Vortex inspection double-probe guiding device of steam generator

Abstract

The invention discloses a steam generator eddy current inspection double-probe guide device, which is applied to a tube plate positioning robot and comprises a first connecting rod, a second connecting rod, a first rotating joint, a second rotating joint, a second rotating joint and a third rotating joint, and is characterized in that one end of the first connecting rod is connected with the tube plate positioning robot; the second connecting rod is provided with a first probe guider, one end of the second connecting rod is connected with the first rotating joint, the second connecting rod can rotate around the first rotating joint, and the other end of the second connecting rod is provided with a second rotating joint; a second probe guider is arranged on the second connecting rod, one end of the third connecting rod is connected with a second rotating joint, and the third connecting rod can rotate around the second rotating joint. The two probe guiders are arranged, and the number of the heat transfer pipes covered by the two probe guiders is remarkably increased through cooperation of the multiple connecting rods and the rotary joints, so that the detection efficiency is effectively improved, and the detection time is shortened.

Description

Technical Field

[0001] The present application relates to the field of nuclear power plant steam generator detection, and in particular to a dual-probe guide device for eddy current inspection of steam generators. Background Art

[0002] The steam generator is a nuclear safety primary component that connects the primary and secondary circuit systems in a nuclear power plant. Its tube sheet and inverted U-shaped heat transfer tube are components of the primary coolant pressure boundary and are also the second protective barrier to prevent the leakage of radioactive substances. To ensure the heat exchange efficiency, the thickness of the heat transfer tube is very thin, usually around 1mm. Considering its harsh operating environment of high temperature, high pressure, and nuclear radiation, as well as the serious consequences of the leakage of radioactive substances after damage, relevant laws and regulations require regular inspection and maintenance of the steam generator heat transfer tube.

[0003] When implementing the eddy current inspection of the heat transfer tube of the steam generator, the tube sheet positioning robot installed on the tube sheet in the water chamber of the steam generator crawls on the tube sheet of the steam generator, and positions the probe guide device installed on the tube sheet positioning robot to the heat transfer tube to be inspected, and then the eddy current probe is sent into the heat transfer tube through the probe guide to realize the inspection of the heat transfer tube. The probe guide device on the current tube sheet positioning robot is provided with two probe guide holes, but the spacing between the two guide holes is fixed. When performing different types of steam generator maintenance work, the probe guide device needs to be replaced, resulting in poor versatility of the probe guide device. Moreover, the existing probe guide device itself has no motion mechanism and is directly fixed on the tube sheet positioning robot. The reachable range of the probe guide device is completely determined by the linear motion axis of the tube sheet positioner robot, resulting in a generally small reachable range, which in turn leads to a low positioning efficiency of the probe guide, affecting the inspection efficiency of the steam generator heat transfer tube. Summary of the invention

[0004] In order to solve one of the technical problems existing in the prior art, the present application provides a dual-probe guide device for eddy current inspection of a steam generator, which improves the detection efficiency and shortens the detection time.

[0005] A dual-probe guide device for eddy current inspection of a steam generator provided according to some embodiments of the present application is applied to a tube sheet positioning robot and includes: a first connecting rod, one end of which is connected to the tube sheet positioning robot, and the other end of the first connecting rod is provided with a first rotation joint; a second connecting rod, a first probe guide is installed on the second connecting rod, one end of the second connecting rod is connected to the first rotation joint, the second connecting rod can rotate around the first rotation joint, and the other end of the second connecting rod is provided with a second rotation joint; a third connecting rod, a second probe guide is installed on the third connecting rod, one end of the third connecting rod is connected to the second rotation joint, and the third connecting rod can rotate around the second rotation joint.

[0006] In some embodiments, a third rotation joint is provided at a connection between the first connecting rod and the tube sheet positioning robot, and the first connecting rod can rotate around the third rotation joint.

[0007] In some embodiments, the second probe guide is disposed at an end of the third connecting rod away from the second rotation joint.

[0008] In some embodiments, the third connecting rod is a telescopic rod, and the third connecting rod adjusts the distance between the first probe guide and the second probe guide by telescoping.

