Reactor pressure vessel inspection equipment and reactor pressure vessel inspection method

Abstract

The invention discloses reactor pressure vessel inspection equipment and a reactor pressure vessel inspection method. The reactor pressure vessel inspection equipment comprises a supporting frame body, a lifting mechanism installed on the supporting frame body, a rotating mechanism installed on the lower portion, facing a barrel, of the lifting mechanism, a connecting pipe scanning arm installed below the rotating mechanism and two multi-degree-of-freedom mechanical arm probe frames. The lifting mechanism can move relative to the supporting frame body and drives the rotating mechanism and the connecting pipe scanning arm and the multi-degree-of-freedom mechanical arm probe frame on the rotating mechanism to move up and down along the central axis of the cylinder body. And the rotating mechanism drives the connecting pipe scanning arm and the multi-degree-of-freedom mechanical arm probe frame on the rotating mechanism to rotate. According to the invention, the two multi-degree-of-freedom mechanical arm probe frames are matched with the connecting pipe scanning arm to scan the reactor pressure vessel, and the multi-degree-of-freedom mechanical arm probe frames and the connecting pipe scanning arm can scan synchronously in parallel, so that the scanning time is shortened, the working efficiency is improved, and the time for overhauling a key path of a nuclear power plant is greatly shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of in-service inspection of nuclear power equipment, and in particular to a reactor pressure vessel inspection device and a reactor pressure vessel inspection method. Background Art

[0002] The most important component of a nuclear power plant is the reactor pressure vessel located in the center of the reactor building. It is used to fix, support and contain the core and all the internal components of the reactor. The nuclear fuel in the reactor body undergoes a chain fission reaction under neutron irradiation. The reactor pressure vessel is also the only large component that cannot be replaced during the entire life of a nuclear power plant. During normal operation, it is subjected to high temperature and high pressure, as well as extremely strong radioactivity. In order to ensure the safety of the nuclear reactor pressure vessel, it is necessary to conduct non-destructive testing on it regularly to find out possible damage to the structure, so as to determine its safety status and confirm whether remedial measures are needed.

[0003] The in-service inspection specifications and inspection outlines of nuclear power plants put forward mandatory requirements for non-destructive testing of the welds, bolt holes, weld overlays, and neutron high flux area base metal of the reactor pressure vessel, and specify that the reactor pressure vessel should be inspected before commissioning and at a certain interval during operation. The results of the pre-service inspection and in-service inspection serve as an important basis for analyzing and evaluating the operating status and life extension of the pressure vessel. Even after the reactor unit is shut down, the reactor pressure vessel still has a high degree of radioactivity inside due to the presence of activation products. It is impossible to use manpower and close-range manual inspection of the vessel for a full range and long time. Therefore, safe and reliable automated inspection equipment is an indispensable key element for the inspection of reactor pressure vessels. In addition, the inspection of reactor pressure vessels has always been on the critical path of nuclear power overhaul. Inspection efficiency is crucial and directly related to the nuclear power overhaul period and the power generation efficiency of the unit.

[0004] There are many types of existing reactor pressure vessel inspection devices. The first type is a large inspection device that has a fixed installation position on the reactor pressure vessel and is designed to carry multiple probe racks. Due to the dispersion of the inspected position, a single set of ultrasonic probe racks is often used to scan the reactor pressure vessel's barrel butt welds, bottom head butt welds, barrel cladding layers, pipe and barrel welds, safety end welds, pipe inner fillet areas, etc. in sequence. The second type is a general-purpose robotic arm with multiple degrees of freedom. The load capacity is limited. It is necessary to change the installation position of the robotic arm and replace the probe rack multiple times to complete the inspection of multiple positions of the reactor pressure vessel in sequence. The number of replacements is high and the inspection efficiency is low. The third type is a special inspection device designed for pipes, flange surfaces, barrel welds and other parts. Each inspection device completes the inspection of a type of object to be inspected. The number of different types of equipment significantly increases the complexity of on-site installation, transportation, and use. The above-mentioned existing inspection devices have greatly limited the efficiency improvement of reactor pressure vessel inspection work and increased the workload and human error risk of on-site operators. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an improved reactor pressure vessel inspection device and a reactor pressure vessel inspection method.

[0006] The technical solution adopted by the present invention to solve the technical problem is: to provide a reactor pressure vessel inspection device, including a support frame for installation on the flange surface of the cylinder of the pressure vessel, a lifting mechanism installed on the support frame and coaxial with the cylinder, a rotating mechanism installed on the lower part of the lifting mechanism facing the cylinder, a pipe scanning arm installed below the rotating mechanism, and two multi-degree-of-freedom mechanical arm probe racks;

[0007] The lifting mechanism is movable relative to the supporting frame, driving the rotating mechanism and the pipe scanning arm and the multi-degree-of-freedom robotic arm probe frame thereon to move up and down along the central axis of the cylinder; the rotating mechanism is used to drive the pipe scanning arm and the multi-degree-of-freedom robotic arm probe frame to rotate around the central axis of the cylinder; the pipe scanning arm and the two multi-degree-of-freedom robotic arm probe frames are used to perform synchronous and parallel scanning of the cylinder.

[0008] In some embodiments, the support frame includes four support legs respectively used to stand on the flange surface of the cylinder, and a connecting bracket connected between the four support legs and capable of spanning above the flange surface of the cylinder;

[0009] The four support legs are distributed at intervals along the circumference of the flange surface, and the two support legs located at diagonal positions are respectively used to cooperate with the guide columns on the flange surface.

