Reactor internals hanging basket circumferential weld video detection device
By designing a video detection device integrating support body, camera mechanism and propulsion mechanism, the inspection problem of the hanging basket ring weld in the stack component in the pool environment is solved, and the full coverage inspection and self-stable movement function of the ring weld is realized.
Patent Information
- Application Number
- CN202411633016.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-14
- Publication Date
- 2025-02-28
AI Technical Summary
It is difficult for existing equipment to accurately inspect the basket ring welds in the pool environment of the stack components, especially in areas with complex structures and narrow spaces.
A video detection device including a support body, a camera mechanism, a lifting propulsion mechanism, a horizontal propulsion mechanism and a horizontal crawling mechanism is designed, which can be lifted and moved underwater, moved horizontally and crawled along the outer wall of the hanging basket to achieve full coverage inspection of the ring weld.
The device can be lifted and moved horizontally in water, fitted to the outer wall of the hanging basket, providing sufficient friction, achieving full coverage inspection of the ring weld, and overcoming the problem that existing equipment is difficult to accurately control the movement trajectory and speed.
Smart Images
Figure CN119534479A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of nuclear power nondestructive testing, and in particular to a video detection device for the annular weld of a hanging basket of a pile internal component. Background Art
[0002] The reactor internals are one of the key equipment of nuclear reactors. They are installed in the reactor pressure vessel and are combined with the reactor pressure vessel, control rod drive mechanism, fuel assembly and related components to realize the reactor function. Their long-term service reliability and stability are key factors affecting the safety and economy of nuclear power plant operation. The reactor internals are in harsh environments such as high temperature, high pressure water flow, high radiation, and vibration. Different parts of the reactor internals are at risk of failure due to radiation-induced stress corrosion cracking (IASCC), wear, and fatigue cracking. Once the relevant parts fail, it will pose a great risk to the primary circuit main equipment and core fuel assemblies. Therefore, formulating an effective in-service inspection strategy for reactor internals and implementing integrity supervision of reactor internals have become key factors in ensuring the safety of the unit.
[0003] For the circumferential weld area of the upper hanging basket of the in-core component, the structure around the weld is complex and the space is narrow, which cannot be directly reached by existing equipment. Therefore, a device is developed to inspect the circumferential weld of the hanging basket in a component pool environment. This device can overcome the problem that conventional ROV and conventional long-pole PTZ are difficult to accurately control the moving trajectory and speed, and can also overcome the problem that the long-pole PTZ is driven by a temporary bridge or the upper flange surface of the in-core component but the rod is unstable. This is very important for the detection of the circumferential weld of the hanging basket. Summary of the invention
[0004] The technical problem to be solved by the present invention is to provide a video detection device for the circumferential weld of a hanging basket of a pile internal component.
[0005] The technical solution adopted by the present invention to solve the technical problem is: to provide a video detection device for the ring weld of a hanging basket of a pile internal component, comprising a supporting body, a camera mechanism installed on the supporting body, a lifting and propulsion mechanism, a horizontal propulsion mechanism and a horizontal crawling mechanism;
[0006] The camera mechanism is used to inspect the girth weld on the hanging basket of the internal component and to observe the surrounding environment of the video detection device for the girth weld of the hanging basket of the internal component;
[0007] The lifting and propulsion mechanism is used to control the lifting and lowering movement of the video detection device for the circumferential weld of the in-core component hanging basket when it is underwater, the horizontal propulsion mechanism is used to control the video detection device for the circumferential weld of the in-core component hanging basket to move back and forth in the horizontal direction close to and away from the outer wall of the hanging basket, and the horizontal crawling mechanism is used to control the video detection device for the circumferential weld of the in-core component hanging basket to move circumferentially along the circumferential weld on the outer wall of the hanging basket.
[0008] In some embodiments, the support body includes a radiation shield for sealingly housing the electronic components.
[0009] In some embodiments, the in-pillar component hanging basket ring weld video detection device also includes a landing gear, which is arranged at the bottom of the supporting body.
[0010] In some embodiments, the lifting and propulsion mechanism includes two lifting thrusters, which are respectively installed on the opposite side surfaces of the supporting body; the thrust direction of the lifting thrusters is on the same vertical plane as the center of buoyancy and center of gravity of the video detection device for the annular weld of the in-pillar component hanging basket.
