe 321 can move back and forth between a second extended position and a second retracted position. In the second retracted position, the second ultrasonic probe 321 is closer to the third substrate 303 than in the second extended position. Specifically, the second cylinder 322 can drive the second ultrasonic probe 321 radially away from the third substrate 303 to reach the second extended position, so that the second ultrasonic probe 321 is as close as possible to or in contact with the inner circumferential surface of the connector 11. The second cylinder 322 can also drive the second ultrasonic probe 321 radially closer to the third substrate 303, thereby retracting 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 weld seam 122 connecting the pipe cylinder. Driven by the second cylinder 322, the second ultrasonic probe 321 reaches the second extended position 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 axial movement of the ultrasonic scanning unit 3 as a whole.

[0052] like Figure 4 , Figure 5 and Figure 7 As shown, in some embodiments, the third support 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, and the rotating shaft 334 is connected to the rotating shaft seat 335. The rotating shaft 334 is rotatably connected to the first and second ends of the support rod 333. That is, the third cylinder 332 is drive-connected to the third ultrasonic probe 331, and the third ultrasonic probe 331 can move back and forth between a third extended position and a third retracted position under the drive of the third cylinder 332. The third ultrasonic probe 331 is closer to the second substrate 302 in the third retracted position than in the third extended position. Specifically, with Figure 7For reference, the support rod 333 and the third cylinder 332 together form a lever mechanism. When the output end of the third cylinder 332 pushes the first end of the support rod 333 forward (to the right), the support rod 333 rotates counterclockwise around the pivot 334 (fixed point), and the second end of the support rod 333 where the third ultrasonic probe 331 is located moves down, 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 pulls the first end of the support rod 333 backward (to the left), the support rod 333 rotates clockwise around the pivot 334 (fixed point), and the second end of the support rod 333 where the third ultrasonic probe 331 is located moves up, 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 move along the guide rail 20, so that the third ultrasonic probe 331 reaches the outside of the connector 11, the inside of the cylinder 10, and the inner rounded corner area 123. Driven by the third cylinder 332, the third ultrasonic probe 331 reaches the third extended position and emits ultrasonic waves perpendicularly to the scanning surface at an angle perpendicular to the inner rounded corner area 123. It rotates with the guide rail 20 to complete the full scanning work. After the scanning is completed, the third ultrasonic probe 331 is retracted to the third retracted position, so as not to hinder the axial movement of the ultrasonic scanning unit 3 as a whole.

[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 grooves 50, and the grooves 50 on the first substrate 301 and the second substrate 302 are arranged opposite each other. A pivot seat 335 is connected to the edge region of the groove 50 on the first substrate 301. A pivot 334 spans the groove 50 on the first substrate 301. The first end of the support rod 333 is located within 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 housed within the groove 50 on the second substrate 302.

[0054] like Figure 4 , Figure 5 and Figure 8As shown, in some embodiments, to enable the ultrasonic scanning unit 3 to move back and forth relative to the guide rail 20 along its extension direction, the ultrasonic scanning unit 3 further includes a first drive motor 34 mounted on the third base plate 303 and a gear 35 that is drively connected to the output shaft of the first drive motor 34. A rack (not shown) extending along the extension direction of the guide rail 20 is provided on the guide rail 20, and the gear 35 meshes with the rack. Thus, the torque output by the first drive motor 34 is transmitted to the gear 35. When the gear 35 rotates, it undergoes relative displacement with the rack, thereby driving the first base 30, the first ultrasonic scanning assembly 31, the second ultrasonic scanning assembly 32, and the third ultrasonic scanning assembly 33 mounted on the first base 30 to move back and forth relative to the guide rail 20 along its extension direction. It can be understood that the aforementioned gear and rack transmission mechanism is mainly used to convert the rotary motion of the first drive motor 34 into linear motion. In other embodiments, in addition to the rack and pinion transmission mechanism, other transmission methods can be used to convert the rotary motion of the first drive motor 34 into linear motion, such as ball screw mechanism, crank-slider mechanism, etc.