[0010] In some embodiments, the lifting mechanism includes a lifting column that is perpendicular to the connecting bracket and passes through the connecting bracket;

[0011] The opposite ends of the lifting column are respectively located at the upper and lower sides of the connecting bracket, and the rotating mechanism is installed on the lower end of the lifting column at the lower side of the connecting bracket; the lower end of the lifting column is retractable to drive the rotating mechanism to move up and down.

[0012] In some embodiments, the rotating mechanism includes a support plate, a hollow cable seat, a torque motor with an absolute encoder, a connecting cylinder, and a rotating disk;

[0013] The cable seat and the connecting cylinder are connected to opposite sides of the support plate, and a through hole is provided on the support plate to connect the cable seat and the connecting cylinder; one end of the cable seat away from the support plate is relatively fixedly connected to the lifting column; the rotating disk is sleeved on the outer periphery of the connecting cylinder and can rotate relative to the connecting cylinder; the torque motor is arranged on the support plate, connected to and drives the rotating disk to rotate;

[0014] The rotating disk is provided with a plurality of installation holes distributed at intervals, which are respectively used for installing the pipe scanning arm and the multi-degree-of-freedom mechanical arm probe frame below the rotating disk.

[0015] In some embodiments, at least one side of the cable running seat is provided with a cable running hole connected to the internal space thereof;

[0016] The support plate is provided with a connection unit with a plurality of integrated joints, and the connection cables of the take-over scanning arm and the multi-DOF manipulator probe frame are respectively connected to the joints of the connection unit through the cable guide seat.

[0017] In some embodiments, the reactor pressure vessel inspection equipment also includes a cable retracting and releasing winch arranged on the lifting mechanism, and the lifting end of the cable retracting and releasing winch is provided with a cable rack for hanging cables, and the external connecting cable is suspended on the cable rack, one end of which is connected to the connector of the connecting unit, and the other end is used for an external control system.

[0018] In some embodiments, the multi-DOF robotic arm probe holder includes a six-DOF robotic arm and a probe holder;

[0019] The six-degree-of-freedom robotic arm has its first joint parallel to the central axis of the cylinder and is installed below the rotating mechanism through a first quick-install structure, and the probe holder is detachably arranged on the sixth joint of the six-degree-of-freedom robotic arm away from the rotating mechanism through a second quick-install structure.

[0020] In some embodiments, the first quick-release structure includes a positioning column arranged on the first joint of the six-degree-of-freedom robotic arm, a positioning hole adapted to the positioning column and arranged on the rotating mechanism, a positioning pin protruding from the first joint and located on at least one side of the positioning column, a pin hole arranged on the rotating mechanism and located on at least one side of the positioning hole, and a locking piece; the positioning column passes through the positioning hole from one side and fits in the positioning hole, while the positioning pin fits in the pin hole, and the locking piece passes through the positioning hole from the other side and is fastened to the positioning column.

[0021] In some embodiments, the second quick-install structure includes a first connection seat provided on the sixth joint of the six-degree-of-freedom mechanical arm, a second connection seat provided on the probe holder, and a docking assembly;

[0022] The first connection seat is provided with a docking hole and a screw hole connected axially; a docking column matched with the docking hole is provided on one side of the second connection seat, and a central hole penetrating to the docking column is also provided on the second connection seat, and the docking assembly is inserted in the central hole and can move and rotate axially relative to the central hole; the docking assembly includes a rotating operating part and a screw connected axially;

[0023] When the first connecting seat and the second connecting seat are docked, the docking column is engaged in the docking hole, and the docking assembly is rotated with the screw toward the screw hole through the rotating operating part to make the screw engage in the screw hole, so as to dock and fix the first connecting seat and the second connecting seat.

[0024] In some embodiments, the probe holder includes a protective cover, a probe support, and a plurality of probe assemblies; each of the probe assemblies includes an ultrasound probe having at least two degrees of freedom of movement;

[0025] One end of the protective cover is open, and the probe holder fits in the open end of the protective cover to close the open end; and the probe holder is provided with a plurality of channel holes that pass through the opposite ends of the probe holder and are connected to the internal space of the protective cover; one of the channel holes is used to insert a probe assembly, and the probe assembly can move back and forth along the channel hole relative to the protective cover and the probe holder in the direction of entering and exiting the protective cover.

[0026] In some embodiments, the probe assembly also includes a probe slide rod and a probe frame, wherein the first end of the probe slide rod is inserted into the channel hole and moves back and forth along the channel hole; the probe frame is rotatably disposed on the second end of the probe slide rod, and the ultrasound probe is disposed on the probe frame and is rotatable relative to the probe frame.

[0027] In some embodiments, the probe assembly further includes a constant force spring; the constant force spring is disposed at the first end of the probe slide bar and connected to the probe support, so that the probe slide bar has a constant tendency force to move toward the outside of the protective cover.

[0028] The present invention also provides a reactor pressure vessel inspection method, using the above-mentioned reactor pressure vessel inspection equipment, the reactor pressure vessel inspection method comprises the following steps:

[0029] S1. Installing the reactor pressure vessel inspection equipment on the flange surface of the cylinder of the pressure vessel;

[0030] S2, the lifting mechanism of the reactor pressure vessel inspection equipment is started, and the connecting scanning arm and two multi-degree-of-freedom mechanical arm probe racks are lowered to the position to be scanned in the cylinder;

[0031] S3, the takeover scanning arm and the two multi-degree-of-freedom robotic arm probe racks perform synchronous and parallel scanning;

[0032] The scanning position of the pipe scanning arm includes at least one of the weld at the safety end of the water inlet pipe, the weld at the safety end of the water outlet pipe, the inner fillet extension section of the water inlet pipe, the inner fillet extension section of the water outlet pipe, the pipe side of the weld connecting the water inlet pipe and the cylinder, the pipe side of the weld connecting the water outlet pipe and the cylinder, the cladding layer of the water inlet pipe, the cladding layer of the water outlet pipe, the inner fillet of the water inlet pipe and the inner fillet of the water outlet pipe;

[0033] The scanning positions of the multi-degree-of-freedom robotic arm probe frame include at least one of the cylinder side of the weld connecting the water inlet pipe and the cylinder, the cylinder side of the weld connecting the water outlet pipe and the cylinder, the inner fillet of the water outlet, the cylinder girth weld, the bottom head girth weld and the core high flux area.

