Ultrasonic inspection device for connecting weld joint of connecting pipe and barrel of reactor pressure vessel

Abstract

The invention discloses an ultrasonic inspection device for a connection weld of a connecting pipe and a cylinder of a reactor pressure vessel. The ultrasonic inspection device comprises a rotating main shaft, an underwater instrument cabin, a supporting and fixing module, a connecting pipe inner supporting module, a weld ultrasonic scanning module and an inner fillet scanning module, the underwater instrument cabin is arranged at one end of the rotating main shaft; the supporting and fixing module is arranged on the periphery of the underwater instrument cabin; the connecting pipe inner supporting module is arranged at the other opposite end of the rotating main shaft; the weld joint ultrasonic scanning module is arranged on the rotating main shaft and used for conducting circumferential scanning on the connecting pipe barrel connecting weld joint; and the inner fillet scanning module is arranged on the rotating main shaft and is used for scanning the inner fillet area. According to the invention, the welding seam ultrasonic scanning module and the inner fillet scanning module are integrated on the rotating main shaft, and are matched with the underwater instrument cabin, the supporting and fixing module and the connecting pipe inner supporting module to form a whole body, so that scanning of the connecting welding seam and the inner fillet area of the connecting pipe cylinder body can be executed underwater; and the flexibility of the ultrasonic inspection equipment for the nuclear power pressure vessel connecting pipe is improved.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear power nondestructive testing, and in particular to an ultrasonic inspection device for a reactor pressure vessel pipe barrel connection weld. Background Art

[0002] The mobile ultrasonic inspection equipment for nuclear reactor pressure vessel nozzles found in public information include SUPREEM of Westinghouse Electric Company, MIS of Areva, and CIM of China General Nuclear Power Testing Technology Co., Ltd. Among them, the CIM machine can realize ultrasonic and eddy current detection of the welding seam between the nozzle and the safety end, but cannot realize the detection of the inner fillet R19 area and the cylinder nozzle connection ring weld. At present, the domestic AP1000 units use ASME specifications to conduct in-service inspection and supervision of RPV, and all use fixed (tripod) inspection machines for inner fillet and cylinder nozzle welds. There is no mobile nuclear reactor pressure vessel nozzle inspection equipment to perform related work.

[0003] Fixed (tripod) inspection machines have the following disadvantages: the overall equipment is relatively large and lacks flexibility; it is large in size (occupies the entire pressure vessel), and lacks specificity when inspection tasks are dispersed; it does not have the function of simultaneously inspecting the connection weld of the tube and the inner fillet R19 area. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an improved ultrasonic inspection device for the welding seam of the connecting pipe and barrel of a reactor pressure vessel.

[0005] The technical solution adopted by the present invention to solve the technical problem is: to provide an ultrasonic inspection device for the weld seam of the reactor pressure vessel tube and the cylinder, comprising a rotating spindle, an underwater instrument cabin, a support and fixing module, a tube inner support module, a weld seam ultrasonic scanning module and an inner fillet scanning module;

[0006] The underwater instrument cabin is arranged at one end of the rotating main shaft, connected to and driving the rotating main shaft to rotate; the supporting and fixing module is arranged at the outer periphery of the underwater instrument cabin, and is used to be closely supported on the inner wall of the pressure vessel; the pipe inner supporting module is arranged at the other end opposite to the rotating main shaft, and is used to be closely supported on the inner wall of the pipe cylinder;

[0007] The weld ultrasonic scanning module is arranged on the rotating main shaft, rotates with the rotating main shaft and performs circumferential scanning on the weld connecting the pipe and the barrel;

[0008] The inner fillet scanning module is arranged on the rotating main shaft, rotates with the rotating main shaft and scans the inner fillet area.

[0009] In some embodiments, the support and fixing module includes at least one support leg, a thrust rod disposed on the support leg, a proximity switch, and a suction cup assembly;

[0010] The first end of the support leg is connected to the underwater instrument cabin, and the thrust rod, the proximity switch and the suction cup assembly are located at the second end of the support leg;

[0011] When the thrust rod contacts the inner wall of the pressure container, the proximity switch starts the suction cup assembly according to the contact signal, and the suction cup assembly is adsorbed on the inner wall of the pressure container.

