Device for detecting inner fillet of pipe connecting opening of reactor pressure vessel and working method of device

Abstract

The invention discloses a reactor pressure vessel nozzle inner fillet detection device and a working method thereof. The reactor pressure vessel nozzle inner fillet detection device comprises a radial positioning mechanism, an axial positioning mechanism arranged on the radial positioning mechanism, a self-adaptive connecting rod mechanism arranged on the axial positioning mechanism, and a probe assembly arranged on the self-adaptive connecting rod mechanism. The radial positioning mechanism drives the axial positioning mechanism, the self-adaptive connecting rod mechanism and the probe assembly to move back and forth in the radial direction of the connecting pipe orifice of the pressure container; the axial positioning mechanism can move back and forth in the axial direction of the connecting pipe to drive the self-adaptive connecting rod mechanism and the probe assembly to be close to or away from the boss face of the connecting pipe and the inner fillet area of the pipe opening. Through self-adaptive adjustment of the self-adaptive connecting rod mechanism, the probe assembly can be attached to the boss face of the connecting pipe, it is guaranteed that the probe assembly and the inner fillet are relatively consistent in position, the probe assembly and the inner fillet area are stably attached, and ultrasonic detection of the inner fillet area is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power equipment detection, and in particular to a device for detecting the inner fillet of a reactor pressure vessel pipe connection port and a working method thereof. Background Art

[0002] The reactor pressure vessel is a nuclear primary component and one of the core components of the nuclear reactor coolant pressure boundary. It is composed of flange rings, barrel sections, inlet and outlet pipes and other cylinder assemblies, top cover assemblies, bottom heads, flange seals and other structures. Among them, the inner fillet of the pressure vessel pipe is prone to stress concentration and cracks due to mechanical loads, pressure fluctuations, high temperature and high pressure, high radiation and thermal loads. Therefore, it is necessary to conduct regular inspections and supervision to ensure the integrity of the primary pressure boundary. The US ASME specification clearly stipulates the mandatory requirements for volume inspection of the inner fillet area of ​​the pipe, and ultrasonic testing is the main detection method for volume inspection.

[0003] The shape of the inner fillet area of ​​the outlet pipe of the reactor pressure vessel is complex and special, in the shape of a saddle surface, and its inner surface is a stainless steel cladding layer with a thickness of about 6mm. According to the inspection requirements of Volume IX of the ASME Code, the inspection area of ​​the inner fillet area of ​​the pipe is 1 / 2in (13mm) below the cladding layer. The inner fillet of the outlet is an irregular structure formed by chamfering after the intersection of the inner surface of the pipe and the cylindrical surface of the outlet boss. Due to the special structure and irregular shape of this position, it is difficult to achieve accurate scanning of the probe using only multi-axis motion control. In view of this, it is necessary to design a special mechanical positioning detection device to accurately position the ultrasonic probe in the inner fillet area of ​​the outlet to achieve automated inspection of the object being inspected. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a device for detecting the inner fillet of a reactor pressure vessel pipe connection port with accurate positioning detection and a working method thereof.

[0005] The technical solution adopted by the present invention to solve the technical problem is: to provide a reactor pressure vessel pipe port fillet detection device, comprising a radial positioning mechanism, an axial positioning mechanism arranged on the radial positioning mechanism, an adaptive connecting rod mechanism arranged on the axial positioning mechanism, and a probe assembly arranged on the adaptive connecting rod mechanism;

[0006] The radial positioning mechanism is used to drive the axial positioning mechanism, the adaptive connecting rod mechanism and the probe assembly to move back and forth in the radial direction of the pipe mouth of the pressure vessel; the axial positioning mechanism can move back and forth in the axial direction of the pipe mouth relative to the radial positioning mechanism, driving the adaptive connecting rod mechanism and the probe assembly to approach or move away from the boss surface of the pipe mouth and the inner fillet area of ​​the pipe mouth respectively; the adaptive connecting rod mechanism drives itself and the probe assembly to fit the boss surface of the pipe mouth and the inner fillet area of ​​the pipe mouth respectively through adaptive action.

[0007] Preferably, the adaptive linkage mechanism comprises a slide plate, a rocker bar and a positioning assembly;

[0008] The slide plate is matched with the axial positioning mechanism and can move back and forth in the axial direction of the pipe relative to the axial positioning mechanism. The swing rod is connected with the slide plate at an angle and the angle is adjustable. The positioning assembly is arranged on the swing rod and is used to slide and fit with the boss surface of the pipe. The positioning assembly guides the angle between the swing rod and the slide plate to change synchronously by fitting with the boss surface of the pipe.

[0009] The probe assembly is located at one side of the swing rod and is movably connected to the slide plate, and can be rotated relative to the slide plate so that the probe assembly fits with the inner fillet area of ​​the pipe mouth.