[0011] In some embodiments, the horizontal propulsion mechanism includes two horizontal rim thrusters, which are installed on a surface of the support body facing away from the basket, and the two horizontal rim thrusters correspond to one side of the two lifting thrusters respectively; the thrust direction of the horizontal rim thrusters is on the same horizontal plane as the center of gravity of the video detection device for the annular weld of the in-core component basket.
[0012] In some embodiments, the camera mechanism includes at least one camera; the camera is mounted on a surface of the support body facing away from the hanging basket, and the camera's shooting direction is toward the hanging basket.
[0013] In some embodiments, the horizontal crawling mechanism includes at least one crawling drive assembly;
[0014] The creeping drive assembly includes a driving motor, a driving wheel, a driven wheel and a synchronous belt;
[0015] The driving wheel is connected to the driving shaft of the driving motor, the driven wheel is arranged at an interval with the driving wheel, and is connected to the driving wheel through the synchronous belt; the driving wheel and the driven wheel are located on the surface of the supporting body facing the hanging basket, and can roll along the outer wall of the hanging basket relative to the supporting body.
[0016] In some embodiments, the creep drive assembly further includes a tensioning idler wheel, which is disposed between the driving wheel and the driven wheel and is in tensioning contact with the synchronous belt.
[0017] In some embodiments, the horizontal crawling mechanism includes two groups of the crawling drive assemblies; the two groups of the crawling drive assemblies are symmetrically arranged on the surface with the center of the surface of the supporting body facing the hanging basket.
[0018] In some embodiments, the center of gravity and the center of buoyancy of the video detection device for the annular weld of the in-pillar component hanging basket are on a vertical line, and the center of buoyancy is located above the center of gravity.
[0019] In some embodiments, the in-pillar component hanging basket ring weld video detection device further includes a buoyancy block, and the buoyancy block is disposed on the supporting body.
[0020] The beneficial effects of the present invention are as follows: it can dive in the water pool where the in-pillar component basket equipment is stored, and the functions of lifting, horizontal movement and posture adjustment of the entire device underwater can be realized through the lifting propulsion mechanism, the horizontal propulsion mechanism and the horizontal crawling mechanism; it can fit onto the outer wall of the basket, provide sufficient friction, and move circumferentially along the girth weld to realize full coverage inspection of the girth weld. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:
[0022] Figure 1 It is a structural schematic diagram of a video detection device for the girth weld of a hanging basket of a pile internal component according to an embodiment of the present invention on the hanging basket;
[0023] Figure 2 It is a front structural schematic diagram of a video detection device for the girth weld of a hanging basket of a pile internal component according to an embodiment of the present invention;
[0024] Figure 3 yes Figure 2 The schematic diagram of the structure of the video detection device for the annular weld of the hanging basket of the pile internal components after the surface cover plate is removed;
[0025] Figure 4 It is a schematic diagram of the back structure of a video detection device for the girth weld of a hanging basket of a pile internal component according to an embodiment of the present invention;
[0026] Figure 5 It is a bottom view of a video detection device for the circumferential weld of a hanging basket of an in-pillar component according to an embodiment of the present invention. DETAILED DESCRIPTION
[0027] 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.
[0028] refer to Figure 1 and Figure 2 The video detection device 200 for girth weld of a pile internal component hanging basket of the present invention is used to inspect the girth weld 101 on the hanging basket 100 of the pile internal component. Usually, the hanging basket 100 is stored in a water pool for storing the hanging basket of the pile internal component, so the video detection device of the present invention is suitable for performing underwater detection work on the hanging basket 100.
[0029] like Figure 1-Figure 3As shown, the video detection device 200 for the ring weld of the in-core component hanging basket of the present invention may include a supporting body 10, a camera mechanism 20 installed on the supporting body 10, a lifting and propulsion mechanism 30, a horizontal propulsion mechanism 40 and a horizontal crawling mechanism 50.