[0055] like Figure 3 As shown, in some embodiments, the positioning unit further includes a first positioning component 21 and a second positioning component 22, which are respectively connected to both ends of the guide rail 20. The first positioning component 21 is used to position itself on the inner circumferential surface of the reactor pressure vessel cylinder 10. The second positioning component 22 is used to position itself on the inner circumferential surface of the nozzle 11. That is, during operation, the first positioning component 21 is located inside the cylinder 10 and outside the nozzle 11; the second positioning component 22 is located inside the nozzle 11. By using the first positioning component 21 and the second positioning component 22 to perform two-point positioning on the outside and inside of the nozzle 11, the stability and reliability of the ultrasonic scanning unit 3's movement along the guide rail 20 and its rotation with the guide rail 20 are ensured.

[0056] To achieve 360° circumferential rotation of guide rail 20 around its central axis in its extension direction, such as Figure 3 , Figure 9 and Figure 10 As shown, in some embodiments, the first positioning component 21 includes a second base 210 and a second drive motor 211. The second drive motor 211 is disposed within a second cavity 212 formed by the second base 210, and the output shaft of the second drive motor 211 is connected to the guide rail 20 for transmission. 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 , Figure 9 and Figure 10As shown, in some embodiments, the first positioning component 21 further includes a support arm 213 and an underwater suction cup 214 for adsorbing onto the inner circumferential surface of the cylinder 10. The support arm 213 is connected to the second substrate 210, and the underwater suction cup 214 is connected to the end of the support arm 213 away from the second substrate 210. Specifically, the underwater suction cup 214 in the prior art has various 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. The motor drives the vacuum pump to extract air and water from the suction cup, forming 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 disposed in the housing. The submersible motor drives the impeller to rotate at high speed, generating a vortex. The vortex core forms a negative pressure, which provides adhesion to the first positioning component 21 through an electromechanical-hydraulic integrated device.

[0058] like Figure 3 , Figure 9 and Figure 10 As shown, in some embodiments, the first positioning component 21 further includes an underwater thruster 215 connected to the second base 210. This underwater thruster 215 primarily provides self-driving power to the entire reactor pressure vessel ultrasonic scanning device. The underwater thruster 215 converts power into thrust to enable the entire reactor pressure vessel ultrasonic scanning device to move in water. Specifically, the underwater thruster 215 in the prior art has various types, which can be selected according to specific needs. For example, the underwater thruster 215 can be a propeller-type vector underwater thruster, generating thrust through rotating a propeller. It can be a fixed or variable pitch design to achieve different propulsion effects and maneuverability. Alternatively, the underwater thruster 215 can also be a waterjet-type vector thruster, utilizing a high-speed rotating propulsion pump to generate a high-speed water flow, and using the reaction force generated by the water jet for propulsion.

[0059] like Figure 11 and Figure 12As shown, in some embodiments, the second positioning component 22 includes a third base 220, a drive 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 drive mechanism 221 is disposed on the third base 220. The drive mechanism 221 is drively 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 drive mechanism 221 may include a fourth cylinder 2211 and a linkage mechanism 2212. The linkage mechanism 2212 is connected between the fourth cylinder 2211 and the first support member 222. The fourth cylinder 2211 drives the linkage mechanism 2212 to move, thereby moving the first support member 222 between the fourth extended position and the fourth retracted position. Further, as... Figure 11 and Figure 12 In the illustrated embodiment, the third base 220 includes a first portion 2201 and a second portion 2202 that are in contact with each other. A drive 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 drive mechanism 221 and the first support member 222 are housed within 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 element or a ball bearing capable of rolling contact with the inner circumferential surface of the connector 11 to prevent scratching the inner circumferential surface of the connector 11.

[0060] Furthermore, such as Figure 11 and Figure 12 As shown, in some embodiments, a plurality of balls 223 are provided on the first part 2201 of the third substrate 220. The balls 223 are used to roll and contact the inner circumferential surface of the connector 11 to prevent the third substrate 220 from rubbing against the inner circumferential surface of the connector 11 or the inner circumferential surface of the cylinder 10, thereby damaging the inner circumferential surface of the connector 11 or the inner circumferential surface 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. For example, the buoyancy material may include foam material, glass microsphere foam material, etc.