[0010] Preferably, the positioning assembly includes a positioning seat and at least two positioning balls for slidingly fitting with the boss surface of the connecting pipe; the positioning seat is arranged on the rocker arm parallel to the length direction of the rocker arm, and at least two positioning balls are arranged at intervals along the length direction of the positioning seat.

[0011] Preferably, the probe assembly comprises a probe holder and an ultrasound probe;

[0012] The probe bracket is movably connected to the slide plate, and the ultrasonic probe is arranged on the probe bracket and has multiple degrees of freedom relative to the slide plate.

[0013] Preferably, the probe bracket comprises a bracket and a probe frame; one end of the bracket is connected to the slide plate via a rotating shaft assembly, and the probe frame is rotatably connected to the other end of the bracket;

[0014] The ultrasonic probe can be swingably arranged in the probe frame, and the ultrasonic probe has a probe surface that matches the inner fillet area of ​​the pipe opening.

[0015] Preferably, the rotating shaft assembly includes a rotating shaft passing through the bracket and the slide plate, a torsion spring sleeved on the rotating shaft, and a limiting plate arranged on the bracket and used to abut against the slide plate.

[0016] Preferably, the bracket includes a first U-shaped frame and a second U-shaped frame; the first U-shaped frame is connected to the slide plate via a rotating shaft assembly, and the second U-shaped frame is fitted on the first U-shaped frame and can swing back and forth relative to the first U-shaped frame.

[0017] Preferably, the axial positioning mechanism comprises an L-shaped bracket which can move back and forth in the axial direction of the pipe relative to the radial positioning mechanism;

[0018] A guide rail and a rolling member are provided on the transverse portion of the L-shaped bracket; the slide plate is fitted on the guide rail via a slider, and can move back and forth along the guide rail in the axial direction of the connecting pipe; the rolling member protrudes above the slide plate on the transverse portion to contact the inner wall of the connecting pipe; one end of the rocker arm is rotatably connected to the slide plate, and the other end is rotatably connected to the vertical portion of the L-shaped bracket.

[0019] Preferably, the axial positioning mechanism further comprises a pneumatic assembly which is arranged on the radial positioning mechanism and supports the L-shaped bracket, and the pneumatic assembly drives the L-shaped bracket to move back and forth in the axial direction of the pipe relative to the radial positioning mechanism.

[0020] Preferably, the radial positioning mechanism includes a slide mounting plate and a drive assembly, the slide mounting plate is arranged on the drive shaft of the drive assembly, and the slide mounting plate is driven by the drive assembly to move back and forth in the radial direction of the connecting pipe port of the pressure vessel; the axial positioning mechanism is arranged on the slide mounting plate and is relatively fixed to the slide mounting plate.

[0021] Preferably, the radial positioning mechanism further comprises a support seat and a guide assembly;

[0022] The driving assembly is supported on the support seat; the driving shaft of the driving assembly is retractable relative to the support seat, driving the slide mounting plate to move back and forth relative to the support seat in the radial direction of the pipe port;

[0023] The guide assembly can move through the support seat and connect the slide mounting plate to provide guidance for the back and forth movement of the slide mounting plate.

[0024] The present invention also provides a working method of a reactor pressure vessel nozzle inner fillet detection device, wherein the reactor pressure vessel nozzle inner fillet detection device is installed in pairs on a main device coaxial with the nozzle, and two sets of the reactor pressure vessel nozzle inner fillet detection devices are symmetrically arranged relative to the central axis of the nozzle;

[0025] The movement of the reactor pressure vessel nozzle inner fillet detection device in the nozzle satisfies the following formula:

[0026]

[0027] Wherein, Z is the distance moved along the axial direction of the pipe, R is the radius of the circle where the pipe boss surface in the pressure vessel is located, r is the radius of the inner wall of the pipe; θ is the circumferential position angle of the reactor pressure vessel pipe port inner fillet detection device in the pipe, wherein the uppermost position of the boss surface in the vertical direction is 0°.

[0028] The beneficial effects of the present invention are as follows: the adaptive connecting rod mechanism and the probe assembly cooperate with the radial positioning mechanism and the axial positioning mechanism to send the adaptive connecting rod mechanism and the probe assembly to the boss surface of the connecting pipe and the inner fillet area of ​​the pipe mouth, and through the adaptive adjustment of the adaptive connecting rod mechanism, the boss surface of the connecting pipe can be fitted and the position of the probe assembly and the inner fillet can be relatively consistent, so that the probe assembly and the inner fillet area can be stably fitted, thereby realizing ultrasonic detection of the inner fillet area.