[0012] In some embodiments, the underwater instrument cabin includes a sealed cabin, an extension shaft arranged in the cabin, and a driving mechanism; the extension shaft is supported in the cabin by at least one bearing, one end of the extension shaft extends out of the cabin and is connected to the rotating main shaft, and the driving mechanism is connected to and drives the extension shaft and the rotating main shaft to rotate circumferentially.

[0013] In some embodiments, the weld ultrasonic scanning module includes at least one scanning arm vertically connected to the rotating spindle, a probe holder coupling cylinder matched to the scanning arm and movable back and forth along the scanning arm, and an ultrasonic scanning probe disposed on the probe holder coupling cylinder;

[0014] The scanning arm rotates with the rotating main shaft, driving the ultrasonic scanning probe to perform circumferential scanning on the weld connecting the pipe and the cylinder, and the probe holder coupling cylinder moves back and forth on the scanning arm, driving the ultrasonic scanning probe to perform radial scanning on the weld connecting the pipe and the cylinder.

[0015] In some embodiments, the weld ultrasonic scanning module further includes a mounting seat disposed on one end of the scanning arm, a driving motor disposed on the mounting seat, and a transmission screw connected to the driving motor and extending along the scanning arm;

[0016] The probe frame coupling cylinder is matched with the transmission screw and can move back and forth along the axial direction of the transmission screw under the rotation of the transmission screw.

[0017] In some embodiments, the inner fillet scanning module includes a movable cabin mounted on the rotating main shaft and capable of rotating with the rotating main shaft, at least one probe frame disposed on the movable cabin and extending radially, an inner fillet scanning probe disposed on the end of the probe frame, and a driving assembly for driving the movable cabin to move back and forth axially along the rotating main shaft.

[0018] In some embodiments, the fillet scanning module further includes at least one auxiliary support leg disposed on the movable cabin, and the auxiliary support leg is retractable in the radial direction.

[0019] In some embodiments, the pipe inner support module includes a structural main plate sleeved on the rotating main shaft and rotatable with the rotating main shaft, an anti-collision component arranged on the outer periphery of the structural main plate, a linkage ring arranged on at least one side of the structural main plate, a plurality of legs connected to the linkage ring along the circumference of the linkage ring, and at least one driving cylinder;

[0020] The driving cylinder is positioned on the structural main board and connected to the linkage ring, driving the linkage ring to rotate relative to the structural main board. The rotation of the linkage ring drives the legs to radially extend and retract, and push against the inner wall of the connecting tube body or leave the inner wall of the connecting tube body.

[0021] In some embodiments, the ultrasonic inspection device for the reactor pressure vessel nozzle barrel connection weld also includes a propulsion system for adjusting the underwater posture and travel speed of the ultrasonic inspection device for the reactor pressure vessel nozzle barrel connection weld; the propulsion system includes a thruster, and the thruster is arranged at one or more positions in the rotating main shaft, the underwater instrument compartment, and the support module inside the nozzle.

[0022] In some embodiments, the reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device further includes a buoyancy mechanism;

[0023] The buoyancy mechanism comprises a first buoyancy block arranged on the underwater instrument cabin and a second buoyancy block arranged on the supporting module in the connecting pipe.

[0024] In some embodiments, the reactor pressure vessel nozzle-barrel connection weld ultrasonic inspection device further includes a visual module disposed on the nozzle inner support module.

[0025] The beneficial effects of the present invention are as follows: the weld ultrasonic scanning module and the inner fillet scanning module are integrated on a rotating main shaft, and cooperate with the underwater instrument cabin, the support and fixing module and the pipe internal support module to form a whole, which can perform underwater scanning of the pipe barrel connection weld and the inner fillet area, thereby improving the flexibility of the nuclear power pressure vessel pipe ultrasonic inspection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0027] Figure 1 It is a schematic structural diagram of an ultrasonic inspection device for welding seams of a reactor pressure vessel tube-barrel connection in a pressure vessel according to an embodiment of the present invention;

[0028] Figure 2 It is a schematic structural diagram at an angle of a device for ultrasonic inspection of a reactor pressure vessel tube-barrel connection weld according to an embodiment of the present invention;

