Reactor pressure vessel top cover penetration inspection device

Abstract

The present invention discloses a device for inspecting penetration pieces of a reactor pressure vessel top cover, which includes a supporting mechanism, a main rotating mechanism, a translation mechanism, a connecting mechanism, a space adjustment mechanism, a detection actuator, a water circulation mechanism, and a calibration mechanism. The device for inspecting penetration pieces of a reactor pressure vessel top cover is configured to adjust the spatial position of the detection actuator by providing a main rotating mechanism, a translation mechanism, a connecting mechanism, and a space adjustment mechanism, so that the detection actuator can inspect penetration pieces of the reactor pressure vessel top cover at different positions. At the same time, a water circulation mechanism is provided to realize the supply and recovery of coupling water used by the detection actuator, and a calibration mechanism is provided to calibrate the detection actuator to ensure the accuracy and stability of the detection actuator. The device for inspecting penetration pieces of a reactor pressure vessel top cover is complete in modules, which is of great significance for ensuring the all-round inspection of the penetration pieces of the reactor pressure vessel top cover.

Description

Technical Field

[0001] The present invention relates to the field of nuclear power plant reactor pressure vessel top cover penetration piece inspection, in particular to a reactor pressure vessel top cover penetration piece inspection device. Background Art

[0002] like Figure 1 As shown, the reactor pressure vessel 9 of a nuclear power plant is the core equipment of the nuclear reactor. The main body is hemispherical, and various penetrations are installed on the top cover 96 through corresponding holes, such as the CRDM penetration 92, the thermocouple penetration 91, etc.

[0003] An irregular intersection line is formed between the top cover 96 and the penetration piece, with different curvatures at different angles, making it difficult to fit the probe, posing a challenge to automatic scanning. A thermowell 94 is installed inside the CRDM penetration piece 92. Each thermowell 94 has a bell cover 95 structure at the end. The bell cover 95 has a diameter larger than the outer diameter of the penetration piece. At the same time, due to the influence of the surrounding bell cover 95 structure, the inspection mechanism needs to avoid the limited space in the radial direction. When performing ultrasonic and eddy current inspections inside the thermocouple penetration piece 91, it is necessary to consider the problems of probe eccentricity and misfit caused by the positioning error of the inspection device. At the same time, since ultrasonic inspection requires coupling water, a coupling water supply and recovery system must be provided. According to ASME regulations, the ultrasonic system must be calibrated using an ultrasonic test block after a certain period of ultrasonic inspection, which requires a calibration device to calibrate the ultrasonic system. Currently, there is a lack of a multifunctional device for inspecting reactor pressure vessel top cover penetration pieces. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device for inspecting penetration pieces of a reactor pressure vessel top cover.

[0005] The technical solution adopted by the present invention to solve the technical problem is: constructing a reactor pressure vessel top cover penetration inspection device, which includes a support mechanism, a main rotation mechanism, a translation mechanism, a connection mechanism, a space adjustment mechanism, a detection actuator, a water circulation mechanism and a calibration mechanism;

[0006] The supporting mechanism is used to support the reactor pressure vessel, the main rotating mechanism is connected to the supporting mechanism and the translation mechanism respectively, and the main rotating mechanism is used to drive the translation mechanism to rotate;

[0007] The connecting mechanism is connected to the translation mechanism and the space adjustment mechanism respectively, and the translation mechanism is used to drive the connecting mechanism and the space adjustment mechanism to perform translational movement;

[0008] The detection actuator is connected to the space adjustment mechanism, and the space adjustment mechanism is used to drive the detection actuator to move in space, and the detection actuator is used to inspect the reactor pressure vessel top cover penetration piece;

[0009] The water circulation mechanism is used to supply and recycle the coupling water used by the detection actuator;

[0010] The calibration mechanism is used to calibrate the detection actuator.

[0011] In some embodiments, the support mechanism includes a plurality of support legs and lighting lamps mounted on the support legs;

[0012] The main rotating mechanism includes a rotating fixed seat connected to the plurality of supporting legs, a rotating toothed disc connected to the rotating fixed seat, a rotating mounting seat rotatably connected to the rotating toothed disc, and a main rotating driver mounted on the rotating mounting seat, wherein the output end of the main rotating driver is connected to the rotating toothed disc;

[0013] The translation mechanism includes a translation rail connected to the rotation mounting seat, a translation slider movably connected to the translation rail, a translation driver for driving the translation slider to move on the translation rail, and a translation positioning seat connected to the translation slider.