[0029] The chamfer size on the nuclear power reactor pressure vessel to which this patent applies is smaller than R19. When performing ultrasonic testing, the probe needs to be accurately delivered to the inner fillet area so that the relative position of the probe and the object being tested can be accurately controlled, thereby ensuring the accuracy of defect detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0031] Figure 1 It is a schematic diagram of the use state of the reactor pressure vessel nozzle inner fillet detection device according to one embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of the state in which the reactor pressure vessel nozzle inner fillet detection device of one embodiment of the present invention is used in pairs at the nozzle;

[0033] Figure 3 It is a structural schematic diagram of a reactor pressure vessel nozzle inner fillet detection device according to an embodiment of the present invention;

[0034] Figure 4 yes Figure 3 Structural schematic diagram of the radial positioning mechanism;

[0035] Figure 5 yes Figure 3 A schematic diagram of the structure of the central axial positioning mechanism;

[0036] Figure 6 yes Figure 3 A schematic diagram of the structure of the adaptive connecting rod mechanism on the axial positioning mechanism;

[0037] Figure 7 yes Figure 3 A schematic diagram of the structure of the probe assembly;

[0038] Figure 8 yes Figure 7 Schematic diagram of the structure with the bracket in the probe assembly partially removed. 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] The reactor pressure vessel pipe port inner fillet detection device of the present invention is used for detecting the inner fillet area of ​​the upper pipe port (i.e., pipe port) of a nuclear power reactor pressure vessel, wherein the upper pipe port of the pressure vessel includes but is not limited to the water outlet pipe port.

[0041] refer to Figures 1 to 3 A reactor pressure vessel nozzle inner fillet detection device according to an embodiment of the present invention may include a radial positioning mechanism 10, an axial positioning mechanism 20 arranged on the radial positioning mechanism 10, an adaptive connecting rod mechanism 30 arranged on the axial positioning mechanism 20, and a probe assembly 40 arranged on the adaptive connecting rod mechanism 30.

[0042] The radial positioning mechanism 10 is used to drive the axial positioning mechanism 20 and the adaptive link mechanism 30 and the probe assembly 40 thereon to move back and forth in the radial direction of the pipe mouth of the pipe 110 of the pressure vessel 100, so as to approach or move away from the inner wall of the pipe 110. The axial positioning mechanism 20 can move back and forth in the axial direction of the pipe 110 relative to the radial positioning mechanism 10 on the radial positioning mechanism 10, driving the adaptive link mechanism 30 and the probe assembly 40 to approach or move away from the boss surface 111 of the pipe 110 and the inner fillet area 112 of the pipe mouth, respectively. The adaptive link mechanism 30 has an adaptive function, and through adaptive action, drives itself and the probe assembly 40 to fit the boss surface 111 of the pipe 110 and the inner fillet area 112 of the pipe mouth, respectively.

[0043] like Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, the radial positioning mechanism 10 may include a slide mounting plate 11 and a drive assembly 12. The slide mounting plate 11 is arranged on the drive shaft 121 of the drive assembly 12, and the slide mounting plate 11 is driven to move back and forth relative to the main body of the drive assembly 12 by the extension and retraction of the drive shaft 121 of the drive assembly 12. Inside the pipe 110, the drive assembly 12 is used to drive the slide mounting plate 11 and the axial positioning mechanism 20 thereon to move back and forth in the radial direction of the pipe mouth of the pipe 110 of the pressure vessel 1, thereby driving the adaptive link mechanism 30 and the probe assembly 40 on the axial positioning mechanism 20 to approach or move away from the boss surface 111 of the pipe 110 and the inner fillet area 112 of the pipe mouth.

[0044] Alternatively, the driving assembly 12 includes a cylinder, preferably a pen-shaped cylinder. Inside the pipe 110, the pen-shaped cylinder is parallel to the radial direction of the pipe 110, and the telescopic rod of the pen-shaped cylinder (i.e., the driving shaft 121) faces the inner wall of the pipe 110. The slide mounting plate 11 is fixedly mounted on the telescopic rod of the pen-shaped cylinder, and moves back and forth in the radial direction of the pipe mouth with the telescopic action of the telescopic rod.

[0045] Furthermore, the radial positioning mechanism 10 also includes a support seat 13 and a guide assembly. The driving assembly 12 is supported on the support seat 13, with the support seat 13 as a fixed fulcrum. The driving shaft 121 of the driving assembly 12 is retractable relative to the support seat 13, driving the slide mounting plate 11 to move back and forth relative to the support seat 13 in the radial direction of the pipe opening of the pipe 110.

[0046] It can be understood that the support seat 13 can be further installed on a main device (such as a main shaft, etc.), and the support seat 13 and the entire reactor pressure vessel pipe port inner fillet detection device can be sent into or out of the pipe 110 through the main device.

[0047] The guide assembly can move through the support seat 13 and connect to the slide mounting plate 11, provide guidance for the back and forth movement of the slide mounting plate 11, and maintain the stability of the movement of the slide mounting plate 11. Figure 3 and Figure 4 In the illustrated embodiment, the guide assembly includes at least one guide rod 14 and a tail plate 15. The guide rod 14 passes through the support seat 13 and can move back and forth along its own axial direction relative to the support seat 13; one end of the guide rod 14 is connected to the slide mounting plate 11, and the other end is connected to the tail plate 15. When the drive assembly 12 is started to drive the slide mounting plate 11 to move back and forth, the guide rod 14 and the tail plate 15 are also driven to move synchronously relative to the support seat 13. There are preferably two or more guide rods 14.