[0029] Figure 3 It is a schematic structural diagram of a reactor pressure vessel tube-barrel connection weld ultrasonic inspection device according to an embodiment of the present invention at another angle;

[0030] Figure 4 It is a schematic structural diagram of an underwater instrument cabin in an ultrasonic inspection device for a reactor pressure vessel tube-barrel connection weld according to an embodiment of the present invention;

[0031] Figure 5 yes Figure 4 The internal structure diagram of the underwater instrument cabin is shown;

[0032] Figure 6 It is a structural schematic diagram of a bracket body outside an underwater instrument cabin in an ultrasonic inspection device for a reactor pressure vessel tube-barrel connection weld according to an embodiment of the present invention;

[0033] Figure 7 It is a structural schematic diagram of a supporting and fixing module in an ultrasonic inspection device for a reactor pressure vessel tube-barrel connection weld according to an embodiment of the present invention;

[0034] Figure 8 It is a structural schematic diagram of a weld ultrasonic scanning module in an ultrasonic inspection device for a reactor pressure vessel tube-barrel connection weld according to an embodiment of the present invention;

[0035] Fig. 9 It is a structural schematic diagram of an inner fillet scanning module in an ultrasonic inspection device for a reactor pressure vessel tube-barrel connection weld according to an embodiment of the present invention;

[0036] Fig.10 It is a structural schematic diagram of a pipe inner support module in a device for ultrasonic inspection of a pipe-to-barrel connection weld of a reactor pressure vessel according to an embodiment of the present invention;

[0037] Fig.11 yes Fig.10 A schematic diagram of the structure of the supporting module in the pipe in another direction;

[0038] Fig.12 The present invention is a schematic diagram of the structure of a visual module in an ultrasonic inspection device for a reactor pressure vessel tube-barrel connection weld according to an embodiment of the present invention. 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 tube barrel connection weld ultrasonic inspection device of the present invention is used to inspect the pressure vessel tube barrel connection weld and the fillet area of ​​the water outlet (and / or water inlet).

[0041] like Figure 1-Figure 3 As shown, the reactor pressure vessel tube-barrel connection weld ultrasonic inspection device of the present invention may include a rotating spindle 10, an underwater instrument cabin 20, a support and fixing module 30, a tube inner support module 60, a weld ultrasonic scanning module 40 and an inner fillet scanning module 50.

[0042] like Figure 1 As shown, the outer side of the pressure vessel 100 is usually connected to a plurality of connecting tubes 200 by welding, which serve as water inlet pipes and water outlet pipes respectively. A connecting tube connecting weld is formed at the connection between the connecting tube 200 and the pressure vessel 100, and the inner side of the connection between the connecting tube 200 and the pressure vessel 100 has an inner fillet area.

[0043] The underwater instrument cabin 20 is arranged at one end of the rotating main shaft 10, connected and driving the rotating main shaft 10 to rotate (circular rotation). The support and fixing module 30 is arranged at the outer periphery of the underwater instrument cabin 20, and is used to be closely supported on the inner wall of the pressure vessel 100 to realize the positioning of the entire device in the pressure vessel 100. The pipe internal support module 60 is arranged at the other end of the rotating main shaft 10, and is used to be closely supported on the inner wall of the pipe cylinder 200 to realize the positioning of the device in the pipe cylinder 200. The end where the support and fixing module 30 is located in the entire device is the tail end, and the end where the pipe internal support module 60 is located is the head end. When inspecting, the head end of the device enters the pipe cylinder 200 welded to the side of the pressure vessel 100, and the head end of the device is inside the pressure vessel 100. The support and fixing module 30 realizes the positioning of the tail end of the device in the pressure vessel 100, and the pipe internal support module 60 realizes the positioning of the device in the pipe cylinder 200.

[0044] The weld ultrasonic scanning module 40 is arranged on the rotating spindle 10, rotates with the rotating spindle 10 and performs circumferential scanning on the weld connecting the connecting tube and the barrel; the inner fillet scanning module 50 is arranged on the rotating spindle 10, rotates with the rotating spindle 10 and scans the inner fillet area.

[0045] In some embodiments, the rotating spindle 10 may be formed by connecting a plurality of plates. Figure 1 and Figure 2 In the illustrated embodiment, the rotating spindle 10 is a square shaft formed by connecting four plates. The square shaft can make the relative fixed connection of the pipe inner support module 60, the weld ultrasonic scanning module 40 and the inner fillet scanning module 50 thereon more stable and can rotate with the rotating spindle 10.