[0014] In some embodiments, the connecting mechanism includes a connecting positioning seat connected to the translation positioning seat;

[0015] The space adjustment mechanism includes a connecting rotary driver, an intermediate rotary moving assembly, a vertical moving assembly, and an end rotary moving assembly. The connecting rotary driver is mounted on the connecting positioning seat, and the output end of the connecting rotary driver is connected to the intermediate rotary moving assembly. The connecting rotary driver is used to drive the intermediate rotary moving assembly to perform rotational motion.

[0016] The vertical moving component is respectively connected to the intermediate rotating moving component and the terminal rotating moving component, the detection actuator is connected to the terminal rotating moving component, the vertical moving component is used to drive the terminal rotating moving component to perform lifting movement, and the terminal rotating moving component is used to drive the detection actuator to perform rotational movement.

[0017] In some embodiments, the reactor pressure vessel top cover penetration inspection device further includes a centering mechanism and a monitoring mechanism;

[0018] The centering mechanism includes a centering camera and a plurality of centering lasers, wherein the centering camera and the plurality of centering lasers are both mounted on the vertical moving assembly, and the plurality of centering lasers are arranged along the circumferential direction of the centering camera;

[0019] The monitoring mechanism includes a global camera installed on the connecting mechanism and a local camera installed on the terminal rotating moving component.

[0020] In some embodiments, the detection actuator includes a container top cover inner wall inspection module, and the container top cover inner wall inspection module includes a detection avoidance component, a detection lifting component, a detection adaptive adjustment component, and a detection probe;

[0021] The detection avoidance component is respectively connected to the terminal rotation movement component and the detection lifting component, and the detection avoidance component is used to drive the detection lifting component to perform translational movement;

[0022] The detection adaptive adjustment component is respectively connected to the detection lifting component and the detection probe, and the detection lifting component is used to drive the detection adaptive adjustment component and the detection probe to perform lifting and lowering movements. The detection adaptive adjustment component is used to make the detection probe adaptively fit the inner wall of the container top cover.

[0023] In some embodiments, the detection actuator includes a penetration inner wall inspection module, and the penetration inner wall inspection module includes an execution positioning component, an execution lifting component, an execution connection component, and an execution detection component;

[0024] The execution positioning component is respectively connected to the end rotation moving component and the execution lifting component, and the execution connection component is respectively connected to the execution lifting component and the execution detection component. The execution lifting component is used to drive the execution connection component and the execution detection component to perform lifting movements.

[0025] In some embodiments, the water circulation mechanism includes a water supply tank, a water storage tank, a coarse filtration water tank, a fine filtration water tank, and a control valve assembly;

[0026] The water supply tank is connected to the water supply end of the detection actuator, the water storage tank is used to provide water for the water supply tank, the coarse filtration water tank is connected to the water outlet end of the detection actuator, the fine filtration water tank is used to filter the incoming water, and the control valve assembly is used to control the flow of water inside the water circulation mechanism.

[0027] In some embodiments, the reactor pressure vessel top cover penetration inspection device further comprises a cable tidying mechanism, wherein the cable tidying mechanism comprises a cable tidying installation assembly, a cable tidying lifting assembly, a cable tidying positioning assembly, and a cable body;

[0028] The cable organizing and mounting assembly is connected to the connecting mechanism, the cable organizing and positioning assembly is movably connected to the cable organizing and mounting assembly, the cable body is connected to the cable organizing and positioning assembly, and the end of the cable body away from the cable organizing and positioning assembly is connected to the vertical moving assembly, the cable organizing and lifting assembly is connected to the cable organizing and mounting assembly, and the cable organizing and lifting assembly is used to drive the cable organizing and positioning assembly to perform lifting movements.

[0029] In some embodiments, the cable tidying and positioning assembly includes a tidying movable seat, a blocking rod, a pulley, and a pulley shaft, the cable body is mounted on the pulley, the pulley is hinged to the tidying movable seat through the pulley shaft, and the blocking rod is mounted on the tidying movable seat and is used to shield the cable body;

[0030] The cable tidying installation assembly includes a tidying installation plate, the tidying support seat connected to the tidying installation plate, and a tidying slider connected to the tidying support seat, the tidying installation plate is installed on the connecting mechanism, and the tidying movable seat is movably connected to the tidying slider;

[0031] The cable arranging and lifting assembly includes an arranging cylinder, which is installed on the arranging mounting plate, and the output end of the arranging cylinder is connected to the arranging movable seat.