[0062] like Figure 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, the second transmission mechanism 52 being connected between the fifth cylinder 51 and the second support member 53. The fifth cylinder 51 is driven to the second support member 53 via the second transmission mechanism 52. The second support member 53, driven by the fifth cylinder 51, can move back and forth between a fifth extended position and a fifth retracted position. In the fifth retracted position, the second support member 53 is closer to the third substrate 303 than in the fifth extended position. In the fifth extended position, the second support member 53 abuts against the inner circumferential surface of the connector 11. Specifically, the second transmission mechanism 52 can be a linkage mechanism. In other embodiments, the second transmission mechanism 52 can also be omitted, and the output end of the fifth cylinder 51 is directly driven to the second support member 53. The second support member 53 can be an elastic element or a ball bearing capable of rolling contact with the inner circumferential surface of the connector 11 to prevent scratching the inner circumferential surface of the connector 11.

[0063] like Figure 3 , Figure 9 and Figure 10 As shown, in some embodiments, the first positioning component 21 further includes a thrust trigger 216, which is connected to the end of the support arm 213 away from the second base 210 and located on one side of the underwater suction cup 214. Specifically, as Figure 3 , Figure 9 and Figure 10 In the illustrated embodiment, three support arms 213 are provided, each support arm 213 is equipped with two underwater suction cups 214, and a thrust trigger 216 is located between two underwater suction cups 214. A control system is provided on land, which is communicatively connected to 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 devices. 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 stops near the opening of the nozzle 11. The underwater suction cup 214 gradually approaches and adheres to the inner circumferential surface of the cylinder 10. When the thrust trigger 216 contacts the inner circumferential surface of the cylinder 10, the thrust trigger 216 generates a feedback signal. The control system receives the feedback signal and controls the fourth cylinder 2211 to move, so that the first support 222 reaches the fourth extension position (abutting against the inner circumferential surface of the nozzle 11). At the same time, it can also control the fifth cylinder 51 to move, so that the second support 53 reaches the fifth extension position (abutting against the inner circumferential surface of the nozzle 11).

[0064] like Figure 2 , Figure 9 and Figure 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 to move the ultrasonic scanning unit 3 along the guide rail 20 towards the first positioning component 21 and above the calibration specimen 40; S2, start the first cylinder 312 to drive the first ultrasonic probe 311 to extend away from the first substrate 301, so that the first ultrasonic probe 311 is in contact with the calibration specimen 40; S3, start the second drive motor 211 to 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 as well; start the first drive motor 34 to move the ultrasonic scanning unit 3 back and forth axially along the guide rail 20, thereby driving the first ultrasonic probe 311 to move back and forth axially as well. Through the two actions of circumferential rotation and axial movement of the ultrasonic scanning unit 3, the relative position between the first ultrasonic probe 311 and the calibration specimen 40 can be changed. The first ultrasonic probe 311 emits ultrasonic waves at different positions on the calibration specimen 40 and receives the returned ultrasonic signals. The performance of the first ultrasonic probe 311 is calibrated using these returned ultrasonic signals. The same calibration process applies if the first ultrasonic probe 311 is replaced with the second ultrasonic probe 321 and the third ultrasonic probe 331. Since the calibration specimen 40 is located on the first positioning assembly 21, the ultrasonic probe calibration of all three ultrasonic scanning components can be performed underwater. The reactor pressure vessel ultrasonic scanning device does not need to be calibrated on land, saving calibration time and improving work efficiency.

[0065] The calibration specimen 40 is made of the same material as the cylinder 10 or the connector 11. The calibration specimen 40 can be tile-shaped, meaning it has a curved surface to simulate the inner circumferential shape of the cylinder 10 or the connector 11. Alternatively, the calibration specimen 40 can be a square-structured test block.

[0066] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. An ultrasonic scanning device for reactor pressure vessels, characterized in that, Includes a positioning unit and an ultrasonic scanning unit (3); The positioning unit includes a guide rail (20) for at least partially extending into the inside of the nozzle (11) of the reactor pressure vessel. The ultrasonic scanning unit (3) includes a first substrate (30), a first ultrasonic scanning component (31) for scanning the weld seam (121) of the safety end of the pipe, a second ultrasonic scanning component (32) for scanning the weld seam (122) of the pipe cylinder connection, and a third ultrasonic scanning component (33) for scanning the inner rounded corner area (123). The first ultrasonic scanning component (31), the second ultrasonic scanning component (32) and the third ultrasonic scanning component (33) are respectively disposed on the first substrate (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 about the central axis of its extension direction; The first substrate (30) includes a first substrate (301) and a second substrate (302) spaced apart, and a third substrate (303) connected between the first substrate (301) and the second substrate (302). The third substrate (303) encloses and forms a hollow first cavity (304). The first cavity (304) passes through the first substrate (301) and the second substrate (302). The guide rail (20) passes through the first cavity (304). The first ultrasonic scanning assembly (31) includes a first support and a first ultrasonic probe (311) connected together, and the first support is connected to the first substrate (301); the second ultrasonic scanning assembly (32) includes a second support and a second ultrasonic probe (321) connected together, and the second support is connected to the third substrate (303); the third ultrasonic scanning assembly (33) includes a third support and a third ultrasonic probe (331) connected together, and the third support is connected to the first substrate (301) and the second substrate (302) respectively.