[0046] Of course, in other embodiments, the rotating spindle 10 may also be a circular or other polygonal structure, as long as the internal support module 60 of the pipe, the weld ultrasonic scanning module 40 and the inner fillet scanning module 50 are relatively fixedly connected thereon.

[0047] Combination Figure 2 , Figure 4 and Figure 5 The underwater instrument cabin 20 is located at one end of the rotating main shaft 10, connected to the rotating main shaft 10, and drives the rotating main shaft 10 to rotate. The underwater instrument cabin 20 may include a sealed cabin 21, an extension shaft 22 disposed in the cabin 21, and a driving mechanism 23; the extension shaft 22 is supported in the cabin 21 by at least one bearing 24, so that the extension shaft 22 can rotate while being positioned in the cabin 21. One end of the extension shaft 22 extends out of the cabin 21 and is connected to the rotating main shaft 10, and the driving mechanism 23 connects and drives the extension shaft 22 and the rotating main shaft 10 to rotate (rotate) in a circumferential direction.

[0048] Alternatively, the chamber 21 may be formed by a closed cylinder. The wires of the weld ultrasonic scanning module 40 and the inner fillet scanning module 50 may extend into the chamber 21 and be connected to a main board disposed in the chamber 21, and connected to an external control system through the main board to achieve signal transmission and remote control.

[0049] The driving mechanism 23 may include a motor, and may also include a gear assembly linked between the motor and the extension shaft 22 .

[0050] like Figure 2 and Figure 6 As shown, in order to facilitate the overlapping support of the support and fixing module 30, the underwater instrument cabin 20 may also include a bracket body 25 arranged outside the cabin 21, and the support and fixing module 30 is arranged on the bracket body 25. The bracket body 25 may include two opposite support plates 251 and a plurality of support rods 252 connected between the two support plates 251. The two support plates 251 may be connected to the opposite ends of the cabin 21 respectively, and the support rods 252 are located outside the cabin 21. A positioning cylinder 253 may also be provided on the support rod 252 for plugging and fixing the support legs 31 of the support and fixing module 30.

[0051] In some embodiments, see Figure 2 , Figure 3 and Figure 7 The support and fixing module 30 may include at least one support leg 31, a thrust rod 32, a proximity switch 33 and a suction cup assembly arranged on each support leg 31. Each support leg 31 has two opposite ends, the first end of the support leg 31 is connected to the underwater instrument cabin 20, the second end of the support leg 31 is used to approach and move away from the inner wall of the pressure vessel 100, and the thrust rod 32, the proximity switch 33 and the suction cup assembly are located on the second end of the support leg 31. When the thrust rod 32 contacts the inner wall of the pressure vessel 100, the proximity switch 33 activates the suction cup assembly according to the contact signal, and the suction cup assembly is adsorbed on the inner wall of the pressure vessel 100, so as to realize the positioning of the tail of the device on the inner wall of the pressure vessel 100.

[0052] exist Figure 7In the illustrated embodiment, the support leg 31 is bent in an arc shape and is L-shaped in length, which can meet the support positioning requirements while reducing the length of the support leg 31, thereby reducing the volume of the entire device.

[0053] At the second end of the support leg 31, the thrust rod 32 extends in the same direction as the second end, and in the pressure vessel 100, extends toward the inner wall thereof. The proximity switch 33 may be disposed at the end of the thrust rod 32 away from the support leg 31, and the proximity switch 33 is triggered when the thrust rod 32 contacts the inner wall of the pressure vessel 100. The proximity switch 33 feeds back a signal to the control system, and the control system starts the suction cup assembly after receiving the signal.

[0054] The suction cup assembly may further include an underwater vacuum suction cup 34 and a suction cup driving cylinder 35. The underwater vacuum suction cup 34 is disposed on the second end of the support leg 31, on one side of the thrust rod 32. The suction cup driving cylinder 35 is disposed inside the second end, connected to the underwater vacuum suction cup 34, and can drive the underwater vacuum suction cup 34 to approach or move away from the inner wall of the pressure vessel 100.