[0032] In some embodiments, the calibration mechanism includes a calibration installation component, a calibration lifting component, a calibration positioning component, and a calibration action member;

[0033] The calibration lifting assembly is respectively connected to the calibration installation assembly and the calibration positioning assembly, the calibration action member is installed on the calibration positioning assembly, and the calibration lifting assembly is used to drive the calibration positioning assembly and the calibration action member to perform lifting movements.

[0034] The implementation of the present invention has the following beneficial effects: the reactor pressure vessel top cover penetration inspection device adjusts the spatial position of the detection actuator by providing a main rotation mechanism, a translation mechanism, a connection mechanism, and a space adjustment mechanism, so that the detection actuator can inspect the reactor pressure vessel top cover penetrations at different positions. At the same time, a water circulation mechanism is provided to realize the supply and recovery of the coupling water used by the detection actuator, and a calibration mechanism is provided to calibrate the detection actuator to ensure the accuracy and stability of the detection actuator. The reactor pressure vessel top cover penetration inspection device has complete modules and efficient installation, which is of great significance for ensuring the all-round inspection of the reactor pressure vessel top cover penetrations. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can derive other relevant drawings based on these drawings without inventive effort. In the drawings:

[0036] Figure 1 It is a schematic diagram of the structure of the reactor pressure vessel;

[0037] Figure 2 1 is a schematic diagram of the overall structure of a reactor pressure vessel top cover penetration inspection device in some embodiments of the present invention;

[0038] Figure 3 yes Figure 2 A magnified schematic diagram of point A in the middle;

[0039] Figure 4 yes Figure 2 Schematic diagram of the top view structure;

[0040] Figure 5 yes Figure 4 A magnified schematic diagram of point B in the middle;

[0041] Figure 6 Schematic diagram of the coordination structure between the reactor pressure vessel top cover penetration inspection device and the reactor pressure vessel top cover in some embodiments of the present invention;

[0042] Figure 7 is a schematic diagram of the three-dimensional structure of a container top cover inner wall inspection module in some embodiments of the present invention;

[0043] Figure 8 yes Figure 7 A schematic diagram of the three-dimensional structure in another direction;

[0044] Figure 9 is a schematic diagram of the structure of the cooperation between the container top cover inner wall inspection module and the reactor pressure vessel top cover in some embodiments of the present invention;

[0045] Figure 10 is a schematic diagram of the three-dimensional structure of a penetration inner wall inspection module in some embodiments of the present invention;

[0046] Figure 11 is a cross-sectional view of the internal structure of a penetration inner wall inspection module in some embodiments of the present invention;

[0047] Figure 12 is a schematic diagram of the main structure of a penetration inner wall inspection module in some embodiments of the present invention;

[0048] Figure 13is a schematic diagram of the coordination structure between the penetration inner wall inspection module and the reactor pressure vessel top cover in some embodiments of the present invention;

[0049] Figure 14 is a schematic diagram of the three-dimensional structure of the water circulation mechanism in some embodiments of the present invention;

[0050] Figure 15 yes Figure 14 A schematic diagram of the structure in another direction;

[0051] Figure 16 is a schematic diagram of the principle of the water circulation mechanism in some embodiments of the present invention;

[0052] Figure 17 is a schematic diagram of the three-dimensional structure of a cable tidying mechanism in some embodiments of the present invention;

[0053] Figure 18 It is a schematic diagram of the three-dimensional structure of the calibration mechanism in some embodiments of the present invention. DETAILED DESCRIPTION

[0054] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "up", "down", "left", "right", "longitudinal", "horizontal", "vertical", "horizontal", "top", "bottom", "inside", "outside", "head", "tail", etc. are based on the directions or positional relationships shown in the accompanying drawings and are constructed and operated in specific directions. They are only for the convenience of describing the technical solution and do not indicate that the devices or components referred to must have specific directions. Therefore, they should not be understood as limiting the present invention.

