Steam generator eddy current inspection dual probe guide
By introducing multiple connecting rods and rotating joints into the steam generator probe guide device, flexible positioning of the probe guide is achieved, solving the problems of insufficient versatility and reach of existing devices, and improving detection efficiency and adaptability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- YANGJIANG NUCLEAR POWER
- Filing Date
- 2024-11-20
- Publication Date
- 2026-06-16
AI Technical Summary
The existing steam generator probe guide device has poor versatility and reach, resulting in low detection efficiency and inability to adapt to the inspection of different types of steam generators.
A dual-probe guiding device for eddy current inspection of steam generators was designed. It adopts a combination of multiple connecting rods and rotating joints, and sets two probe guides with adjustable spacing. The probe guides are flexibly positioned through a rotation and translation mechanism, which enhances versatility and inspection efficiency.
It significantly improves the efficiency of heat transfer tube inspection, shortens the inspection time, and can adapt to the inspection of different types of steam generators, thus enhancing the versatility of the device.
Smart Images
Figure CN119619279B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of steam generator testing in nuclear power plants, and more particularly to a dual-probe guiding device for eddy current testing of steam generators. Background Technology
[0002] The steam generator is a primary nuclear safety component in a nuclear power plant, connecting the primary and secondary loop systems. Its tube sheet and inverted U-shaped heat transfer tubes form part of the primary coolant pressure boundary and serve as the second line of defense against radioactive material leakage. To ensure heat exchange efficiency, the heat transfer tubes are very thin, typically around 1 mm. Considering the harsh operating environment of high temperature, high pressure, and nuclear radiation, and the serious consequences of radioactive material leakage if damaged, relevant laws and regulations require regular inspection and maintenance of the steam generator's heat transfer tubes.
[0003] When performing eddy current inspection of heat transfer tubes in a steam generator, a tube sheet positioning robot mounted on the tube sheet inside the steam generator's water chamber crawls along the tube sheet, positioning the probe guide device mounted on the robot to the heat transfer tube to be inspected. The eddy current probe is then inserted into the heat transfer tube through the probe guide to perform the inspection. Currently, the probe guide device on the tube sheet positioning robot has two probe guide holes, but the distance between the two holes is fixed. When performing maintenance work on different types of steam generators, the probe guide device needs to be replaced, resulting in poor versatility. Furthermore, the existing probe guide device itself lacks a motion mechanism; it is directly fixed to the tube sheet positioning robot. The reachable range of the probe guide device is entirely determined by the linear motion axis of the tube sheet positioning robot, resulting in a typically small reachable range. This leads to low positioning efficiency of the probe guide device, affecting the inspection efficiency of the steam generator's heat transfer tubes. Summary of the Invention
[0004] To address one of the technical problems existing in the prior art, this application provides a dual-probe guiding device for eddy current inspection of steam generators, which improves inspection efficiency and shortens inspection time.
[0005] According to some embodiments of this application, a dual-probe guiding device for eddy current inspection of a steam generator is applied to a tube sheet positioning robot. The device includes: 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 rotary joint; a second connecting rod, on which a first probe guide is mounted, one end of which is connected to the first rotary joint, and the second connecting rod is rotatable around the first rotary joint, and the other end of which is provided with a second rotary joint; and a third connecting rod, on which a second probe guide is mounted, one end of which is connected to the second rotary joint, and the third connecting rod is rotatable around the second rotary joint.
[0006] In some embodiments, a third rotary 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 rotary joint.
[0007] In some embodiments, the second probe guide is disposed at the end of the third connecting rod away from the second rotary joint.
[0008] In some embodiments, the third connecting rod is a telescopic rod, which adjusts the distance between the first probe guide and the second probe guide by telescopic adjustment.
[0009] In some embodiments, a translation mechanism is provided on the third connecting rod, the translation mechanism being 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 lead screw and a lead screw motor for driving the lead screw to rotate. A threaded sleeve is provided on the second probe guide, and the threaded sleeve is sleeved on the lead screw. When the lead screw rotates, the threaded sleeve drives the second probe guide to move along the lead 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 and slidably disposed on the slide rail. A slider driver is provided on the third connecting rod, and the slider driver drives the slider to move along the slide rail, thereby causing the second probe guide to translate.
[0012] In some embodiments, the first rotary joint, the second rotary joint, and the third rotary joint are each provided with a servo motor, and the servo motor drives the corresponding rotary joint to rotate.