[0034] The beneficial effects of the present invention are as follows: two multi-degree-of-freedom robotic arm probe racks are arranged to cooperate with the take-over scanning arm to scan the reactor pressure vessel; the multi-degree-of-freedom robotic arm probe racks and the take-over scanning arm can scan synchronously and in parallel, which reduces the scanning time, improves work efficiency, and greatly reduces the critical path time of nuclear power plant overhaul. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0036] Figure 1 It is a structural schematic diagram of a reactor pressure vessel inspection device according to an embodiment of the present invention;

[0037] Figure 2 It is a structural schematic diagram of a lifting mechanism and a rotating mechanism in a reactor pressure vessel inspection device according to an embodiment of the present invention;

[0038] Figure 3 It is a structural schematic diagram of a rotating mechanism in a reactor pressure vessel inspection device according to an embodiment of the present invention;

[0039] Figure 4 yes Figure 3 A schematic cross-sectional structure diagram of the rotating mechanism shown;

[0040] Figure 5 It is a schematic structural diagram of a reactor pressure vessel inspection device according to an embodiment of the present invention after removing a support frame and a lifting mechanism;

[0041] Figure 6 yes Figure 5 Schematic diagram of the structure of the center pipe scanning arm;

[0042] Figure 7 yes Figure 5 A schematic diagram of the structure of a multi-DOF robotic arm probe holder;

[0043] Figure 8 It is a schematic diagram of the coordination structure of a multi-degree-of-freedom robotic arm probe holder and a rotating disk (partial section);

[0044] Fig. 9 It is a structural schematic diagram of an embodiment of a probe rack in a multi-degree-of-freedom robotic arm probe rack of the present invention;

[0045] Fig.10 yes Fig. 9 The schematic diagram of the structure of the probe frame after removing the protective cover;

[0046] Fig.11 yes Fig.10 A schematic diagram of the structure of a probe assembly;

[0047] Fig.12 It is a schematic structural diagram of a reactor pressure vessel inspection device in a cylinder according to an embodiment of the present invention (the support frame and the lifting mechanism are omitted). DETAILED DESCRIPTION

[0048] 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.

[0049] The reactor pressure vessel inspection equipment of the present invention is used for non-destructive inspection of welds, bolt holes, cladding layers, neutron high flux area base metal and other positions of the reactor pressure vessel.

[0050] like Figure 1As shown, a reactor pressure vessel inspection device according to an embodiment of the present invention may include a support frame 10, a lifting mechanism 20 installed on the support frame 10, a rotating mechanism 30 installed on the lifting mechanism 20, a pipe scanning arm 40 installed on the rotating mechanism 30, and two multi-degree-of-freedom robotic arm probe frames 50.

[0051] Among them, the support frame 10 is used to be installed on the flange surface of the cylinder of the pressure vessel (RPV) to achieve stable positioning of the entire equipment on the cylinder. The lifting mechanism 20 is suspended on the cylinder by being installed on the support frame 10, and is coaxial with the cylinder, and can move up and down relative to the support frame 10 and the cylinder on the central axis of the cylinder. The rotating mechanism 30 is installed on the lower part of the lifting mechanism 20 facing the cylinder, and can move up and down with the lifting mechanism 20, and can also rotate relative to the lifting mechanism 20. The connecting scanning arm 40 and the two multi-degree-of-freedom robotic arm probe racks 50 are used to perform synchronous and parallel scanning of the cylinder. The connecting scanning arm 40 and the two multi-degree-of-freedom robotic arm probe racks 50 are respectively installed below the rotating mechanism 30, and move up and down and rotate with the rotating mechanism 30 to meet the full scanning of the position to be scanned.

[0052] Specifically, the support frame 10 may include a connecting bracket 11 and four supporting legs 12. The four supporting legs 12 are respectively used to stand on the flange surface of the cylinder. The connecting bracket 11 is connected between the four supporting legs 12 and can span above the flange surface of the cylinder. A supporting sleeve 13 is provided at the lower part of each supporting leg 12, and the supporting sleeve 13 can be sleeved and matched with the guide column on the flange surface.

[0053] When the support frame 10 is placed on the flange surface of the cylinder, the four support legs 12 are spaced apart along the circumference of the flange surface, and the two support legs 12 located at the diagonal positions are respectively matched with the guide columns on the flange surface through the support sleeves 13, and the other two support legs 12 can be connected with the flange holes on the flange surface through their respective support sleeves 13, and can be further locked by bolts.

[0054] In a preferred embodiment, the connecting bracket 11 of the supporting frame body 10 is in an I-shape, and the four free ends located around it are respectively used to connect to the supporting legs 12.

[0055] The lifting mechanism 20 is vertically connected to the connecting bracket 11 and is connected to the connecting bracket 11, and the central axis of the lifting mechanism 20 is coaxial with the central axis of the cylinder. The connecting bracket 11 may be provided with a bracket hole to cooperate with the lifting mechanism 20.