[0055] It should also be noted that, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected", "fixed", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intervening elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of such features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0056] See also Figures 2 to 16 , is a device for inspecting penetrations of a reactor pressure vessel top cover in some embodiments of the present invention, comprising a support mechanism 1, a main rotating mechanism 2, a translation mechanism 3, a connecting mechanism 4, a space adjustment mechanism 5, a detection actuator 6, a water circulation mechanism 7, and a calibration mechanism 8. The support mechanism 1 is used to support the reactor pressure vessel 9, the main rotating mechanism 2 is connected to the support mechanism 1 and the translation mechanism 3, respectively, and the main rotating mechanism 2 is used to drive the translation mechanism 3 to rotate; the connecting mechanism 4 is connected to the translation mechanism 3 and the space adjustment mechanism 5, respectively, and the translation mechanism 3 is used to drive the connecting mechanism 4 and the space adjustment mechanism 5 to perform translational movement; the detection actuator 6 is connected to the space adjustment mechanism 5, and the space adjustment mechanism 5 is used to drive the detection actuator 6 to move in space, and the detection actuator 6 is used to inspect penetrations of the reactor pressure vessel top cover; the water circulation mechanism 7 is used to supply and recover coupling water used by the detection actuator 6; and the calibration mechanism 8 is used to calibrate the detection actuator 6.

[0057] It can be understood that the reactor pressure vessel top cover penetration inspection device is provided with a main rotation mechanism 2, a translation mechanism 3, a connection mechanism 4, and a space adjustment mechanism 5 to adjust the spatial position of the detection actuator 6, so that the detection actuator 6 can inspect the reactor pressure vessel top cover penetrations at different positions. At the same time, a water circulation mechanism 7 is provided to realize the supply and recovery of the coupling water used by the detection actuator 6, and a calibration mechanism 8 is provided to calibrate the detection actuator 6 to ensure the accuracy and stability of the detection actuator 6. The reactor pressure vessel top cover penetration inspection device has complete modules and efficient installation, which is of great significance to ensuring the all-round inspection of the reactor pressure vessel top cover penetrations.

[0058] like Figure 2 As shown, the support mechanism 1 includes a plurality of support legs 11 and lighting lamps 12 installed on the support legs 11. In this embodiment, the number of the support legs 11 is four, and the four support legs 11 can be stably supported in the reactor pressure vessel 9. The lighting lamps 12 can facilitate operators to observe the on-site work of the inspection device.

[0059] In addition, the main rotating mechanism 2 includes a rotating fixed base 21 connected to the plurality of supporting legs 11, a rotating gear disc 23 connected to the rotating fixed base 21, a rotating mounting base 24 rotatably connected to the rotating gear disc 23, and a main rotating driver 22 mounted on the rotating mounting base 24, wherein the output end of the main rotating driver 22 is connected to the rotating gear disc 23. Specifically, the rotating gear disc 23 is fixedly connected to the rotating fixed base 21, the rotating gear disc 23 is movably connected to the rotating mounting base 24, and the output end of the main rotating driver 22 is meshedly connected to the rotating gear disc 23. When the main rotating driver 22 is started, the main rotating driver 22 and the rotating mounting base 24 rotate together around the central axis of the rotating gear disc 23, so that the translation mechanism 3, the connecting mechanism 4, the space adjustment mechanism 5, and the detection actuator 6 can also rotate accordingly.

[0060] The translation mechanism 3 includes a translation rail 31 connected to the rotating mounting seat 24, a translation slider 32 movably connected to the translation rail 31, a translation driver 33 for driving the translation slider 32 to move on the translation rail 31, and a translation positioning seat 34 connected to the translation slider 32. The translation driver 33 can be an electric driver, which can drive the translation slider 32 and the translation positioning seat 34 to perform translation movement along the horizontal direction of the translation rail 31.