[0013] The beneficial effects of this application are as follows: The dual-probe guiding device for eddy current inspection of steam generators in this application is equipped with two probe guides, which can simultaneously inspect two heat transfer tubes. Through the cooperation of multiple connecting rods and rotating joints, the two probe guides have a large range of motion. When the tube sheet positioning robot remains stationary, the number of heat transfer tubes covered by the two probe guides is significantly increased. Considering that the swing time of the rotating joint is significantly less than the crawling time of the tube sheet positioning robot on the tube sheet, the increase in the number of heat transfer tubes covered by the probe guides means the improvement of probe positioning efficiency, effectively improving the inspection efficiency and shortening the inspection time.
[0014] Furthermore, the spacing between the two probe guides in this application is adjustable, thereby adapting to the inspection work of different types of steam generators and enhancing the versatility of the guide device.
[0015] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description
[0016] To more clearly illustrate the technical solution of this application, the following description will be provided in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:
[0017] Figure 1 This is a schematic diagram of the structure of the dual-probe guide device for eddy current inspection of steam generators provided in this application;
[0018] Figure 2 This is a schematic diagram of a dual-probe guide device for steam generator eddy current inspection installed on a tube sheet positioning robot.
[0019] Label Explanation:
[0020] Third rotary joint 100, first connecting rod 200, first rotary joint 300, second connecting rod 400, second rotary joint 500, third connecting rod 600, translation mechanism 610, first probe guide 700, second probe guide 800, tube sheet positioning robot 900. Detailed Implementation
[0021] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.
[0022] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.
[0023] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).
[0024] The following is in conjunction with the appendix Figure 1 , Figure 2 The provided embodiments further illustrate the dual-probe guide device for eddy current inspection of steam generators proposed in this application.
[0025] like Figure 1 , Figure 2As shown, in some embodiments, this application provides a dual-probe guiding device for eddy current inspection of a steam generator, applied to a tube sheet positioning robot 900. This dual-probe guiding device includes a first connecting rod 200, a second connecting rod 400, and a third connecting rod 600. One end of the first connecting rod 200 is connected to the tube sheet positioning robot 900, and the other end is provided with a first rotary joint 300. The second connecting rod 400 is equipped with a first probe guide 700, one end of which is connected to the first rotary joint 300, allowing the second connecting rod 400 to rotate around the first rotary joint 300. The other end of the second connecting rod 400 is provided with a second rotary joint 500. The third connecting rod 600 is equipped with a second probe guide 800, one end of which is connected to the second rotary joint 500, allowing the third connecting rod 600 to rotate around the second rotary joint 500. The dual-probe guiding device for eddy current inspection of steam generators in this application is equipped with two probe guides, which can simultaneously inspect two heat transfer tubes, improving inspection efficiency. Furthermore, through the cooperation of multiple connecting rods and a rotating joint, the two probe guides have a large range of motion. With the tube sheet positioning robot remaining stationary, the number of heat transfer tubes covered by the two probe guides is significantly increased. Considering that the swing time of the rotating joint is significantly less than the crawling time of the tube sheet positioning robot 900 on the tube sheet, the increased number of heat transfer tubes covered by the probe guides means improved probe positioning efficiency, effectively increasing inspection efficiency and shortening inspection time.
[0026] In some embodiments, such as 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. The first connecting rod 200 can rotate around the third rotary joint 100. Adding a 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 guiding device, thereby improving efficiency.
[0027] In some embodiments, the second probe guide 800 is disposed at the end of the third connecting rod 600 away from the second rotating joint 500. It should be noted that by disposing of the second probe guide 800 at the end of the third connecting rod 600 away from the second rotating joint 500, the range of motion of the second probe guide 800 can be significantly increased when the third connecting rod 600 rotates and swings around the second rotating joint 500, thereby increasing the number of heat transfer tubes covered by the second probe guide 800 and improving efficiency.
[0028] In some embodiments, the third connecting rod 600 is a telescopic rod, which 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 accommodate different heat transfer tube spacings and different arrangement of steam generator tube sheets. Through the above design, the versatility of the dual probe guiding device is significantly increased.
[0029] In some embodiments, a translation mechanism 610 is provided on the third connecting rod 600. 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 same effect of adjusting the distance between the first probe guide 700 and the second probe guide 800 is achieved, thereby increasing the versatility of the dual-probe guiding device.
[0030] In some embodiments, the translation mechanism 610 includes a lead screw and a lead screw motor for driving the lead screw to rotate. A threaded sleeve is provided on the second probe guide 800, and the threaded sleeve is sleeved on the lead screw. When the lead screw rotates, the threaded sleeve drives the second probe guide 800 to move along the lead 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 and slidably disposed on the slide rail. A slider driver is provided on the third connecting rod 600. The slider driver drives the slider to move along the slide rail, thereby causing 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. The servo motors drive the corresponding rotary joints to rotate. By setting the servo motors, the rotation of each rotary joint and the range of rotation can be precisely controlled, thereby achieving precise positioning of the probe guide.