[0056] Furthermore, if Figure 1 and Figure 2As shown, the lifting mechanism 20 may include a lifting column 21, which is vertically connected to the connecting bracket 11 and is connected to the connecting bracket 11. One end (upper end) of the lifting column 21 is located on the upper side of the connecting bracket 11, and the other end (lower end) is located on the lower side of the connecting bracket 11 and faces the inside of the cylinder.

[0057] The lower end of the lifting column 21 can be provided with a plurality of sleeves which are sleeved in sequence, and the lower end of the lifting column 21 can be telescoped to realize up and down movement by relative extension or retraction of the plurality of sleeves. The rotating mechanism 30 is installed at the lower end of the lifting column 21, and can move up and down relative to the support frame 10 and the cylinder body as the lower end of the lifting column 21 is telescoped.

[0058] Corresponding to the extension and retraction of the lower end of the lifting column 21, the lifting mechanism 20 further includes a hoisting mechanism 22 connected thereto, and the hoisting mechanism 22 is used to pull up or lower the sleeve at the lower end of the lifting column 21, so that the lower end of the lifting column 21 can be extended and retracted.

[0059] The rotating mechanism 30 is mounted on the lower end of the lifting column 21 on the lower side of the connecting bracket 11. In some embodiments, the rotating mechanism 30 includes a rotating disk 31, which can be driven to rotate by a motor or the like. The rotating disk 31 is provided with a plurality of spaced mounting holes, which are respectively used for mounting the pipe scanning arm 40 and the multi-degree-of-freedom robotic arm probe holder 50 below the rotating disk 31. For example, a plurality of mounting holes are evenly spaced along the circumference of the rotating disk 31, and the pipe scanning arm 40 can be parallel to the diameter of the rotating disk 31 and laterally connected to the lower side of the rotating disk 31 by cooperating with two mounting holes at 180°. The two multi-degree-of-freedom robotic arm probe holders 50 can be respectively connected to the lower side of the rotating disk 31 by cooperating with the mounting holes located on both sides of the pipe scanning arm 40, and are located on opposite sides of the pipe scanning arm 40.

[0060] Furthermore, if Figures 2 to 4 As shown, the rotating mechanism 30 also includes a support plate 32, a hollow cable seat 33, a torque motor 34 with an absolute encoder, and a connecting cylinder 35. The cable seat 33 and the connecting cylinder 35 are connected to opposite sides of the support plate 32, and a through hole 320 is provided on the support plate 32 to connect the cable seat 33 and the connecting cylinder 35; the end of the cable seat 33 away from the support plate 32 is relatively fixedly connected to the lifting column 21, so that the cable seat 33, the support plate 32 and the connecting cylinder 35 are relatively fixed to the lower end of the lifting column 21.

[0061] The upper end of the cable seat 33 may be connected or integrally formed with a cylinder 331 for relatively fixed connection with the lifting column 21. The cable seat 33 is a hollow shell structure, the internal space of which can be used for passing and accommodating cables, and at least one side of the cable seat 33 is provided with a cable hole 330 connected to the internal space thereof, for the cables to enter and exit the cable seat 33. The rotating disk 31 is sleeved on the outer periphery of the connecting cylinder 35 and can rotate relative to the connecting cylinder 35; the torque motor 34 is arranged on the support plate 32, connected to and driving the rotating disk 31 to rotate.

[0062] At least one bearing 36 is sleeved between the rotating disk 31 and the connecting cylinder 35 to reduce the friction coefficient between the rotating disk 31 and the connecting cylinder 35 .

[0063] The torque motor 34 can be connected through gears and drive the rotating disk 31 to rotate. The torque motor 34 is provided with an absolute encoder, which is used to pick up and feed back the rotation angle information and rotation speed information of the torque motor 34. The remote control system receives the above information and can process and obtain the rotation angle and rotation speed of the rotating disk 31, so as to monitor the rotation angle and speed of the scanning arm 40 and the multi-degree-of-freedom robotic arm probe holder 50 during scanning.

[0064] Furthermore, a connection unit 37 with a plurality of integrated connectors is provided on the support plate 32, and the connection cables of the scanning arm 40 and the multi-DOF robot probe frame 50 are respectively connected to the connectors of the connection unit 37 through the cable guide seat 33. The connection unit 37 is then connected to the control system through the connection cables, so as to realize the connection between the scanning arm 40 and the multi-DOF robot probe frame 50 and the control system for monitoring, power supply, etc.

[0065] The arrangement of the cable guide seat 33 in the rotating mechanism 30 prevents the connection cables of the scanning arm 40 and the multi-DOF robotic arm probe holder 50 from being entangled or pulled as the rotating disk 31 rotates. The rotating disk 31 is an open disk structure and does not have a closed space. After the rotating mechanism 30 operates in the pressure vessel, the coolant in the pressure vessel will not accumulate in the rotating disk 31, the cable guide seat 33 and other structures, and the accumulation of radioactive substances therein will be avoided or reduced.

[0066] Corresponding to the external connection of the connecting cable on the connecting unit 37, the reactor pressure vessel inspection equipment further includes a cable retracting and releasing winch 60 disposed on the lifting mechanism 20. Figure 1The cable retracting and unwinding winch 60 can be fixed on the lifting column 21 or the hoisting mechanism 22. A cable rack 61 for hanging cables is provided at the hanging end of the cable retracting and unwinding winch 60. The external connection cable is hung on the cable rack 61, one end of which is connected to the connector of the connection unit 37, and the other end is used for the external control system. The arrangement of the cable retracting and unwinding winch 60 and its cable rack 61 makes the cable arrangement more convenient, and as the lower end of the lifting column 21 is extended and retracted, the cable retracting and unwinding winch 60 can retract and unwind the cable synchronously without problems such as entanglement and pulling.