[0061] like Figure 2 and Figure 3As shown, the connecting mechanism 4 includes a connecting and positioning seat 41 connected to the translation positioning seat 34. The spatial adjustment mechanism 5 includes a connecting and rotating driver 51, an intermediate rotating moving assembly 52, a vertical moving assembly 53, and a terminal rotating moving assembly 54. The connecting and rotating driver 51 is mounted on the connecting and positioning seat 41, and the output end of the connecting and rotating driver 51 is connected to the intermediate rotating moving assembly 52. ​​The connecting and rotating driver 51 is used to drive the intermediate rotating moving assembly 52 to rotate. The vertical moving assembly 53 is connected to the intermediate rotating moving assembly 52 and the terminal rotating moving assembly 54, respectively. The detection actuator 6 is connected to the terminal rotating moving assembly 54. The vertical moving assembly 53 is used to drive the terminal rotating moving assembly 54 to move up and down, and the terminal rotating moving assembly 54 is used to drive the detection actuator 6 to rotate. Specifically, the connecting and rotating driver 51 is an electric driver. It is mounted on the connecting and positioning seat 41 and can drive the intermediate rotating moving assembly 52 to rotate, so that the intermediate rotating moving assembly 52 can be in a vertical state or a horizontal state relative to the connecting and positioning seat 41. The vertical movement assembly 53 drives the terminal rotary movement assembly 54 to move up and down, and the terminal rotary movement assembly 54 drives the detection actuator 6 to rotate. This allows the detection actuator 6 to adjust its position according to the different positions of the reactor pressure vessel top cover penetration piece, meeting the requirements of reactor pressure vessel top covers of different shapes. The detection actuator 6 can be replaced accordingly according to different detection requirements.

[0062] like Figures 2 to 5 As shown, the reactor pressure vessel top cover penetration inspection device also includes a centering mechanism 10 and a monitoring mechanism 20. The centering mechanism 10 includes a centering camera 101 and multiple centering lasers 102. The centering camera 101 and the multiple centering lasers 102 are both mounted on the vertical moving assembly 53. The multiple centering lasers 102 are arranged along the circumferential direction of the centering camera 101. Specifically, the pitch circle diameter formed by the multiple centering lasers 102 is consistent with the outer diameter of the horn cover 95 of the reactor pressure vessel top cover penetration. The centering camera 101 is located in the middle of the multiple centering lasers 102. The centering camera 101 is used to check whether the device is centered on the horn cover 95 of the penetration to be inspected. Specifically, there are three centering lasers 102. During actual operation, the center of the vertical moving component 53, that is, the rotation center of the end rotating moving component 54, can be made to coincide with the center of the horn cover 95 through precise positioning by machine vision and verification of the coincidence of the three laser points with the outer diameter of the horn cover 95, so as to achieve positioning and centering of the vertical moving component 53 and the horn cover 95.

[0063] In addition, the monitoring mechanism 20 includes a global camera 201 mounted on the connecting mechanism 4 and a local camera 202 mounted on the terminal rotary moving assembly 54. The global camera 201 is used to globally monitor the operating process of the reactor pressure vessel top cover penetration inspection device, and the local camera 202 is used to locally monitor the operating process of the detection actuator 6.

[0064] like Figure 7 and Figure 8 As shown, the detection actuator 6 includes a container top cover inner wall inspection module 61 to inspect the inner wall of the top cover 96. The container top cover inner wall inspection module 61 includes a detection avoidance component 611, a detection lifting component 612, a detection adaptive adjustment component 613 and a detection probe 614. The detection avoidance component 611 is respectively connected to the end rotation movement component 54 and the detection lifting component 612. The detection avoidance component 611 is used to drive the detection lifting component 612 to perform translational movement. The detection adaptive adjustment component 613 is respectively connected to the detection lifting component 612 and the detection probe 614. The detection lifting component 612 is used to drive the detection adaptive adjustment component 613 and the detection probe 614 to perform lifting movement. The detection adaptive adjustment component 613 is used to make the detection probe 614 adaptively fit the inner wall of the container top cover.