[0055] Preferably, the underwater vacuum suction cup 34 is connected to the suction cup driving cylinder 35 through an arc rod 36, and an underwater vacuum suction cup 34 is provided at each end of the arc rod 36. The arc rod 36 can also rotate relative to the suction cup driving cylinder 35. When the suction cup driving cylinder 35 is started to drive the arc rod 36 and the underwater vacuum suction cup 34 thereon to approach and closely adhere to the inner wall of the pressure vessel 100, the arc rod 36 can also rotate according to the curvature of the inner wall of the pressure vessel 100 to ensure that the underwater vacuum suction cups 34 at both ends can fully adhere to the inner wall surface of the pressure vessel 100.

[0056] Preferably, the support and fixing module 30 includes at least two support legs 31 to ensure that the tail end of the device is balanced and stably positioned on the inner wall of the pressure vessel 100. When the support and fixing module 30 includes two support legs 31, the two support legs 31 are connected to opposite sides of the underwater instrument cabin 20, that is, the angle between the two support legs 31 is 180°. When the support and fixing module 30 includes three support legs 31, the three support legs 31 are evenly spaced and arranged along the circumference of the underwater instrument cabin 20 and connected to the underwater instrument cabin 20.

[0057] The weld ultrasonic scanning module 40 is close to the supporting and fixing module 30 on the rotating main shaft 10, so that after the supporting and fixing module 30 is tightly positioned on the inner wall of the pressure vessel 100, the weld ultrasonic scanning module 40 can accurately correspond to the connecting weld of the connecting pipe barrel and perform ultrasonic scanning on the connecting weld of the connecting pipe barrel.

[0058] In some embodiments, see Figure 2 , Figure 3 and Figure 8The weld ultrasonic scanning module 40 includes at least one scanning arm 41 vertically connected to the rotating main shaft 10, a probe holder coupling cylinder 42 matched with the scanning arm 41, and an ultrasonic scanning probe 43 arranged on the probe holder coupling cylinder 42. The scanning arm 41 is relatively fixed to the rotating main shaft 10 and can rotate with the rotating main shaft 10, driving the probe holder coupling cylinder 42 and the ultrasonic scanning probe 43 thereon to rotate, so as to realize the circumferential scanning of the ultrasonic scanning probe 43 on the weld connecting the pipe and the cylinder. In addition, the probe holder coupling cylinder 42 can also move back and forth along the length direction of the scanning arm 41, driving the ultrasonic scanning probe 43 to move, so as to realize the radial scanning of the ultrasonic scanning probe 43 on the weld connecting the pipe and the cylinder.

[0059] Specifically, the probe frame coupling cylinder 42 is a bracket coupled with a cylinder, and the cylinder is also connected to the ultrasonic scanning probe 43 on the bracket through a connecting arm, driving the ultrasonic scanning probe 43 to fit the inspected surface (the connecting weld of the connecting tube body) during scanning. After the cylinder is started, it can drive the connecting arm to extend and retract, thereby driving the ultrasonic scanning probe 43 thereon to align with the connecting weld of the connecting tube body.

[0060] In order to realize the back and forth movement of the probe frame coupling cylinder 42 on the scanning arm 41, in one embodiment, the weld ultrasonic scanning module 40 further includes a mounting seat 44 disposed on one end of the scanning arm 41, a driving motor 45 disposed on the mounting seat 44, and a transmission screw 46 connected to the driving motor 45 and extending along the scanning arm 41; the probe frame coupling cylinder 42 can be matched with the transmission screw 46 through a nut seat, etc., and can move back and forth along the axial direction of the transmission screw 46 under the rotation of the transmission screw 46. Preferably, the scanning arm 41 is fixed to the rotating spindle 10 through the mounting seat 44, and the driving motor 45 is disposed in the mounting seat 44 to drive the transmission screw 46 to rotate. The probe holder coupling cylinder 42 is on the other end of the scanning arm 41. The cooperation between the transmission screw 46 and the probe holder coupling cylinder 42 converts the rotational motion into axial movement, driving the probe holder coupling cylinder 42 and the ultrasonic scanning probe 43 to move back and forth in the direction close to and away from the rotating main shaft 10, so as to meet the radial scanning of the connecting welds of the connecting pipe barrel and the scanning of the connecting welds of the connecting pipe barrels with different diameters.