[0033] Before using the dual-probe guiding device for eddy current inspection of steam generators in this 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 usage process of the dual-probe guiding device for eddy current inspection of steam generators in this application is as follows: First, the dual-probe guiding device for eddy current inspection of steam generators is installed on the tube sheet positioning robot 900 using a suction device or similar means. In some embodiments, the tube sheet positioning robot 900 can crawl on the tube sheet, and the dual-probe guiding device for eddy current inspection of steam generators moves with the tube sheet positioning robot 900. After the tube sheet positioning robot 900 moves to a specific area, the third rotary joint 100 and the first rotary joint 300 rotate, causing the first connecting rod 200 and the second connecting rod 400 to swing, positioning the first probe guide 700 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 robotic arm. The motion positioning calculation of this robotic arm... The method is very mature and will not be elaborated here; then the second rotary joint 500 rotates, causing the third connecting rod 500 to swing, positioning the second probe guide 800 to another heat transfer tube to be tested; at this point, the positioning of the two probe guides is completed, and the probes used for testing can enter the heat transfer tubes to be tested through the two probe guides respectively to perform the heat transfer tube testing; after the testing of the two heat transfer tubes is completed, continue to rotate the third rotary joint 100, the first rotary joint 300 and the second rotary joint 500 to position the two probe guides to different heat transfer tubes, until the testing of all heat transfer tubes in the current reachable area is completed; after the testing of all heat transfer tubes in the current area is completed, move the tube sheet positioning robot 900 in the appropriate direction to reach a new untested area on the tube sheet, and repeat the above steps until the testing of all heat transfer tubes on the tube sheet is completed. The dual-probe guiding device disclosed in this application, through the cooperation of multiple connecting rods and a rotary joint, enables the two probe guides to have a large range of motion. When the tube sheet positioning robot remains stationary, the number of heat transfer tubes covered by the two probe guides is significantly increased. Considering that the swing time of the rotary joint is significantly less 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 probe positioning efficiency, effectively improving detection efficiency and shortening detection time.
[0034] It is understood that the above embodiments only illustrate preferred embodiments of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this application. It should be noted that, for those skilled in the art, without departing from the concept of this application, the above technical features can be freely combined, and several modifications and improvements can be made, all of which fall within the protection scope of this application. Therefore, all equivalent transformations and modifications made within the scope of the claims of this application should fall within the coverage of the claims of this application.
Claims
1. A dual-probe guiding 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 rotary joint; The second connecting rod is equipped with a first probe guide. One end of the second connecting rod is connected to the first rotary joint. The second connecting rod can rotate around the first rotary joint. The other end of the second connecting rod is provided with a second rotary joint. The third connecting rod is equipped with a second probe guide, one end of the third connecting rod is connected to the second rotary joint, and the third connecting rod can rotate around the second rotary joint; The third connecting rod is provided with a translation mechanism, which 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.
2. The dual-probe guide device for eddy current inspection of steam generators as described in claim 1, characterized in that, A third rotary 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 rotary joint.
3. The dual-probe guide device for eddy current inspection of steam generators as described in claim 1, characterized in that, The second probe guide is located at the end of the third connecting rod away from the second rotary joint.
4. The dual-probe guide device for eddy current inspection of steam generators as described in claim 3, characterized in that, The third connecting rod is a telescopic rod, which adjusts the distance between the first probe guide and the second probe guide by telescopic adjustment.
5. The dual-probe guide device for eddy current inspection of a steam generator as described in any one of claims 1-4, characterized in that, The translation mechanism includes a lead screw and a lead screw motor that drives the lead screw to rotate. A screw sleeve is provided on the second probe guide, and the screw sleeve is sleeved on the lead screw. When the lead screw rotates, the screw sleeve drives the second probe guide to move along the lead screw.
6. The dual-probe guide device for eddy current inspection of a steam generator as described in any one of claims 1-4, characterized in that, The translation mechanism includes a slide rail and a slider. The slider is fixedly mounted on the second probe guide and slidably disposed on the slide rail. A slider driver is provided on the third connecting rod, and the slider driver drives the slider to move along the slide rail.
7. The dual-probe guide device for eddy current inspection of steam generators as described in claim 2, characterized in that, The first rotary joint, the second rotary joint, and the third rotary joint are each equipped with a servo motor, and the servo motor drives the corresponding rotary joint to rotate.