[0048] The support seat 13 can be a linear bearing seat, and the guide rod 14 cooperates with the linear bearing seat through a linear bearing. The tail plate 15 and the slide mounting plate 11 are located on opposite sides of the linear bearing seat, and the arrangement of the tail plate 15 increases the overall rigidity of the entire radial positioning mechanism 10.

[0049] The axial positioning mechanism 20 is arranged on the slide mounting plate 11 of the radial positioning mechanism 10, fixed relatively to the slide mounting plate 11, and moves with the slide mounting plate 11. Inside the pipe 110, the slide mounting plate 11 moves back and forth along the radial direction of the pipe opening under the drive component 12, driving the axial positioning mechanism 20 to move back and forth in the radial direction of the pipe opening of the pipe 110.

[0050] like Figure 3 and Figure 5As shown, in some embodiments, the axial positioning mechanism 20 may include an L-shaped bracket 21, which can move back and forth in the axial direction of the connecting pipe 110 relative to the radial positioning mechanism 10, and the adaptive linkage mechanism 30 and the probe assembly 40 are both arranged on the L-shaped bracket 21, and move back and forth in the axial direction of the connecting pipe 110 with the L-shaped bracket 21.

[0051] The L-shaped bracket 21 is structurally formed by connecting a transverse portion 211 and a vertical portion 212. Specifically, a guide rail 22 and a rolling member 23 are provided on the transverse portion 211 of the L-shaped bracket 21. The guide rail 22 is used to cooperate with the adaptive link mechanism 30 to realize the adaptive link mechanism 30 to be movable on the L-shaped bracket 21 to realize adaptive adjustment. The rolling member 23 is used to contact the inner wall of the pipe 110 to realize the positioning of the radial positioning mechanism 10, that is, after the rolling member 23 contacts the inner wall of the pipe 110, the radial degree of freedom of the inner fillet detection device of the reactor pressure vessel pipe port can be limited.

[0052] Alternatively, the rolling element 23 may include a universal ball, which may be positioned and supported on the L-shaped bracket 21 by a support, and may pass through the adaptive linkage mechanism 30 to ensure that the universal ball can contact the inner wall of the pipe 110 .

[0053] To drive the L-shaped bracket 21 to move back and forth, the axial positioning mechanism 20 may also include a pneumatic component 24 arranged on the radial positioning mechanism 10 and supporting the L-shaped bracket 21. The pneumatic component 24 is used to drive the L-shaped bracket 21 to move back and forth in the axial direction of the connecting pipe 110 relative to the radial positioning mechanism 10.

[0054] The pneumatic assembly 24 may further include a pneumatic slide, which can move along the axial direction of the pipe 110 after ventilation. After the radial positioning mechanism 10 drives the L-shaped bracket 21 to move in the radial direction of the pipe opening and the rolling element 23 fits the inner wall of the pipe 110, the pneumatic slide extends to drive the adaptive link mechanism 30 to approach the boss surface 111 of the pipe 110 until it fits.

[0055] The pneumatic slide is fixed on the slide mounting plate 11 through the slide body, the L-shaped bracket 21 is positioned on the slide seat of the pneumatic slide, and the rolling element 23 can be positioned on the slide seat of the pneumatic slide through a support, and the support supports the rolling element 23 above the transverse portion 211 of the L-shaped bracket 21. When two guide rails 22 spaced opposite to each other are provided on the transverse portion 211, the rolling element 23 is located in the space between the two guide rails 22.

[0056] The adaptive link mechanism 30 is matched with the L-shaped bracket 21 of the axial positioning mechanism 20 and can be movable relative to the L-shaped bracket 21 to achieve adaptation.

[0057] Combination Figure 1 , Figure 3 , Figure 5and Figure 6 In some embodiments, the adaptive linkage mechanism 30 includes a slide plate 31 , a rocker rod 32 , and a positioning assembly 33 .

[0058] The slide plate 31 is positioned on the L-shaped bracket 21 by cooperating with the guide rail 22 on the L-shaped bracket 21 through the slider, and can freely move along the guide rail 22 in the length direction of the guide rail 22 (also the axial direction of the pipe 110). In terms of size, the length of the slide plate 31 is preferably equal to or less than the length of the transverse portion 211 of the L-shaped bracket 21, and the width of the slide plate 31 is preferably equal to or less than the width of the transverse portion 211, so that the edge of the slide plate 31 protrudes outside the transverse portion 211 to avoid increasing the volume and reducing the external integrity.