[0061] The fillet scanning module 50 is disposed on the rotating spindle 10 apart from the weld ultrasonic scanning module 40 , that is, located on a side of the weld ultrasonic scanning module 40 away from the supporting and fixing module 30 .

[0062] In some embodiments, see Figure 2 and Fig. 9The inner fillet scanning module 50 may include a movable cabin 51 which is mounted on the rotating main shaft 10 and can rotate with the rotating main shaft 10, at least one probe frame 52 which is arranged on the movable cabin 51 and extends radially, an inner fillet scanning probe 53 which is arranged on the end of the probe frame 52, and a driving component 54 for driving the movable cabin 51 to move back and forth axially along the rotating main shaft 10.

[0063] The movable cabin 51 can be formed by a cylinder and support plates connected to opposite ends of the cylinder. The cylinder is arranged corresponding to the outer periphery of the rotating main shaft 10, for example, it is square, and can rotate with the rotating main shaft 10 and move back and forth along the rotating main shaft 10.

[0064] The probe holder 52 can be arranged on a support plate of the movable cabin 51, and can be radially extended and retracted under the drive of a driving mechanism such as a cylinder, so as to drive the inner corner scanning probe 53 thereon to approach or move away from the inner corner area. Preferably, the inner corner scanning module 50 includes at least two probe holders 52, and each probe holder 52 is provided with an inner corner scanning probe 53 at the end away from the movable cabin 51.

[0065] The probe holder 52 may be further coupled with an axial cylinder and a radial cylinder to drive the inner fillet scanning probe 53 to fit the inner fillet area during scanning.

[0066] In an alternative embodiment, Fig. 9 As shown, the driving assembly 54 includes a motor disposed on the moving cabin 51, the output shaft of the motor is provided with a gear, and the rotating main shaft 10 is provided with a rack meshing with the gear, and the rack extends along the axial direction of the rotating main shaft 10. When the motor is started, it drives the gear to rotate, and the gear moves along the meshing rack, thereby driving the entire inner fillet scanning module 50 to move axially on the rotating main shaft 10.

[0067] In some embodiments, in order to improve the stability of the fillet scanning module 50 or the entire device in the pressure vessel 100, the fillet scanning module 50 may also include at least one auxiliary support leg 55 arranged on the movable cabin 51, and the auxiliary support leg 55 is retractable in the radial direction so that it can abut against or detach from the inner wall of the connecting tube cylinder 200.

[0068] Alternatively, the auxiliary support legs 55 are arranged on another support plate of the mobile cabin 51 (the support plate without the probe frame 52), for example, on the inner side of the support plate facing the other support plate (the support plate with the probe frame 52). There are preferably two or more auxiliary support legs 55, and a linkage ring 56 may be provided on the support plate. All auxiliary support legs 55 are linked to the linkage ring 56. When the linkage ring 56 rotates under the drive of the cylinder 57 provided on the support plate, all auxiliary support legs 55 connected thereto are driven to extend and retract (foldable extension). Balls may be provided at the ends of the auxiliary support legs 55 to prevent damage to the inner wall of the butt tube 200.

[0069] In some embodiments, see Figure 2 , Fig.10 and Fig.11 The pipe inner support module 60 may include a structural main plate 61, an anti-collision component 62, a linkage ring 63, a plurality of legs 64 and at least one driving cylinder 65. The structural main plate 61 is sleeved on the rotating main shaft 10 and can rotate with the rotating main shaft 10. The anti-collision component 62 is arranged on the outer periphery of the structural main plate 61 to prevent the pipe inner support module 60 from colliding with the inner wall of the pressure vessel 100 when entering the pipe cylinder 200. The anti-collision component 62 may be composed of a ring body and a plurality of universal balls arranged on the outer periphery of the ring body.

[0070] The linkage ring 63 is arranged on at least one side of the structural main plate 61, and a plurality of legs 64 are connected to the linkage ring 63 along the circumference of the linkage ring 63. The driving cylinder 65 is positioned on the structural main plate 61 and connected to the linkage ring 63, and is used to drive the linkage ring 63 to rotate relative to the structural main plate 61. The legs 64 are foldable legs, and each leg 64 is connected to the linkage ring 63 through a rod; when the driving cylinder 65 is started to drive the linkage ring 63 to rotate, the legs 64 of the linkage ring 63 are extended and retracted in the radial direction, thereby pressing against the inner wall of the connecting tube body 200 or leaving the inner wall of the connecting tube body 200.