[0067] Combination Figure 3 , Figure 5 and Figure 6 The pipe scanning arm 40 is installed below the rotating disk 31 in the diameter direction of the rotating disk 31 , and two multi-degree-of-freedom robotic arm probe racks 50 are respectively located on both sides of the pipe scanning arm 40 and installed below the rotating disk 31 .

[0068] The pipe scanning arm 40 may further include a scanning mechanical arm 41 installed below the rotating disk 31, a rotating portion 42 rotatably installed at one end of the scanning mechanical arm 41, and a plurality of scanning components 43 arranged on the rotating portion 42. The scanning mechanical arm 41 may move back and forth in the radial direction of the cylinder of the pressure vessel relative to the rotating disk 31, thereby driving the rotating portion 42 and the scanning components 43 at its end to move back and forth in the radial direction.

[0069] The back-and-forth movement of the scanning robot arm 41 can be realized by telescopic movement. The scanning robot arm 41 can be fixed below the rotating disk 31 by the cooperation of at least one suspension bracket 44 and the mounting hole. The rotating part 42 can be rotated by a driving member such as a motor at the end of the scanning robot arm 41. Preferably, a plurality of scanning components 43 can be distributed on the outer peripheral surface of the rotating part 42 along the circumference of the rotating part 42. The scanning component 43 can include a camera, a distance measuring probe, etc.

[0070] like Figure 5 As shown, the multi-DOF robotic arm probe holder 50 may further include a six-DOF robotic arm 51 (also called a six-axis robotic arm) and a probe holder 52 .

[0071] The six-degree-of-freedom robotic arm 51 is installed below the rotating mechanism 30 (rotating disk 31) with its first joint 511 parallel to the central axis of the cylinder of the pressure vessel through a first quick-release structure, and the probe holder 52 is detachably arranged on the sixth joint 516 of the six-degree-of-freedom robotic arm 51 away from the rotating mechanism 30 through a second quick-release structure.

[0072] The first quick-install structure is set to facilitate the rapid disassembly and assembly of the six-degree-of-freedom robotic arm 51 in the RPV water tank; the second quick-install structure is set to facilitate the rapid disassembly and assembly of the probe holder 52 on the six-degree-of-freedom robotic arm 51 in the RPV water tank. The above-mentioned rapid disassembly and assembly can be completed in one go, and all RPV inspection items can be completed without the equipment being out of water. The inspection of the take-over part, which accounts for 70% of the inspection workload, is completed by the take-over scanning arm 40 and the multi-degree-of-freedom robotic arm probe holder 50, and the two can be inspected synchronously and in parallel, which greatly reduces the inspection time and improves work efficiency.

[0073] refer to Figure 7 and Figure 8 In some embodiments, the first quick-install structure includes a positioning column 101, a positioning hole 102 matched with the positioning column 101, a positioning pin 103, a pin hole 104 matched with the positioning pin 103, and a locking member 105.

[0074] The positioning column 101 is arranged on the first joint 511 of the six-degree-of-freedom mechanical arm 51, and the positioning hole 102 is arranged on the rotating disk 31 of the rotating mechanism 30. When the six-degree-of-freedom mechanical arm 51 is docked with the rotating disk 31, the positioning column 101 is inserted into the positioning hole 102; the positioning column 101 is also provided with a screw hole 106 for cooperating with the locking member 105. The positioning hole 102 is realized by the mounting hole on the rotating disk 31.

[0075] The positioning pin 103 protrudes from the first joint 511 and is located on at least one side of the positioning column 101. The positioning pin 103 is smaller than the positioning column 101 in height and diameter, and is mainly used for alignment before the positioning column 101 and the positioning hole 102 are connected. The pin hole 104 is provided on the rotating disk 31 and is located on at least one side of the positioning hole 102, and is used for the insertion of the positioning pin 103.

[0076] When the six-degree-of-freedom mechanical arm 51 is docked with the rotating disk 31, the positioning pin 103 is first aligned with the pin hole 104 to confirm the installation direction of the six-degree-of-freedom mechanical arm 51, and the positioning column 101 is inserted from one side of the positioning hole 102 and fits in the positioning hole 102, while the positioning pin 103 fits in the pin hole 104. The locking member 105 is inserted from the other side of the positioning hole 102 and fastened in the screw hole 106 of the positioning column 101. The locking member 105 can be, but is not limited to, a bolt.

[0077] refer to Figure 8 and Fig. 9 In some embodiments, the second quick-install structure includes a first connecting seat 210 disposed on the sixth joint 516 of the six-degree-of-freedom robotic arm 51, a second connecting seat 220 disposed on the probe holder 52, and a docking assembly.

[0078] The first connecting seat 210 is provided with an axially connected docking hole 211 and a screw hole 212; the inner diameter of the docking hole 211 is larger than the screw hole 212, and the docking hole 211 passes through one end of the first connecting seat 210, and the screw hole 212 passes through the other end of the first connecting seat 210.

[0079] A docking column 221 matching with the docking hole 211 is provided on one side of the second connection seat 220, and a central hole 222 penetrating to the docking column 221 is also provided on the second connection seat 220, and the central hole 222 includes a first hole penetrating the second connection seat 220 and a second hole penetrating the docking column 221, and a boss is provided at the connection between the first hole and the second hole. The docking assembly is arranged in the central hole 222, and can move and rotate axially relative to the central hole 222.