[0009] In some embodiments, a translation mechanism is disposed on the third connecting rod, and the translation mechanism is configured to drive the second probe guide to move along the third connecting rod to adjust the distance between the first probe guide and the second probe guide.

[0010] In some embodiments, the translation mechanism includes a screw and a screw motor that drives the screw to rotate. The second probe guide is provided with a screw sleeve that is sleeved on the screw. When the screw rotates, the screw sleeve drives the second probe guide to move along the screw.

[0011] In some embodiments, the translation mechanism includes a slide rail and a slider, the slider is fixedly mounted on the second probe guide, the slider is slidably set on the slide rail, and a slider driver is set on the third connecting rod. The slider driver drives the slider to move along the slide rail, thereby driving the second probe guide to translate.

[0012] In some embodiments, a servo motor is respectively disposed in the first rotation joint, the second rotation joint and the third rotation joint, and the servo motor drives the corresponding rotation joint to rotate.

[0013] The beneficial effects of the present application are as follows: the steam generator eddy current inspection dual-probe guide device of the present application is provided with two probe guides, which can inspect two heat transfer tubes at the same time, and through the cooperation of multiple connecting rods and rotating joints, the two probe guides have a large range of motion. When the tube sheet positioner robot remains stationary, the number of heat transfer tubes covered by the two probe guides is significantly increased. Considering that the swinging time of the rotating joint is significantly shorter than the crawling time of the tube sheet positioning robot on the tube sheet, the number of heat transfer tubes covered by the probe guides is increased, which means that the probe positioning efficiency is improved, the detection efficiency is effectively improved, and the detection time is shortened.

[0014] In addition, the distance between the two probe guides in the present application is adjustable, so as to adapt to the inspection work of different types of steam generators, thereby enhancing the versatility of the guide device.

[0015] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present application, the present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show certain embodiments of the present application and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0017] Figure 1 It is a structural schematic diagram of a dual-probe guide device for eddy current inspection of a steam generator provided in the present application;

[0018] Figure 2 It is a schematic diagram of the installation of the dual-probe guide device for eddy current inspection of the steam generator on the tube sheet positioning robot.

[0019] Description of labels:

[0020] The third rotary joint 100 , the first connecting rod 200 , the first rotary joint 300 , the second connecting rod 400 , the second rotary joint 500 , the third connecting rod 600 , the translation mechanism 610 , the first probe guide 700 , the second probe guide 800 , and the tube sheet positioning robot 900 . DETAILED DESCRIPTION

[0021] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0022] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0023] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0024] The following is combined with Figure 1 , Figure 2 The provided embodiments further illustrate the dual-probe guide device for eddy current inspection of a steam generator proposed in the present application.

[0025] like Figure 1 , Figure 2As shown, in some embodiments, the present application provides a dual-probe guide device for eddy current inspection of a steam generator, which is applied to a tube sheet positioning robot 900, and the dual-probe guide device for eddy current inspection of a steam generator includes a first connecting rod 200, a second connecting rod 400 and a third connecting rod 600. Among them, one end of the first connecting rod 200 is connected to the tube sheet positioning robot 900, and the other end of the first connecting rod 200 is provided with a first rotating joint 300; the second connecting rod 400 is provided with a first probe guide 700, one end of the second connecting rod 400 is connected to the first rotating joint 300, and the second connecting rod 400 can rotate around the first rotating joint 300, and the other end of the second connecting rod 400 is provided with a second rotating joint 500; the third connecting rod 600 is provided with a second probe guide 800, one end of the third connecting rod 600 is connected to the second rotating joint 500, and the third connecting rod 600 can rotate around the second rotating joint 500. The steam generator eddy current inspection dual-probe guide device of the present application is provided with two probe guides, which can inspect two heat transfer tubes at the same time, thereby improving the inspection efficiency; the present application also enables the two probe guides to have a large range of motion through the cooperation of multiple connecting rods and rotating joints. When the tube sheet positioner robot remains stationary, the number of heat transfer tubes covered by the two probe guides is significantly increased. Considering that the swinging time of the rotating joint is significantly shorter than the crawling time of the tube sheet positioning robot 900 on the tube sheet, the number of heat transfer tubes covered by the probe guide is increased, which means that the probe positioning efficiency is improved, the inspection efficiency is effectively improved, and the inspection time is shortened.