[0071] like Figure 3 As shown, in order to allow the device to enter the pressure vessel 100 and reach the accurate position for scanning, the reactor pressure vessel tube barrel connection weld ultrasonic inspection device of the present invention further includes a visual module 70 disposed on the tube inner support module 60. The visual module 70 is used to take real-time photos of the surrounding environment, obtain the travel position and posture of the entire device in real-time monitoring, and feed back the obtained relevant signals to the control system to achieve visual positioning of the device.

[0072] The vision module 70 may further include a mounting plate 71, a camera unit positioned on the mounting plate 71, and a light source 74. The camera unit may include a monocular vision camera 72 and an auxiliary camera 73. Fig.12 In the illustrated embodiment, the monocular vision camera 72 is located in the middle of the mounting plate 71, and the auxiliary camera 73 is located on at least one side of the monocular vision camera 72. There are multiple light sources 74, which are distributed on the mounting plate 71 and surround the monocular vision camera 72 to provide sufficient brightness for the camera unit.

[0073] The wires of the visual module 70 extend into the underwater instrument cabin 20 and are connected to a main board disposed in the cabin 21 . The main board is connected to an external control system to achieve signal transmission and remote control.

[0074] Another example Figure 2 and Figure 3As shown, in some embodiments, the reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device may also include a propulsion system for adjusting the reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device underwater posture and travel speed. The propulsion system includes a propeller 80, which is arranged at one or more positions of the rotating main shaft 10, the underwater instrument cabin 20, and the nozzle inner support module 60.

[0075] The scanning work of the present invention is mainly carried out in an underwater environment. For this purpose, the ultrasonic inspection device for the reactor pressure vessel tube barrel connection weld may also include a buoyancy mechanism to achieve zero gravity underwater for the entire device.

[0076] The buoyancy mechanism may include a first buoyancy block 91 disposed on the underwater instrument compartment 20 and a second buoyancy block 92 disposed on the support module 60 in the pipe. The first buoyancy block 91 and the second buoyancy block 92 are both made of underwater buoyancy materials.

[0077] When the ultrasonic inspection device for the connection weld of the reactor pressure vessel tube body of the present invention is working, after positioning and fixing, the probe frame coupling cylinder 42 of the weld ultrasonic scanning module 40 sends the ultrasonic scanning probe 43 to the inner wall of the pressure vessel 100 and makes the ultrasonic scanning probe 43 fit tightly with the inspected surface. The driving mechanism 231102 is started to drive the rotating spindle 10 to rotate, driving the weld ultrasonic scanning module 40 to rotate and scan the connection weld of the tube body.

[0078] According to the scanning needs, the fillet scanning module 50 can also perform relevant actions and then scan the fillet area. The spatial saddle surface curve of the fillet area can be fitted through rotation and linear motion, thereby completing the scanning of the fillet area.

[0079] The aforementioned fillet area includes but is not limited to the fillet R19 area.

[0080] 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. An ultrasonic inspection device for the weld seam of a reactor pressure vessel connecting pipe and barrel, characterized in that: It includes a rotating spindle, an underwater instrument cabin, a support and fixing module, a pipe internal support module, a weld ultrasonic scanning module and an inner fillet scanning module; The underwater instrument cabin is arranged at one end of the rotating main shaft, connected to and driving the rotating main shaft to rotate; the supporting and fixing module is arranged at the outer periphery of the underwater instrument cabin, and is used to be closely supported on the inner wall of the pressure vessel; the pipe inner supporting module is arranged at the other end opposite to the rotating main shaft, and is used to be closely supported on the inner wall of the pipe cylinder; The weld ultrasonic scanning module is arranged on the rotating main shaft, rotates with the rotating main shaft and performs circumferential scanning on the weld connecting the pipe and the barrel; The inner fillet scanning module is arranged on the rotating main shaft, rotates with the rotating main shaft and scans the inner fillet area.