[0059] The swing arm 32 is in an upright position relative to the slide plate 31, located on one side of the vertical portion 212 of the L-shaped bracket 21 and connected to the slide plate 31 at an angle. The swing arm 32 and the slide plate 31 are connected (or hinged) by a rotating shaft, so that the angle between the two is adjustable. Specifically, one end of the swing arm 32 is rotatably connected to one end of the slide plate 31, and the other end of the swing arm 32 is rotatably connected to the vertical portion 212 of the L-shaped bracket 21 by a rotating shaft. When the slide plate 31 slides along the guide rail 22, the swing arm 32 is also driven to rotate relative to the vertical portion 212; or, when the swing arm 32 rotates relative to the vertical portion 212, the slide plate 31 is driven to slide along the guide rail 22.

[0060] The positioning assembly 33 is arranged on the swing rod 32, and is used to slide and fit with the boss surface 111 of the pipe 110. The positioning assembly 33 is fitted with the boss surface 111 of the pipe 110, and guides the angle between the swing rod 32 and the slide plate 31 to change synchronously, thereby achieving self-adaptation. The probe assembly 40 is located on one side of the swing rod 32 and is movably connected to the slide plate 31, and can rotate relative to the slide plate 31 so that the probe assembly 40 fits with the inner fillet area 112 of the pipe mouth.

[0061] As an optional embodiment, the positioning assembly 33 may further include a positioning seat 331 and at least two positioning balls 332 for slidingly fitting with the boss surface 111 of the pipe 110. The positioning seat 331 has a certain length and is arranged on the swing rod 32 in parallel with the length direction of the swing rod 32. The at least two positioning balls 332 are arranged at intervals along the length direction of the positioning seat 331.

[0062] On one side of the boss surface 111 of the pipe 110, the two positioning balls 332 of the positioning assembly 33 are in contact with the boss surface 111. When the entire device of the present invention moves radially along the pipe opening of the pipe 110, the positioning balls 332 also move radially along the boss surface 111. Since the angle α (the angle range of α is usually 90° to 102°) between the boss surface 111 and the axis of the pipe 110 is different when the outlet pipe is at different circumferential angles, the two positioning balls 332 will drive the positioning assembly 33 to rotate as the angle α changes while maintaining contact with the boss surface 111, and will guide the swing rod 32 to change the angle with the boss surface 111 synchronously, thereby driving the swing rod 32 to slide in the L-shaped bracket 21, and the swing rod 32 also drives the slide plate 31 connected thereto to move. After the slide plate 31 moves, the relative position relationship between the probe assembly 40 and the inner fillet area 112 can be ensured to remain stable.

[0063] The positioning ball 332 is preferably a universal ball.

[0064] The probe assembly 40 is used to fit with the inner fillet area 112 of the pipe mouth to perform ultrasonic detection on the inner fillet, and the ultrasonic signal is sent to the back-end monitoring system for processing, storage, etc.

[0065] In some embodiments, reference Figure 6 and Figure 7 The probe assembly 40 includes a probe holder and an ultrasonic probe 41. The probe holder is movably connected to the slide plate 31, and the ultrasonic probe 41 is arranged on the probe holder, and has multiple degrees of freedom relative to the slide plate 31, so as to ensure that the contact surface of the ultrasonic probe 41 and the inner fillet area 112 are stably fitted, and the ultrasonic probe 41 will not be lifted or stuck.

[0066] The ultrasonic probe 41 has a probe face that matches the inner fillet area 112 of the pipe opening.

[0067] When the positioning assembly 33 of the adaptive link mechanism 30 is correctly fitted with the boss surface 111 of the connecting pipe 110 , the ultrasonic probe 41 is just fitted at the inner fillet position, thereby realizing the ultrasonic signal collection of the inner fillet area 112 .

[0068] Further, the probe holder may include a holder 42 and a probe frame 43, and the ultrasonic probe 41 is disposed in the probe frame 43. One end of the holder 42 is connected to the slide plate 31, and the probe frame 43 is rotatably connected to the other end of the holder 42 via a rotating shaft. The probe frame 43 drives the ultrasonic probe 41 to rotate relative to the holder 42, and the rotatability of the probe frame 43 provides a first degree of freedom. The ultrasonic probe 41 is swingably disposed in the probe frame 43 via a rotating shaft connection, and the axial direction of the rotating shaft is perpendicular to the axial direction of the rotating shaft of the probe frame 43 connecting the holder 42, and the swingability of the ultrasonic probe 41 provides a second degree of freedom.

[0069] The above two degrees of freedom ensure that the contact surface between the ultrasonic probe 41 and the inner fillet area 112 is stably fitted, and the ultrasonic probe 41 will not be tilted or stuck.

[0070] Preferably, one end of the bracket 42 is connected to the slide plate 31 via a pivot assembly, so that the entire probe bracket can rotate relative to the slide plate 31 via the pivot assembly, which provides a third degree of freedom and provides sufficient clamping force for the stable fit between the ultrasonic probe 41 and the inner fillet area 112.