[0065] More specifically, the detection and avoidance assembly 611 includes an avoidance mounting base 6111, an avoidance actuator 6112 connected to the avoidance mounting base 6111, an avoidance retaining base 6113 connected to the output end of the avoidance actuator 6112, and an avoidance motion block 6114 connected to the avoidance retaining base 6113. In this embodiment, the avoidance actuators 6112 are pneumatic actuators, and there are two avoidance actuators 6112, one on each side of the avoidance retaining base 6113. The avoidance retaining base 6113 and the avoidance motion block 6114 are fixedly connected by bolts. The avoidance retaining base 6113 is connected to the detection and lifting assembly 612 via a mounting slider 6115, allowing the detection and lifting assembly 612 to move up and down along the height of the avoidance retaining base 6113. The avoidance mounting seat 6111 is provided with an avoidance slide rail 6116, and the avoidance motion block 6114 is movably connected to the avoidance slide rail 6116. When the avoidance driver 6112 is activated, it can simultaneously drive the avoidance retaining seat 6113, the avoidance motion block 6114, the detection lifting assembly 612, and the detection adaptive adjustment assembly 613 to move back and forth. It can be understood that since a thermal sleeve 94 is installed inside the penetration piece, each thermal sleeve 94 has a horn cover 95 structure at the end, and the diameter of the horn cover 95 is larger than the outer diameter of the penetration piece, and due to the influence of the surrounding horn cover 95 structure, the container top cover inner wall inspection module 61 needs to avoid in a limited space. Therefore, the provision of this detection avoidance assembly 611 enables the container top cover inner wall inspection module 61 to avoid the horn cover 95 structure and conveniently reach the working position.

[0066] The detection adaptive adjustment component 613 includes a detection positioning seat 6131, a transverse rotating block 6132, a transverse elastic member 6133, a longitudinal rotating block 6134 and a longitudinal elastic member 6135. The transverse rotating block 6132 is hinged to the detection positioning seat 6131 through a first rotating axis 6136, and the longitudinal rotating block 6134 is hinged to the transverse rotating block 6132 through a second rotating axis 6137. The detection probe 614 is installed on the longitudinal rotating block 6134. The two ends of the transverse elastic member 6133 are respectively connected to the detection positioning seat 6131 and the bottom of the transverse rotating block 6132. The two ends of the longitudinal elastic member 6135 are respectively connected to the upper mounting groove of the transverse rotating block 6132 and the bottom of the longitudinal rotating block 6134.

[0067] Specifically, the detection and positioning seat 6131 is a U-shaped member. The transverse rotating block 6132 can rotate in the transverse direction of the detection and positioning seat 6131, while the longitudinal rotating block 6134 can rotate in the longitudinal direction of the detection and positioning seat 6131. ​​The transverse rotating block 6132 rotates perpendicularly to the longitudinal rotating block 6134. The transverse elastic member 6133 provides a resilient force to restore the transverse rotating block 6132, which is driven by the transverse elastic member 6133 to automatically return the transverse rotating block 6132 to its original position. The longitudinal elastic member 6135 provides a resilient force to restore the longitudinal rotating block 6134, which is driven by the longitudinal elastic member 6135 to automatically return the longitudinal rotating block 6134 to its original position. By realizing automatic self-centering of the transverse rotating block 6132 driven by the transverse elastic member 6133, and realizing automatic self-centering of the longitudinal rotating block 6134 driven by the longitudinal elastic member 6135, and with the cooperation of the detection lifting assembly 612, the detection probe 614, driven by the transverse rotating block 6132 and the longitudinal rotating block 6134, passively adapts to the curvature changes of the inner wall of the reactor pressure vessel top cover at different circumferential positions, realizes effective fitting with the inner surface of the top cover 96, and improves detection efficiency.

[0068] In addition, the detection and lifting assembly 612 includes a detection and lifting drive rod 6121, a detection and lifting slider 6122 connected to the detection and lifting drive rod 6121, a detection connecting seat 6123 connected to the detection and lifting slider 6122, and a detection and lifting guide rail 6124 connected to the detection connecting seat 6123. A detection positioning seat 6131 is connected to the detection and lifting guide rail 6124, and a mounting slider 6115 is movably connected to the detection and lifting guide rail 6124. In this embodiment, the detection and lifting drive rod 6121 is a cylinder rod, the detection and lifting slider 6122 is a cylinder slider, and the detection and lifting slider 6122 and the detection connecting seat 6123, as well as the detection connecting seat 6123 and the detection and lifting guide rail 6124, are fixedly connected by bolts. When the detection and lifting drive rod 6121 is activated, it simultaneously drives the detection and lifting slider 6122, the detection connecting seat 6123, the detection and lifting guide rail 6124, the detection positioning seat 6131, and the detection adaptive adjustment assembly 613 to move up and down as a whole.