[0026] In some embodiments, Figure 1 As shown, a third rotary joint 100 is provided at the connection between the first connecting rod 200 and the tube sheet positioning robot 900, and the first connecting rod 200 can rotate around the third rotary joint 100. Adding the third rotary joint 100 at the connection between the first connecting rod 200 and the tube sheet positioning robot 900 can further increase the detection range of the dual-probe guide device, thereby improving efficiency.

[0027] In some embodiments, the second probe guide 800 is disposed at an end of the third connecting rod 600 away from the second rotation joint 500. It should be noted that by disposing the second probe guide 800 at an end of the third connecting rod 600 away from the second rotation joint 500, when the third connecting rod 600 rotates and swings around the second rotation joint 500, the movable range of the second probe guide 800 can be significantly increased, and the number of heat transfer tubes covered by the second probe guide 800 can be increased, thereby improving efficiency.

[0028] In some embodiments, the third connecting rod 600 is a telescopic rod, and the third connecting rod 600 adjusts the distance between the first probe guide 700 and the second probe guide 800 by telescoping. By setting the third connecting rod 600 as a telescopic rod, the distance between the first probe guide 700 and the second probe guide 800 can be adjusted according to the actual spacing of the heat transfer tubes in the tube sheet to adapt to different heat transfer tube spacings and steam generator tube sheets with different arrangements. Through the above design, the versatility of the dual-probe guide device is significantly increased.

[0029] In some embodiments, a translation mechanism 610 is provided on the third connecting rod 600, and the translation mechanism 610 is configured to drive the second probe guide 800 to move along the third connecting rod 600 to adjust the distance between the first probe guide 700 and the second probe guide 800. By providing the translation mechanism 610, the distance between the first probe guide 700 and the second probe guide 800 can also be adjusted, thereby increasing the versatility of the dual-probe guide device.

[0030] In some embodiments, the translation mechanism 610 includes a screw and a screw motor that drives the screw to rotate. The second probe guide 800 is provided with a threaded sleeve that is sleeved on the screw. When the screw rotates, the threaded sleeve drives the second probe guide 800 to move along the screw.

[0031] In some embodiments, the translation mechanism 610 includes a slide rail and a slider. The slider is fixedly mounted on the second probe guide 800. The slider is slidably arranged on the slide rail. A slider driver is arranged on the third connecting rod 600. The slider driver drives the slider to move along the slide rail, thereby driving the second probe guide 800 to translate.

[0032] In some embodiments, servo motors are respectively provided in the first rotary joint 300, the second rotary joint 500 and the third rotary joint 100, and the servo motors drive the corresponding rotary joints to rotate. Through the setting of the servo motors, the rotation and rotation range of each rotary joint can be accurately controlled, thereby achieving precise positioning of the probe guide.