[0071] The rotating shaft assembly includes a rotating shaft 44 passing through the bracket 42 and the slide 31, a torsion spring 45 sleeved on the rotating shaft 44, and a limit plate 46 disposed on the bracket 42 and used to abut against the slide 31. The bracket 42 can rotate back and forth in the direction of approaching and moving away from the swing rod 32 relative to the slide 31 through the rotating shaft 44, and the two ends of the torsion spring 45 abut against the bracket 42 and the slide 31 respectively, providing a pressing force to drive the ultrasonic probe 41 to be stably fitted with the inner fillet area 112. The limit plate 46 is located on the side of the bracket 42 facing away from the swing rod 32, and by abutting against the slide 31, it limits the bracket 42 from rotating too much in the direction away from the swing rod 32.

[0072] The bracket 42 may be an H-shaped bracket or a U-shaped bracket, etc.

[0073] In some embodiments, in order to make the ultrasonic probe 41 more flexible to fit the inner fillet area 112, the fourth degree of freedom is provided by optimizing the setting of the bracket 42. To this end, the bracket 42 may further include a first U-shaped frame 421 and a second U-shaped frame 422; the first U-shaped frame 421 is connected to the slide plate 31 through a rotating shaft assembly, and the second U-shaped frame 422 is fitted on the first U-shaped frame 421 and can swing back and forth in the width direction of the bracket 42 relative to the first U-shaped frame 421.

[0074] Furthermore, the second U-shaped frame 422 swings in an arc shape relative to the first U-shaped frame 421 , driving the probe frame 43 and the ultrasonic probe 41 in the bracket 42 to swing back and forth on an arc path, thereby adjusting the angle of the concave surface on the ultrasonic probe 41 .

[0075] Furthermore, if Figure 7 and Figure 8 As shown, in order to realize the swinging of the second U-shaped frame 422 relative to the first U-shaped frame 421, the cross bar and the two corresponding vertical bars of the first U-shaped frame 421 are respectively provided with strip grooves 47, and the cross bar and the two corresponding vertical bars of the second U-shaped frame 422 are respectively provided with balls 48, and the balls 48 are respectively engaged in the corresponding strip grooves 47, so that the balls 48 can roll in the corresponding strip grooves 47 along the extension direction of the strip grooves 47, thereby driving the second U-shaped frame 422 to swing relative to the first U-shaped frame 421.

[0076] As an option, the second U-shaped frame 422 can be further formed by two U-shaped pieces that are matched with each other. In the bracket 42, the two U-shaped pieces of the second U-shaped frame 422 are matched with the opposite sides of the first U-shaped frame 421 respectively.

[0077] The working method of the present invention is described below by taking the detection of the inner fillet of the pipe opening of the water outlet pipe connection on the pressure vessel as an example.

[0078] When the reactor pressure vessel pipe connection port inner fillet detection device of the present invention is in use, it is preferred that two sets of devices are installed in pairs on a main device coaxial with the water outlet pipe through an intermediate support member 200, and the two sets of reactor pressure vessel pipe connection port inner fillet detection devices are arranged in a row in the pipe connection, and the two sets of reactor pressure vessel pipe connection port inner fillet detection devices are symmetrically arranged relative to the central axis of the pipe connection.

[0079] The main equipment has two degrees of freedom: rotation along the axis of the outlet pipe and movement along the axis of the outlet pipe. Figure 1-Figure 7 , use the following operations:

[0080] (1) Install the signal cable of the probe assembly 40 and the air pipe cable of the pneumatic slide and the pen-type cylinder. If scanning is performed on a simulated body on shore, a water circulation recovery device should also be arranged.

[0081] (2) Connect the pipelines between the main equipment drive system, pneumatic control system, ultrasonic scanning software, coupled water circulation system and automated ultrasonic scanning equipment. The pen-shaped cylinder and pneumatic slide are in the retracted state.

[0082] (3) First adjust the main equipment axis position to coincide with the outlet pipe axis, rotate the main equipment circumferentially so that the detection device of the present invention is in a horizontal or vertical position of the pipe, then move the main equipment along the pipe axis to drive the detection device of the present invention toward the outlet boss, and stop when it is at an appropriate distance from the outlet boss.

[0083] (4) First, start the radial positioning mechanism 10 to make the rolling element 23 fit with the inner wall of the outlet pipe, then extend the pneumatic slide, and make the two positioning balls 332 on the rocker arm fit with the convex surface 111 of the outlet pipe. At this time, the ultrasonic probe 41 will automatically fit in the inner fillet area 112. According to the ultrasonic feedback signal, it is confirmed that the ultrasonic probe 41 is well coupled. The pen-shaped cylinder and the pneumatic slide are respectively connected to the pneumatic control system controlled by the pressure proportional valve 2 to maintain a constant extension force. At this time, the pen-shaped cylinder and the pneumatic slide are equivalent to two constant force springs. When the position of the inner wall of the pipe and the convex surface 111 changes, they can be adjusted adaptively to ensure that the ultrasonic probe 41 is in the inner fillet area.