[0080] The docking assembly may specifically include a rotating operating part 223 and a screw 224 connected axially; the diameter of the rotating operating part 223 is larger than the diameter of the screw 224, and the rotating operating part 223 may cooperate with the first hole of the central hole 222 to enter and exit the first hole. The screw 224 may be inserted into the first hole and the second hole, and move back and forth in the central hole 222 as the rotating operating part 223 enters and exits the first hole. The end of the screw 224 away from the rotating operating part 223 is restricted in the second hole by cooperating with the boss, and when the rotating operating part 223 moves back and forth along the axial direction of the central hole 222, the end of the screw 224 may extend out of the second hole or retract into the second hole.

[0081] When the first connection seat 210 and the second connection seat 220 are connected, the connection column 221 is plugged into the connection hole 211, and the connection assembly is oriented with the screw rod 224 toward the screw hole 212 of the first connection seat 210, and the first connection seat 210 and the second connection seat 220 are connected. By rotating the rotation operation part 223, the screw rod 224 is locked in the screw hole 212, and at the same time, with the rotation of the rotation operation part 223 and the cooperation between the screw rod 224 and the screw hole 212, the rotation is converted into the axial movement of the connection assembly until the screw rod 224 is locked in place in the screw hole 212, and the first connection seat 210 and the second connection seat 220 are connected and fixed.

[0082] In the second quick-install structure, the rotating operating part 223 is a cylindrical structure with a concave-convex structure inside for cooperating with the operating end of a long rod tool, so that the staff can enter the RPV pool through a long rod tool outside the pressure vessel to quickly disassemble and assemble the probe frame 52 on the six-degree-of-freedom robotic arm 51.

[0083] The probe frame 52 can be realized by using existing technology. Alternatively, in order to reduce the workload of on-site foreign body prevention, and thus reduce the time occupied by the foreign body prevention inspection work and the radiation dose of personnel, the probe frame 52 uses a probe frame with foreign body prevention function.

[0084] like Figure 9-11 As shown, the probe frame 52 includes a protective cover 1, a probe support 2 and a plurality of probe assemblies 3; each probe assembly 3 includes an ultrasonic probe 300 having at least two degrees of freedom of movement;

[0085] One end of the protective cover 1 is open, and the probe holder 2 fits in the open end of the protective cover 1 to close the open end. In addition, the probe holder 2 is provided with a plurality of channel holes 201 that penetrate through the opposite ends of the probe holder 2 and communicate with the inner space of the protective cover 1; a channel hole 201 is used to insert a probe assembly 3, and the probe assembly 3 can move back and forth along the channel hole 201 relative to the protective cover 1 and the probe holder 2 in the direction of entering and exiting the protective cover 1.

[0086] On the probe holder 2 , a plurality of channel holes 201 are arranged along the length direction of the probe holder 2 , and may form one row, two rows or more.

[0087] The probe holder 2 is preferably detachably fitted to the open end of the protective cover 1 to facilitate the disassembly, replacement, and maintenance of the probe assembly 3 .

[0088] Each probe assembly 3 may include an ultrasonic probe 300, a probe slide bar 301, and a probe frame 302. The probe slide bar 301 has a first end and a second end opposite to each other. The first end of the probe slide bar 301 is inserted into the channel hole 201 and can move back and forth along the channel hole 201 in the direction of entering and exiting the protective cover 1. The probe frame 302 is rotatably disposed on the second end of the probe slide bar 301 through a rotating assembly, etc., and the ultrasonic probe 300 is disposed on the probe frame 302 through a rotating shaft, etc. and can rotate relative to the probe frame 302.

[0089] by Fig. 9 and Fig.10 The probe holder 52 is shown with the ultrasonic probe 300 facing upward, and the probe slide bar 301 can move up and down relative to the protective cover 1 and the probe support 2, driving the probe frame 302 and the ultrasonic probe 300 on its second end to move up and down as well.

[0090] A limit pin 202 for restricting the motion of the probe slide 301 may also be provided between the probe slide 301 and the probe support 2. The limit pin 202 is fixed in the probe support 2, and passes through or is engaged with one end in a limit slot 304 provided on the probe slide 301. When the probe slide 301 moves up and down in the channel hole 201, the limit pin 202 also moves in the limit slot 304 at the same time. When the limit pin abuts against the upper end or the lower end of the limit slot 304, the probe slide 301 is restricted from continuing to move in the downward direction, thereby achieving the effect of restricting the motion of the probe slide 301.

[0091] The rotation direction of the probe frame 302 relative to the probe slide bar 301 and the rotation direction of the ultrasonic probe 300 relative to the probe frame 302 are in two perpendicular and orthogonal directions. The rotation of the probe frame 302 also drives the ultrasonic probe 300 to rotate relative to the probe slide bar 301, so that the ultrasonic probe 300 has two perpendicular and orthogonal rotational degrees of freedom on the probe slide bar 301, ensuring that the ultrasonic probe 300 fits the position to be scanned. Combined with the back-and-forth movement of the probe slide bar 301, the ultrasonic probe 300 has three degrees of freedom of movement.

[0092] The probe assembly 3 further includes a constant force spring 303 ; the constant force spring 303 is disposed at the first end of the probe slide bar 301 and connected to the probe support 2 , so that the probe slide bar 301 has a constant tendency force to move toward the outside of the protective cover 1 .

[0093] In the above-mentioned probe frame 52, the protective cover 1 is provided to form a covering space to accommodate the probe holder 2 and the lower structure of the probe assembly 3, thereby reducing the number of exposed external parts and thus reducing the difficulty of preventing foreign matter.