2. The ultrasonic scanning device for reactor pressure vessels according to claim 1, characterized in that, The first support includes a first cylinder (312) connected to the first substrate (301). The first cylinder (312) is connected to the first ultrasonic probe (311). The first ultrasonic probe (311) can move 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) is closer to the first substrate (301) in the first retracted position than in the first extended position. And / or, the second support includes a second cylinder (322) connected to the third substrate (303), the second cylinder (322) being drivenly connected to the second ultrasonic probe (321), the second ultrasonic probe (321) being able to move back and forth between a second extended position and a second retracted position under the drive of the second cylinder (322), the second ultrasonic probe (321) being closer to the third substrate (303) in the second retracted position than in the second extended position; And / or, the third support 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 base plate (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 base plate (301), the rotating shaft (334) is connected to the rotating shaft seat (335), and the rotating shaft (334) is rotatably connected to the first end and the second end of the support rod (333).

3. The ultrasonic scanning device for reactor pressure vessels according to claim 1, characterized in that, The ultrasonic scanning unit (3) further includes a first drive motor (34) disposed on the third substrate (303) and a gear (35) that is drively connected to the output shaft of the first drive 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) meshes with the rack.

4. The ultrasonic scanning device for reactor pressure vessels according to claim 1, characterized in that, The positioning unit further includes a first positioning component (21) for positioning on the inner circumferential surface of the cylinder (10) of the reactor pressure vessel and a second positioning component (22) for positioning on the inner circumferential surface of the nozzle (11), wherein the first positioning component (21) and the second positioning component (22) are respectively connected to the two ends of the guide rail (20).

5. The ultrasonic scanning device for reactor pressure vessels according to claim 4, characterized in that, The ultrasonic scanning device for the reactor pressure vessel also includes a calibration specimen (40), which is disposed on the first positioning component (21).

6. The ultrasonic scanning device for reactor pressure vessels according to claim 4, characterized in that, The first positioning component (21) includes a second base (210) and a second drive motor (211). The second drive motor (211) is disposed in the second cavity (212) formed by the second base (210). The output shaft of the second drive motor (211) is connected to the guide rail (20) for transmission.

7. The ultrasonic scanning device for reactor pressure vessels according to claim 6, characterized in that, The first positioning component (21) further includes a support arm (213) and an underwater suction cup (214) for adsorbing onto the inner circumferential surface of the cylinder (10). The support arm (213) is connected to the second base (210), and the underwater suction cup (214) is connected to the end of the support arm (213) away from the second base (210). And / or, the first positioning component (21) further includes an underwater thruster (215) connected to the second base (210).

8. The ultrasonic scanning device for reactor pressure vessels according to claim 7, characterized in that, The first positioning component (21) further includes a thrust trigger (216), which is connected to one end of the support arm (213) away from the second base (210) and located on one side of the underwater suction cup (214).

9. The ultrasonic scanning device for reactor pressure vessels according to claim 4, characterized in that, The second positioning component (22) includes a third base (220), a drive mechanism (221), and a support member (222). The third base (220) is connected to the second end of the guide rail (20), and the drive mechanism (221) is disposed on the third base (220). The drive mechanism (221) is connected to the support member (222) 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 (220) in the fourth retracted position than in the fourth extended position. The support member (222) abuts against the inner circumferential surface of the pipe (11) in the fourth extended position.

10. The ultrasonic scanning device for reactor pressure vessels according to claim 9, characterized in that, The third substrate (220) is provided with a plurality of balls (223), which are used to make rolling contact with the inner circumferential surface of the connector (11).

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