[0084] (5) The position and scale of the scanning equipment, motor drive system and ultrasonic analysis software are calibrated to ensure that the movement and positioning of the equipment meet the use requirements. After the calibration is completed, the equipment is placed at the zero position.

[0085] (6) Test the status of the ultrasonic probe 41 to ensure that the ultrasonic probe 41 is properly installed.

[0086] (7) Ultrasonic scanning operation:

[0087] This position is at the zero point. Open the motor drive software and ultrasonic acquisition software, and access the main circumferential position encoder signal.

[0088] Control the two degrees of freedom motion axes of the main device to perform combined motion, drive the detection device of the present invention to complete a saddle surface-shaped spatial motion of the inner fillet area 112, and complete a complete scan of the inner fillet area;

[0089] After the scan is completed, the control device is moved to the appropriate position, and the scanning results of the ultrasound data acquisition software are reviewed to check whether there is any data loss or unclear areas, to ensure that the quality of the collected data meets the requirements;

[0090] For areas that do not meet the requirements, additional scanning shall be carried out according to the scanning plan until the scanning work is completed.

[0091] Among them, during the scanning inspection, the movement of the reactor pressure vessel nozzle inner fillet detection device in the nozzle satisfies the following formula:

[0092]

[0093] Wherein, Z is the distance moved along the axial direction of the pipe; R is the radius of the circumference of the pipe boss surface in the pressure vessel, that is, the distance from the central axis of the pressure vessel to the pipe boss surface. r is the inner wall radius of the pipe. θ is the circumferential position angle of the reactor pressure vessel pipe port fillet detection device in the pipe, where the top position of the boss surface 111 in the vertical direction is 0° (such as Figure 2 shown).

[0094] In a selective embodiment, the inner fillet area of ​​the pipe is divided into 720 scanning areas in an equal circle, and the angle between each two adjacent scanning areas is 0.5°. If the current scanning circumferential position angle is θ, the next scanning position is θ+0.5°.

[0095] After the grouping of each scanning area completes the movement, deviation detection is performed. If the deviation between the actual position and the target position exceeds 0.1mm, position compensation is performed to correct the excessive deviation. After compensation, the next group movement control is continued.

[0096] The above realizes ultrasonic scanning of the saddle surface (i.e., the fillet area) based on vector motion control. During the scanning movement of the pneumatic slide of the axial positioning mechanism 20, the piston position can remain basically consistent, which can reduce the movement stroke requirement of the pneumatic slide, and also makes the rocker 32 not bear a greater force to drive the pneumatic slide to move, thereby improving the force condition of the rocker 32.

[0097] In summary, the present invention realizes delivering the ultrasonic probe to the inner fillet area, so that the relative position of the ultrasonic probe and the object to be inspected can be accurately controlled, thereby ensuring the accuracy of defect detection; it can adapt to the accurate positioning of the ultrasonic probe in the inner circle area of ​​small size; it solves the influence of the angle between the inner wall of the connecting pipe and the boss surface of the outlet on the positioning of the probe at different circumferential angles of the connecting pipe; the probe holder clamp needs to be able to provide sufficient coupling freedom in a limited space, and can press the probe to accurately fit the inner fillet area.

[0098] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A reactor pressure vessel pipe neck fillet detection device, characterized in that: It comprises a radial positioning mechanism, an axial positioning mechanism arranged on the radial positioning mechanism, an adaptive connecting rod mechanism arranged on the axial positioning mechanism, and a probe assembly arranged on the adaptive connecting rod mechanism; The radial positioning mechanism is used to drive the axial positioning mechanism, the adaptive connecting rod mechanism and the probe assembly to move back and forth in the radial direction of the pipe mouth of the pressure vessel; the axial positioning mechanism can move back and forth in the axial direction of the pipe mouth relative to the radial positioning mechanism, driving the adaptive connecting rod mechanism and the probe assembly to approach or move away from the boss surface of the pipe mouth and the inner fillet area of ​​the pipe mouth respectively; the adaptive connecting rod mechanism drives itself and the probe assembly to fit the boss surface of the pipe mouth and the inner fillet area of ​​the pipe mouth respectively through adaptive action.

2. The reactor pressure vessel nozzle inner fillet detection device according to claim 1, characterized in that: The adaptive linkage mechanism includes a slide plate, a rocker bar and a positioning assembly; The slide plate is matched with the axial positioning mechanism and can move back and forth in the axial direction of the pipe relative to the axial positioning mechanism. The swing rod is connected with the slide plate at an angle and the angle is adjustable. The positioning assembly is arranged on the swing rod and is used to slide and fit with the boss surface of the pipe. The positioning assembly guides the angle between the swing rod and the slide plate to change synchronously by fitting with the boss surface of the pipe. The probe assembly is located at one side of the swing rod and is movably connected to the slide plate, and can be rotated relative to the slide plate so that the probe assembly fits with the inner fillet area of ​​the pipe mouth.