[0094] A bracket is provided on the side of the protective cover 1 for connecting with the six-degree-of-freedom robot 51 , and the second connecting seat 220 of the second quick-install structure is arranged on the bracket.

[0095] The reactor pressure vessel inspection method implemented by the reactor pressure vessel inspection device of the present invention is referred to Figure 1 and Fig.12 The inspection method may include the following steps:

[0096] S1. Install the reactor pressure vessel inspection equipment on the flange surface of the cylinder 400 of the pressure vessel.

[0097] S2. The lifting mechanism 20 of the reactor pressure vessel inspection equipment is started to lower the connecting scanning arm 40 and the two multi-degree-of-freedom robotic arm probe racks 50 to the position to be scanned in the cylinder 400.

[0098] S3, taking over the scanning arm 40 and the two multi-DOF robotic arm probe holders 50 to perform synchronous parallel scanning.

[0099] The positions to be scanned in the cylinder 400 of the pressure vessel include: the flange threaded hole at the top flange surface of the cylinder, the flange ligament area, the flange and the pipe section connection weld (S / C200 girth weld), the water inlet pipe and the cylinder connection weld (water inlet SET-IN weld), the water inlet pipe safety end weld (pipe and safety end, safety end and main pipeline), the inlet pipe inner fillet extension section, the outlet pipe safety end weld (pipe and safety end, safety end and main pipeline), the outlet pipe inner fillet extension section, the outlet pipe and the cylinder connection weld (water outlet SET-IN weld), the outlet inner fillet (R19 inner fillet), the pipe section and the cylinder section butt girth weld (S / C201 girth weld), the core high flux area, the cylinder section butt girth weld (S / C202 girth weld), the bottom head girth weld (S / C204 weld), etc.

[0100] Among them, the scanning positions of the pipe scanning arm 40 include at least one of the weld at the safety end of the inlet pipe, the weld at the safety end of the outlet pipe, the weld connecting the safety end and the main pipeline, the inner fillet extension section of the inlet pipe, the inner fillet extension section of the outlet pipe, the pipe side of the weld connecting the inlet pipe and the cylinder, the pipe side of the weld connecting the outlet pipe and the cylinder, the inlet pipe cladding layer, the outlet pipe cladding layer, the inner fillet of the inlet pipe (except the R19 inner fillet) and the inner fillet of the outlet pipe (except the R19 inner fillet).

[0101] The scanning positions of the multi-degree-of-freedom robotic arm probe frame 50 include at least one of the cylinder side of the weld connecting the water inlet pipe and the cylinder, the cylinder side of the weld connecting the water outlet pipe and the cylinder, the inner fillet of the water outlet (R19 inner fillet), the cylinder girth weld, the bottom head girth weld, the core high flux area, the flange threaded hole and the flange ligament area.

[0102] 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 inspection equipment, characterized in that: It comprises a support frame body for being installed on the flange surface of the cylinder of the pressure vessel, a lifting mechanism installed on the support frame body and coaxial with the cylinder body, a rotating mechanism installed on the lower part of the lifting mechanism facing the cylinder body, a pipe scanning arm installed below the rotating mechanism, and two multi-degree-of-freedom mechanical arm probe frames; The lifting mechanism is movable relative to the supporting frame, driving the rotating mechanism and the pipe scanning arm and the multi-degree-of-freedom robotic arm probe frame thereon to move up and down along the central axis of the cylinder; the rotating mechanism is used to drive the pipe scanning arm and the multi-degree-of-freedom robotic arm probe frame to rotate around the central axis of the cylinder; the pipe scanning arm and the two multi-degree-of-freedom robotic arm probe frames are used to perform synchronous and parallel scanning of the cylinder.

2. The reactor pressure vessel inspection equipment according to claim 1, characterized in that: The support frame body comprises four support legs respectively used to stand on the flange surface of the cylinder body, and a connecting bracket connected between the four support legs and capable of spanning above the flange surface of the cylinder body; The four support legs are distributed at intervals along the circumference of the flange surface, and the two support legs located at diagonal positions are respectively used to cooperate with the guide columns on the flange surface.

3. The reactor pressure vessel inspection equipment according to claim 2, characterized in that: The lifting mechanism comprises a lifting column which is perpendicular to the connecting bracket and is connected to the connecting bracket; The opposite ends of the lifting column are respectively located at the upper and lower sides of the connecting bracket, and the rotating mechanism is installed on the lower end of the lifting column at the lower side of the connecting bracket; the lower end of the lifting column is retractable to drive the rotating mechanism to move up and down.

4. The reactor pressure vessel inspection equipment according to claim 3, characterized in that: The rotating mechanism includes a supporting plate, a hollow cable-walking seat, a torque motor with an absolute encoder, a connecting cylinder and a rotating disk; The cable seat and the connecting cylinder are connected to opposite sides of the support plate, and a through hole is provided on the support plate to connect the cable seat and the connecting cylinder; one end of the cable seat away from the support plate is relatively fixedly connected to the lifting column; the rotating disk is sleeved on the outer periphery of the connecting cylinder and can rotate relative to the connecting cylinder; the torque motor is arranged on the support plate, connected to and drives the rotating disk to rotate; The rotating disk is provided with a plurality of installation holes distributed at intervals, which are respectively used for installing the pipe scanning arm and the multi-degree-of-freedom mechanical arm probe frame below the rotating disk.