[0030] The camera mechanism 20 is used to inspect the girth weld 101 on the basket 100 of the internal component and to observe the surrounding environment of the video detection device 200 for the girth weld of the internal component basket. The lifting and propulsion mechanism 30 is used to control the lifting and lowering movement of the video detection device 200 for the girth weld of the internal component basket when it is underwater. The horizontal propulsion mechanism 40 is used to control the video detection device 200 for the girth weld of the internal component basket to move back and forth in the horizontal direction close to and away from the outer wall of the basket 100 when it is underwater. The horizontal crawling mechanism 50 is used to control the video detection device 200 for the girth weld of the internal component basket to move circumferentially along the girth weld 101 on the outer wall of the basket 100.
[0031] In combination with the present invention being suitable for underwater inspection of the hanging basket 100 , the video detection device 200 for the girth weld of the hanging basket of the in-core component further includes a buoyancy block 60 , which is disposed on the supporting body 10 to provide buoyancy for the entire video detection device 200 for the girth weld of the hanging basket of the in-core component.
[0032] refer to Figure 1 and Figure 2 The entire pile internal component hanging basket girth weld video detection device 200 is placed vertically during inspection, and the center of gravity and the center of buoyancy of the pile internal component hanging basket girth weld video detection device 200 are controlled on a vertical line, and the center of buoyancy is located directly above the center of gravity. The gravity and buoyancy of the entire pile internal component hanging basket girth weld video detection device 200 in water are roughly the same, and the self-stabilization function can be achieved.
[0033] As required, the video detection device 200 for the girth weld of the internal component hanging basket may further include a landing gear 70 disposed at the bottom of the supporting body 10. The video detection device 200 for the girth weld of the internal component hanging basket may be placed vertically on various planes through the landing gear 70.
[0034] Specifically, the support body 10 is used to carry the functional mechanisms such as the camera mechanism 20, the lifting and propulsion mechanism 30, the horizontal propulsion mechanism 40 and the horizontal crawling mechanism 50, and integrate the above mechanisms into one. The support body 10 as a whole can be a flat polygonal structure, which can be better and more stably attached to the outer wall of the hanging basket 100.
[0035] The support body 10 may further include a radiation shield 11, which has a sealed chamber inside, for accommodating the electronic component control parts of functional mechanisms such as the camera mechanism 20, the lifting and propulsion mechanism 30, the horizontal propulsion mechanism 40 and the horizontal crawling mechanism 50, and has waterproof and radiation-proof protection functions to ensure that each functional mechanism operates normally in the high radiation environment of the outer wall of the hanging basket 100.
[0036] The radiation shield 11 is preferably made of tungsten alloy material with strong radiation protection capability.
[0037] The camera mechanism 20 includes at least one camera 21; the camera 21 is installed on a surface of the support body 10 facing away from the hanging basket 100, and the camera is directed toward the hanging basket 100, so as to inspect the girth weld 101 on the hanging basket 100. The camera 21 has functions such as lighting, video acquisition, and zoom, and can also have pan / tilt rotation and pitch functions, which can be used for environmental observation during underwater diving, and can also be used for inspecting the surface state of the weld.
[0038] The lifting propulsion mechanism 30 includes at least one lifting propeller 31. The thrust direction of the lifting propeller 31 is in the same vertical plane as the center of buoyancy and the center of gravity. The lifting propeller 31 is used to provide an upward or downward thrust to drive the entire internal component hanging basket ring weld video detection device 200 to be lifted and lowered in the water.
[0039] exist Figure 2 and Figure 3 In the illustrated embodiment, the lifting and propulsion mechanism 30 includes two lifting and propulsion devices 31, which are respectively installed on opposite sides of the support body 10. The thrust directions of the two lifting and propulsion devices 31 are on the same vertical plane as the buoyancy center and the center of gravity of the video detection device 200 for the girth weld of the internal component hanging basket, so that the video detection device 200 for the girth weld of the internal component hanging basket can be self-stabilized in a vertical state (such as Figure 1 When the two lifting thrusters 31 provide the same upward / downward thrust at the same time, the entire internal component hanging basket ring weld video detection device 200 moves upward / downward in the water.