3. The reactor pressure vessel pipe neck inner fillet detection device according to claim 2, characterized in that: The positioning assembly includes a positioning seat and at least two positioning balls for slidingly fitting with the boss surface of the connecting pipe; the positioning seat is arranged on the rocker rod parallel to the length direction of the rocker rod, and at least two positioning balls are arranged at intervals along the length direction of the positioning seat.

4. The reactor pressure vessel pipe neck inner fillet detection device according to claim 2, characterized in that: The probe assembly comprises a probe bracket and an ultrasonic probe; The probe bracket is movably connected to the slide plate, and the ultrasonic probe is arranged on the probe bracket and has multiple degrees of freedom relative to the slide plate.

5. The reactor pressure vessel pipe neck inner fillet detection device according to claim 4, characterized in that: The probe bracket comprises a bracket and a probe frame; one end of the bracket is connected to the slide plate through a rotating shaft assembly, and the probe frame is rotatably connected to the other end of the bracket; The ultrasonic probe can be swingably arranged in the probe frame, and the ultrasonic probe has a probe surface that matches the inner fillet area of ​​the pipe opening.

6. The reactor pressure vessel pipe neck inner fillet detection device according to claim 5, characterized in that: The rotating shaft assembly comprises a rotating shaft passing through the bracket and the slide plate, a torsion spring sleeved on the rotating shaft, and a limiting plate arranged on the bracket and used for abutting against the slide plate.

7. The reactor pressure vessel pipe neck inner fillet detection device according to claim 5, characterized in that: The bracket includes a first U-shaped frame and a second U-shaped frame; the first U-shaped frame is connected to the slide plate via a rotating shaft assembly, and the second U-shaped frame is fitted on the first U-shaped frame and can swing back and forth relative to the first U-shaped frame.

8. The reactor pressure vessel pipe neck inner fillet detection device according to claim 2, characterized in that: The axial positioning mechanism comprises an L-shaped bracket which can move back and forth in the axial direction of the pipe relative to the radial positioning mechanism; A guide rail and a rolling member are provided on the transverse portion of the L-shaped bracket; the slide plate is fitted on the guide rail via a slider, and can move back and forth along the guide rail in the axial direction of the connecting pipe; the rolling member protrudes above the slide plate on the transverse portion to contact the inner wall of the connecting pipe; one end of the rocker arm is rotatably connected to the slide plate, and the other end is rotatably connected to the vertical portion of the L-shaped bracket.

9. The reactor pressure vessel pipe neck inner fillet detection device according to claim 8, characterized in that: The axial positioning mechanism also includes a pneumatic component that is arranged on the radial positioning mechanism and supports the L-shaped bracket. The pneumatic component drives the L-shaped bracket to move back and forth in the axial direction of the pipe relative to the radial positioning mechanism.

10. The reactor pressure vessel nozzle inner fillet detection device according to any one of claims 1 to 9, characterized in that: The radial positioning mechanism includes a slide mounting plate and a driving assembly. The slide mounting plate is arranged on the driving shaft of the driving assembly, and the slide mounting plate is driven by the driving assembly to move back and forth in the radial direction of the connecting pipe port of the pressure vessel; the axial positioning mechanism is arranged on the slide mounting plate and is relatively fixed to the slide mounting plate.

11. The reactor pressure vessel pipe neck inner fillet detection device according to claim 10, characterized in that: The radial positioning mechanism also includes a support seat and a guide assembly; The driving assembly is supported on the support seat; the driving shaft of the driving assembly is retractable relative to the support seat, driving the slide mounting plate to move back and forth relative to the support seat in the radial direction of the pipe port; The guide assembly can move through the support seat and connect the slide mounting plate to provide guidance for the back and forth movement of the slide mounting plate.

12. A working method of the reactor pressure vessel nozzle inner fillet detection device according to any one of claims 1 to 11, characterized in that: The reactor pressure vessel nozzle port inner fillet detection devices are installed in pairs on the main equipment coaxial with the nozzle, and the two sets of the reactor pressure vessel nozzle port inner fillet detection devices are symmetrically arranged relative to the central axis of the nozzle; The movement of the reactor pressure vessel nozzle inner fillet detection device in the nozzle satisfies the following formula: Wherein, Z is the distance moved along the axial direction of the pipe, R is the radius of the circle where the pipe boss surface in the pressure vessel is located, r is the radius of the inner wall of the pipe; θ is the circumferential position angle of the reactor pressure vessel pipe port inner fillet detection device in the pipe, wherein the uppermost position of the boss surface in the vertical direction is 0°.

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