[0033] Before using the dual-probe guide device for eddy current inspection of the steam generator of the present application, the distance between the first probe guide 700 and the second probe guide 800 should be adjusted according to the spacing of the heat transfer tubes on the tube sheet. The use process of the dual-probe guide device for eddy current inspection of the steam generator of the present application is as follows: First, the dual-probe guide device for eddy current inspection of the steam generator is installed on the tube sheet positioner robot 900 by means of a suction device or the like. In some embodiments, the tube sheet positioning robot 900 can crawl on the tube sheet, and the dual-probe guide device for eddy current inspection of the steam generator follows the movement of the tube sheet positioning robot 900; after the tube sheet positioner robot 900 moves to a specific area, the third rotary joint 100 and the first rotary joint 300 rotate, so that the first connecting rod 200 and the second connecting rod 400 swing, and the first probe guide 700 is positioned to a heat transfer tube to be inspected. Here, the first connecting rod 200, the second connecting rod 400, the third rotary joint 100 and the first rotary joint 300 together constitute a two-degree-of-freedom mechanical arm, and the motion positioning calculation of the mechanical arm The method is very mature and will not be described here in detail; then the second rotary joint 500 rotates to make the third connecting rod 500 swing, and the second probe guide 800 is positioned at another heat transfer tube to be detected; at this point, the positioning of the two probe guides is completed, and the detection probes can enter the heat transfer tubes to be detected through the two probe guides respectively to perform the detection of the heat transfer tubes; after the detection of the two heat transfer tubes is completed, the third rotary joint 100, the first rotary joint 300 and the second rotary joint 500 are continuously rotated to position the two probe guides to different heat transfer tubes until the detection of all heat transfer tubes in the current reachable area is completed; when the detection of all heat transfer tubes in the current area is completed, the tube sheet positioning robot 900 is moved in an appropriate direction to reach a new area on the tube sheet that has not been detected, and the above steps are repeated until the detection of all heat transfer tubes on the tube sheet is completed. The dual-probe guide device disclosed in the present application has a large range of motion for the two probe guides through the cooperation of multiple connecting rods and rotating joints. When the tube sheet positioner robot remains stationary, the number of heat transfer tubes covered by the two probe guides is significantly increased. Considering that the swinging time of the rotating joint is significantly shorter than the crawling time of the tube sheet positioning robot 900 on the tube sheet, the increase in the number of heat transfer tubes covered by the probe guides means an improvement in the probe positioning efficiency, which effectively improves the detection efficiency and shortens the detection time.

[0034] It can be understood that the above embodiments only express the preferred implementation methods of the present application, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application; it should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, the above-mentioned technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the present application; therefore, all equivalent changes and modifications made to the scope of the claims of the present application should fall within the scope of the claims of the present application.

Claims

1. A dual-probe guide device for eddy current inspection of a steam generator, applied to a tube sheet positioning robot, characterized in that: include: a first connecting rod, one end of which is connected to the tube sheet positioning robot, and the other end of which is provided with a first rotating joint; a second connecting rod, on which a first probe guide is mounted, one end of the second connecting rod is connected to the first rotating joint, the second connecting rod can rotate around the first rotating joint, and the other end of the second connecting rod is provided with a second rotating joint; A third connecting rod is provided with a second probe guide, one end of the third connecting rod is connected to the second rotating joint, and the third connecting rod can rotate around the second rotating joint.

2. The dual-probe guide device for eddy current inspection of a steam generator according to claim 1, characterized in that: A third rotation joint is provided at the connection between the first connecting rod and the tube sheet positioning robot, and the first connecting rod can rotate around the third rotation joint.

3. The dual-probe guide device for eddy current inspection of a steam generator according to claim 1, characterized in that: The second probe guide is arranged at an end of the third connecting rod away from the second rotation joint.

4. The dual-probe guide device for eddy current inspection of a steam generator according to claim 3, characterized in that: The third connecting rod is a telescopic rod, and the third connecting rod adjusts the distance between the first probe guide and the second probe guide by telescoping.

5. The dual-probe guide device for eddy current inspection of a steam generator according to any one of claims 1 or 3, characterized in that: The third connecting rod is provided with a translation mechanism, and the translation mechanism is configured to drive the second probe guide to move along the third connecting rod to adjust the distance between the first probe guide and the second probe guide.

6. The dual-probe guide device for eddy current inspection of a steam generator according to claim 5, characterized in that: The translation mechanism includes a screw and a screw motor driving the screw to rotate. The second probe guide is provided with a screw sleeve, which is sleeved on the screw. When the screw rotates, the screw sleeve drives the second probe guide to move along the screw.

7. The dual-probe guide device for eddy current inspection of a steam generator according to claim 5, characterized in that: The translation mechanism includes a slide rail and a slider, the slider is fixedly mounted on the second probe guide, the slider is slidably arranged on the slide rail, the third connecting rod is provided with a slider driver, and the slider driver drives the slider to move along the slide rail.

8. The dual-probe guide device for eddy current inspection of a steam generator according to claim 2, characterized in that: A servo motor is disposed in each of the first rotating joint, the second rotating joint and the third rotating joint, and the servo motor drives the corresponding rotating joint to rotate.

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