[0040] The horizontal propulsion mechanism 40 includes at least one horizontal rim propeller 41, and the thrust direction of the horizontal rim propeller 41 is in the same horizontal plane as the center of gravity. The horizontal rim propeller 41 is installed on a surface of the support body 10 facing away from the hanging basket 100. The horizontal rim propeller 41 can drive the support body 10 and the entire device to move in the horizontal direction close to the hanging basket 100 or away from the hanging basket 100 through forward or directional driving. The direction close to the hanging basket 100 is taken as the forward direction, and the direction away from the hanging basket 100 is taken as the backward direction, that is, the horizontal propulsion mechanism 40 is used to drive the entire internal component hanging basket girth weld video detection device 200 forward or backward in the water.
[0041] Preferably, the horizontal propulsion mechanism 40 includes two horizontal rim propellers 41, which are installed on a surface of the support body 10 facing away from the hanging basket 100, and the two horizontal rim propellers 41 correspond to one side of the two lifting propellers 31, and are also located on the opposite side edges of the support body 10. The thrust direction of the two horizontal rim propellers 41 is on the same horizontal plane as the center of gravity of the video detection device 200 for the girth weld of the internal component hanging basket, so that the video detection device 200 for the girth weld of the internal component hanging basket can be self-stabilized in a vertical balance state (such as Figure 1 to avoid height differences between the left and right sides of the entire device.
[0042] When the two horizontal wheel rim thrusters 41 provide the same horizontal forward / backward thrust at the same time, the video detection device 200 for detecting the girth weld of the internal component hanging basket can realize the horizontal forward / backward movement in the water. When the two horizontal wheel rim thrusters 41 provide the same horizontal thrust at the same time and in opposite directions, the video detection device 200 for detecting the girth weld of the internal component hanging basket can realize the movement of rotating around itself in the water.
[0043] The attachment of the video detection device 200 of the girth weld of the internal component hanging basket to the outer wall of the hanging basket 100 is realized by the horizontal propulsion mechanism 40. When the video detection device 200 of the girth weld of the internal component hanging basket swims in the water to the position of the girth weld 101 and approaches it, the lifting propulsion mechanism 30 maintains the vertical stable rotation speed of the device, and the two horizontal propulsion mechanisms 40 jointly provide horizontal thrust to attach the video detection device 200 of the girth weld of the internal component hanging basket to the outer wall of the hanging basket 100, maintain the rated power rotation speed, and continuously provide the pressure required for attachment.
[0044] exist Figure 2 and Figure 3 In the illustrated embodiment, the camera mechanism 20 includes two cameras 21; the two cameras 21 are respectively located on one side of the two horizontal wheel rim propellers 41. On the support body 10, the two horizontal wheel rim propellers 41 and the two cameras 21 are symmetrically distributed on both sides thereof with the vertical center line of the support body 10 as the symmetry line. Figure 1 and Figure 2 As shown, the video detection device 200 for the circumferential weld of the internal component hanging basket is arranged symmetrically on the surface facing away from the hanging basket 100 .
[0045] The horizontal crawling mechanism 50 can be attached to the outer wall of the hanging basket 100 underwater and move along the outer wall. The horizontal crawling mechanism 50 includes at least one crawling drive assembly.
[0046] In some embodiments, Figure 4 and Figure 5 As shown, the creeping drive assembly includes a driving motor 51, a driving wheel 52, a driven wheel 53 and a synchronous belt 54. The driving wheel 52 is connected to the driving shaft of the driving motor 51, and the driven wheel 53 is arranged at intervals from the driving wheel 52 and connected to the driving wheel 52 through the synchronous belt 54. The driving wheel 52 and the driven wheel 53 are located on the surface of the support body 10 facing the hanging basket 100, and can roll along the outer wall of the hanging basket 100 relative to the support body 10. When the driving motor 51 is started, the driving wheel 52 is driven to rotate through the driving shaft, and the driving wheel 52 drives the driven wheel 53 to rotate synchronously through the synchronous belt 54, so that the driving wheel 52 and the driven wheel 53 rotate synchronously and move along the outer wall of the hanging basket 100.
[0047] The creeping drive assembly may further include a tensioning idler wheel 55 , which is disposed between the driving wheel 52 and the driven wheel 53 and is in tensioned contact with the synchronous belt 54 for adjusting the tightness of the synchronous belt 54 .
[0048] Preferably, the horizontal crawling mechanism 50 includes two sets of crawling drive assemblies; the two sets of crawling drive assemblies are symmetrically arranged on the surface with the center of the support body 10 facing the hanging basket 100.