5. The reactor pressure vessel inspection equipment according to claim 4, characterized in that: At least one side of the cable running seat is provided with a cable running hole connected to the internal space thereof; The support plate is provided with a connection unit with a plurality of integrated joints, and the connection cables of the take-over scanning arm and the multi-DOF manipulator probe frame are respectively connected to the joints of the connection unit through the cable guide seat.

6. The reactor pressure vessel inspection equipment according to claim 5, characterized in that: The reactor pressure vessel inspection equipment also includes a cable retracting and unwinding winch arranged on the lifting mechanism, and a cable rack for hanging cables is provided at the lifting end of the cable retracting and unwinding winch, and an external connecting cable is hung on the cable rack, one end of which is connected to the connector of the connecting unit, and the other end is used for an external control system.

7. The reactor pressure vessel inspection equipment according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm probe frame comprises a six-degree-of-freedom robotic arm and a probe frame; The six-degree-of-freedom robotic arm has its first joint parallel to the central axis of the cylinder and is installed below the rotating mechanism through a first quick-install structure, and the probe holder is detachably arranged on the sixth joint of the six-degree-of-freedom robotic arm away from the rotating mechanism through a second quick-install structure.

8. The reactor pressure vessel inspection equipment according to claim 7, characterized in that: The first quick-release structure includes a positioning column arranged on the first joint of the six-degree-of-freedom robotic arm, a positioning hole adapted to the positioning column and arranged on the rotating mechanism, a positioning pin protruding from the first joint and located on at least one side of the positioning column, a pin hole arranged on the rotating mechanism and located on at least one side of the positioning hole, and a locking piece; the positioning column passes through the positioning hole from one side and fits in the positioning hole, while the positioning pin fits in the pin hole, and the locking piece passes through the positioning hole from the other side and is fastened to the positioning column.

9. The reactor pressure vessel inspection equipment according to claim 7, characterized in that: The second quick-install structure includes a first connection seat provided on the sixth joint of the six-degree-of-freedom mechanical arm, a second connection seat provided on the probe holder, and a docking assembly; The first connection seat is provided with a docking hole and a screw hole connected axially; a docking column matched with the docking hole is provided on one side of the second connection seat, and a central hole penetrating to the docking column is also provided on the second connection seat, and the docking assembly is inserted in the central hole and can move and rotate axially relative to the central hole; the docking assembly includes a rotating operating part and a screw connected axially; When the first connecting seat and the second connecting seat are docked, the docking column is engaged in the docking hole, and the docking assembly is rotated with the screw toward the screw hole through the rotating operating part to make the screw engage in the screw hole, so as to dock and fix the first connecting seat and the second connecting seat.

10. The reactor pressure vessel inspection equipment according to claim 7, characterized in that: The probe frame includes a protective cover, a probe support and a plurality of probe assemblies; each of the probe assemblies includes an ultrasonic probe having at least two degrees of freedom of movement; One end of the protective cover is open, and the probe holder fits in the open end of the protective cover to close the open end; and the probe holder is provided with a plurality of channel holes that pass through the opposite ends of the probe holder and are connected to the internal space of the protective cover; one of the channel holes is used to insert a probe assembly, and the probe assembly can move back and forth along the channel hole relative to the protective cover and the probe holder in the direction of entering and exiting the protective cover.

11. The reactor pressure vessel inspection equipment according to claim 10, characterized in that: The probe assembly further comprises a probe slide bar and a probe frame, wherein the first end of the probe slide bar is inserted into the channel hole and moves back and forth along the channel hole; the probe frame is rotatably arranged on the second end of the probe slide bar, and the ultrasound probe is arranged on the probe frame and is rotatable relative to the probe frame; and / or, The probe assembly also includes a constant force spring; the constant force spring is arranged at the first end of the probe slide bar and connected to the probe support, so that the probe slide bar has a constant tendency force to move toward the outside of the protective cover.

12. The reactor pressure vessel inspection equipment according to any one of claims 1 to 11, characterized in that: The pipe scanning arm includes a scanning robot arm installed below the rotating mechanism and capable of moving back and forth in the radial direction of the cylinder relative to the rotating mechanism, a rotating part rotatably installed at one end of the scanning robot arm, and a plurality of scanning components arranged on the rotating part.

13. A method for inspecting a reactor pressure vessel, characterized in that: Using the reactor pressure vessel inspection equipment according to any one of claims 1 to 12, the reactor pressure vessel inspection method comprises the following steps: S1. Installing the reactor pressure vessel inspection equipment on the flange surface of the cylinder of the pressure vessel; S2, the lifting mechanism of the reactor pressure vessel inspection equipment is started, and the connecting scanning arm and two multi-degree-of-freedom mechanical arm probe racks are lowered to the position to be scanned in the cylinder; S3, the takeover scanning arm and the two multi-degree-of-freedom robotic arm probe racks perform synchronous and parallel scanning; The scanning position of the pipe scanning arm includes at least one of the weld at the safety end of the water inlet pipe, the weld at the safety end of the water outlet pipe, the inner fillet extension section of the water inlet pipe, the inner fillet extension section of the water outlet pipe, the pipe side of the weld connecting the water inlet pipe and the cylinder, the pipe side of the weld connecting the water outlet pipe and the cylinder, the cladding layer of the water inlet pipe, the cladding layer of the water outlet pipe, the inner fillet of the water inlet pipe and the inner fillet of the water outlet pipe; The scanning positions of the multi-degree-of-freedom robotic arm probe frame include at least one of the cylinder side of the weld connecting the water inlet pipe and the cylinder, the cylinder side of the weld connecting the water outlet pipe and the cylinder, the inner fillet of the water outlet, the cylinder girth weld, the bottom head girth weld and the core high flux area.

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