2. The reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device according to claim 1, characterized in that: The supporting and fixing module comprises at least one supporting leg, a thrust rod arranged on the supporting leg, a proximity switch and a suction cup assembly; The first end of the support leg is connected to the underwater instrument cabin, and the thrust rod, the proximity switch and the suction cup assembly are located at the second end of the support leg; When the thrust rod contacts the inner wall of the pressure container, the proximity switch starts the suction cup assembly according to the contact signal, and the suction cup assembly is adsorbed on the inner wall of the pressure container.

3. The reactor pressure vessel tube-barrel connection weld ultrasonic inspection device according to claim 1, characterized in that: The underwater instrument cabin includes a sealed cabin, an extension shaft arranged in the cabin, and a driving mechanism; the extension shaft is supported in the cabin by at least one bearing, one end of the extension shaft extends out of the cabin and is connected to the rotating main shaft, and the driving mechanism is connected to and drives the extension shaft and the rotating main shaft to rotate circumferentially.

4. The reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device according to claim 1, characterized in that: The weld ultrasonic scanning module includes at least one scanning arm vertically connected to the rotating main shaft, a probe frame coupling cylinder matched on the scanning arm and capable of moving back and forth along the scanning arm, and an ultrasonic scanning probe arranged on the probe frame coupling cylinder; The scanning arm rotates with the rotating main shaft, driving the ultrasonic scanning probe to perform circumferential scanning on the weld connecting the pipe and the cylinder, and the probe holder coupling cylinder moves back and forth on the scanning arm, driving the ultrasonic scanning probe to perform radial scanning on the weld connecting the pipe and the cylinder.

5. The reactor pressure vessel tube-barrel connection weld ultrasonic inspection device according to claim 4, characterized in that: The weld ultrasonic scanning module also includes a mounting seat arranged on one end of the scanning arm, a driving motor arranged on the mounting seat, and a transmission screw connected to the driving motor and extending along the scanning arm; The probe frame coupling cylinder is matched with the transmission screw and can move back and forth along the axial direction of the transmission screw under the rotation of the transmission screw.

6. The reactor pressure vessel tube-barrel connection weld ultrasonic inspection device according to claim 1, characterized in that: The inner fillet scanning module includes a movable cabin which is mounted on the rotating main shaft and can rotate with the rotating main shaft, at least one probe frame which is arranged on the movable cabin and extends radially, an inner fillet scanning probe which is arranged on the end of the probe frame, and a driving assembly for driving the movable cabin to move back and forth along the axial direction of the rotating main shaft.

7. The reactor pressure vessel tube-barrel connection weld ultrasonic inspection device according to claim 6, characterized in that: The fillet scanning module further includes at least one auxiliary support leg disposed on the movable cabin, and the auxiliary support leg is retractable in the radial direction.

8. The reactor pressure vessel tube-barrel connection weld ultrasonic inspection device according to claim 1, characterized in that: The pipe inner support module includes a structural main plate sleeved on the rotating main shaft and rotatable with the rotating main shaft, an anti-collision component arranged on the outer periphery of the structural main plate, a linkage ring arranged on at least one side of the structural main plate, a plurality of legs connected to the linkage ring along the circumference of the linkage ring, and at least one driving cylinder; The driving cylinder is positioned on the structural main board and connected to the linkage ring, driving the linkage ring to rotate relative to the structural main board. The rotation of the linkage ring drives the legs to radially extend and retract, and push against the inner wall of the connecting tube body or leave the inner wall of the connecting tube body.

9. The reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device according to any one of claims 1 to 8, characterized in that: The reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device further comprises a propulsion system for adjusting the underwater posture and travel speed of the reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device; the propulsion system comprises a propeller, and the propeller is arranged at one or more positions of the rotating main shaft, the underwater instrument cabin, and the support module inside the nozzle; and / or, The reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device also includes a buoyancy mechanism; The buoyancy mechanism comprises a first buoyancy block arranged on the underwater instrument cabin and a second buoyancy block arranged on the supporting module in the connecting pipe.

10. The reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device according to any one of claims 1 to 8, characterized in that: The reactor pressure vessel nozzle barrel connection weld ultrasonic inspection device further comprises a visual module arranged on the nozzle inner support module.

Images