[0049] On the support body 10, the driving motors 51 of the two sets of creeping drive assemblies are respectively fixed on the surface of the support body 10 facing the hanging basket 100, and are located on the left and right sides of the surface. The driving wheel 52 and the driven wheel 53 of one set of creeping drive assemblies are arranged on the top surface of the support body 10, and the driving wheel 52 and the driven wheel 53 of the other set of creeping drive assemblies are arranged on the bottom surface of the support body 10. The surfaces of the synchronous belts 54 of the two sets of creeping drive assemblies are both facing the outer wall of the hanging basket 100.
[0050] The video detection device 200 for the ring weld of the internal component hanging basket of the present invention is remotely controlled through a control system. The cables of the camera mechanism 20, the lifting and propulsion mechanism 30, the horizontal propulsion mechanism 40 and the horizontal crawling mechanism 50 are integrated in a load-bearing shielded watertight cable 80, which is connected to the middle position of the top of the support body 10 for external connection to the control system. The control system supplies power to the camera mechanism 20, the lifting and propulsion mechanism 30, the horizontal propulsion mechanism 40 and the horizontal crawling mechanism 50 and performs signal transmission through the load-bearing shielded watertight cable 80.
[0051] The control system can remotely control the opening and closing, mode, etc. of the camera mechanism 20, the lifting and propulsion mechanism 30, the horizontal propulsion mechanism 40, and the horizontal crawling mechanism 50. The control system realizes the forward and reverse synchronization and differential speed control of the two sets of crawling drive components, thereby realizing the forward, backward and direction adjustment of the entire device on the outer wall of the hanging basket 100, completing the horizontal crawling of the outer wall of the hanging basket 100 and being able to adjust the direction of the inspection device as needed to meet the full inspection of the girth weld 101.
[0052] When the video detection device 200 for the circumferential weld of the in-core component hanging basket of the present invention is used, preparatory work is performed before inspection, including: installing the cables between the video detection device 200 for the circumferential weld of the in-core component hanging basket and the control box of the control system, filling the radiation protection cover 11 with a certain pressure of gas, checking the sealing state of the video detection device 200 for the circumferential weld of the in-core component hanging basket, and confirming that the sealing meets the requirements for launching. Functional tests are performed on each mechanism component to confirm that the movement functions of the lifting propulsion mechanism 30, the horizontal propulsion mechanism 40, and the horizontal crawling mechanism 50 are normal, and to confirm that the lighting, video acquisition, zoom and other functions of the camera 21 and the rotation and pitch functions of the pan-tilt movement are normal. Confirm that the fasteners of the video detection device 200 for the circumferential weld of the in-core component hanging basket are installed normally and are not loose. The onshore preparation work is completed.
[0053] Inspection of hanging basket ring weld:
[0054] (1) The video detection device 200 for the circumferential weld of the pile internal component hanging basket is lifted up by the load-bearing shielded watertight cable 80 on the top of the supporting body 10 and dropped into the water pool for storing the pile internal component hanging basket.
[0055] (2) Control the underwater floating function of the video detection device 200 of the annular weld of the internal component hanging basket to reach the position of the weld to be inspected.
[0056] (3) Control the two horizontal wheel rim thrusters 41 of the video detection device 200 for the ring weld of the in-pillar component hanging basket, adjust the posture of the entire detection device so that the synchronous belt 54 of the creeping drive assembly faces the outer wall surface of the hanging basket 100, and the horizontal wheel rim thrusters 41 push the entire detection device to the outer wall of the hanging basket 100 and fit it.
[0057] (4) Control the thrust of the horizontal rim thruster 41 to the working state to provide sufficient friction pressure required for the outer wall movement.
[0058] (5) Adjust the focus and lighting of the camera 21 and start video recording.
[0059] (6) Control the entire detection device to crawl horizontally along the girth weld 101 of the hanging basket 100 to ensure that the camera 21 is always aimed at the weld to be inspected (girth weld 101) until the inspection of the single girth weld 101 is completed.
[0060] Repeat the above steps until the video inspection of all welds on the hanging basket 100 is completed.
[0061] After the detection is completed, the entire detection device is separated from the outer wall of the hanging basket 100 and floats to a safe position on the water surface. The entire detection device is lifted out of the hanging basket water area to the shore through the load-bearing shielded watertight cable 80.
[0062] 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 video detection device for the ring weld of a pile internal component hanging basket, characterized in that: It includes a supporting body, a camera mechanism installed on the supporting body, a lifting and propulsion mechanism, a horizontal propulsion mechanism and a horizontal crawling mechanism; The camera mechanism is used to inspect the girth weld on the hanging basket of the internal component and to observe the surrounding environment of the video detection device for the girth weld of the hanging basket of the internal component; The lifting and propulsion mechanism is used to control the lifting and lowering movement of the video detection device for the circumferential weld of the in-core component hanging basket when it is underwater, the horizontal propulsion mechanism is used to control the video detection device for the circumferential weld of the in-core component hanging basket to move back and forth in the horizontal direction close to and away from the outer wall of the hanging basket, and the horizontal crawling mechanism is used to control the video detection device for the circumferential weld of the in-core component hanging basket to move circumferentially along the circumferential weld on the outer wall of the hanging basket.
2. The video detection device for the circumferential weld of the hanging basket of the internal components of the pile according to claim 1 is characterized in that: The center of gravity and the center of buoyancy of the video detection device for the annular weld of the in-pillar component hanging basket are on a vertical line, and the center of buoyancy is located directly above the center of gravity.
3. The video detection device for the ring weld of the internal component hanging basket according to claim 2 is characterized in that: The video detection device for the ring weld of the internal component hanging basket also includes a buoyancy block, which is arranged on the supporting body.
4. The video detection device for the circumferential weld of the hanging basket of the internal components of the pile according to claim 2 is characterized in that: The lifting and propulsion mechanism includes two lifting thrusters, which are respectively installed on the opposite side surfaces of the supporting body; the thrust direction of the lifting thrusters is on the same vertical plane as the buoyancy center and gravity center of the video detection device for the annular weld of the in-pillar component hanging basket.
5. The video detection device for the circumferential weld of the hanging basket of the internal components of the pile according to claim 4 is characterized in that: The horizontal propulsion mechanism includes two horizontal rim thrusters, which are installed on a surface of the support body facing away from the basket, and the two horizontal rim thrusters correspond to one side of the two lifting thrusters respectively; the thrust direction of the horizontal rim thrusters is on the same horizontal plane as the center of gravity of the video detection device for the annular weld of the in-core component basket.
6. The video detection device for the ring weld of the internal component hanging basket according to any one of claims 1 to 5, characterized in that: The camera mechanism comprises at least one camera; the camera is installed on a surface of the supporting body facing away from the hanging basket, and the camera direction of the camera is toward the hanging basket.
7. The video detection device for the ring weld of the internal component hanging basket according to any one of claims 1 to 5, characterized in that: The horizontal crawling mechanism includes at least one crawling drive assembly; The creeping drive assembly includes a driving motor, a driving wheel, a driven wheel and a synchronous belt; The driving wheel is connected to the driving shaft of the driving motor, the driven wheel is arranged at an interval with the driving wheel, and is connected to the driving wheel through the synchronous belt; the driving wheel and the driven wheel are located on the surface of the supporting body facing the hanging basket, and can roll along the outer wall of the hanging basket relative to the supporting body.
8. The video detection device for the circumferential weld of the hanging basket of the internal components of the pile according to claim 7 is characterized in that: The creeping drive assembly also includes a tensioning idler wheel, which is arranged between the driving wheel and the driven wheel and is in tensioning contact with the synchronous belt.
9. The video detection device for the circumferential weld of the hanging basket of the internal components of the pile according to claim 7, characterized in that: The horizontal crawling mechanism comprises two groups of crawling drive assemblies; the two groups of crawling drive assemblies are symmetrically arranged on the surface with the center of the surface of the supporting body facing the hanging basket.
10. The video detection device for the circumferential weld of the hanging basket of the internal components of the pile according to any one of claims 1 to 5, characterized in that: The support body comprises a radiation shield for sealing and accommodating electronic components; and / or, The video detection device for the ring weld of the internal component hanging basket also includes a landing gear, which is arranged at the bottom of the supporting body.