[0069] Recombination Figure 9 As shown, the working principle of the container top cover inner wall inspection module 61 is:

[0070] 1. Before scanning the inner wall of the top cover, the avoidance actuator 6112 is in the retracted state. At this time, the container top cover inner wall inspection module 61 can smoothly pass the position of the speaker cover 95;

[0071] 2. When the bottom of the container top cover inner wall inspection module 61 exceeds the height of the horn cover 95, the avoidance actuator 6112 is activated, driving the avoidance retaining seat 6113, the avoidance motion block 6114, the detection lifting assembly 612, and the detection adaptive adjustment assembly 613 to move toward the center of the penetration piece;

[0072] 3. The detection lift assembly 612 drives the detection adaptive adjustment assembly 613 and the detection probe 614 to move upward. Driven by the transverse rotating block 6132 and the longitudinal rotating block 6134, the detection probe 614 passively adapts to the curvature changes at different circumferential positions, achieving effective contact with the inner surface of the top cover 96.

[0073] 4. The terminal rotary moving assembly 54 is used to drive the container top cover inner wall inspection module 61 to rotate around the penetration piece, thereby completing the scanning of the inner wall of the top cover 96 around the penetration piece to be inspected, and realizing the automatic scanning of the outer side of the intersection line and the inner wall of the top cover 96.

[0074] like Figures 10 to 12As shown, the detection actuator 6 also includes a penetration inner wall inspection module 62 for inspecting the penetration inner wall. The penetration inner wall inspection module 62 includes an actuator positioning assembly 621, an actuator lifting assembly 622, an actuator connection assembly 623, and an actuator detection assembly 624. The actuator positioning assembly 621 is respectively connected to the end rotation movement assembly 54 and the actuator lifting assembly 622. The actuator connection assembly 623 is respectively connected to the actuator lifting assembly 622 and the actuator detection assembly 624. The actuator lifting assembly 622 is used to drive the actuator connection assembly 623 and the actuator detection assembly 624 to perform lifting movements.

[0075] Specifically, the detection assembly 624 includes a pair of probe clamping blocks 6241 and an ultrasonic eddy current probe 6242 disposed on the probe clamping blocks 6241. The connection assembly 623 includes a support frame 6231. The ultrasonic eddy current probe 6242 is hinged to the probe clamping block 6241 via a third rotation axis 6243. The probe clamping block 6241 is hinged to the support frame 6231 via a fourth rotation axis 6244. The pair of probe clamping blocks 6241 are connected by a detection elastic member 6245. When the ultrasonic eddy current probe 6242 enters the inner wall of the through-hole to begin inspection, the detection elastic member 6245 provides elastic force to the pair of probe clamping blocks 6241, allowing the ultrasonic eddy current probe 6242 to adhere to the inner wall of the through-hole for inspection.

[0076] The execution connection assembly 623 also includes an upper centering block 6232 located at the top of the support frame 6231. The upper centering block 6232 can be connected to the support frame 6231 via bolts. When the inspection device for the inner wall of the penetration begins to inspect, the upper centering block 6232 first enters the inner wall of the penetration to perform centering positioning. The execution connection assembly 623 also includes a fixed block 6233, a lower centering block 6234, an upper coupling 6235, an upper connecting pipe 6236, a lower coupling 6237, a lower connecting pipe 6238, and a water collector 6239, which are sequentially connected along the axial direction of the support frame 6231. The fixed block 6233 is connected to the bottom of the support frame 6231. Specifically, the upper coupling 6235, upper connecting pipe 6236, lower coupling 6237, and lower connecting pipe 6238 are hollow structures. Due to the arrangement of upper coupling 6235 and lower coupling 6237, the coupling allows for a certain off-axis tilt angle. The upper centering block 6232, lower centering block 6234, upper coupling 6235, and lower coupling 6237 together form a flexible connection that can absorb positioning errors of the penetration inner wall inspection module 62. The water collector 6239 collects the coupling water required for inspection by the ultrasonic eddy current probe 6242.

[0077] The probe clamping block 6241 is connected to a water supply interface 62411, while a drain port 62391 is provided on the water collector 6239. Specifically, the water supply interface 62411 is located within the support frame 6231. The coupling water required for inspection by the ultrasonic eddy current probe 6242 is supplied through the water supply interface 62411. The water flows downward through the ultrasonic eddy current probe 6242, the inner wall of the penetration component, and the inner wall of the horn cover 95, into the water collector 6239, and finally is collected through the drain port 62391. After being filtered by the water circulation mechanism 7, it returns to the water supply interface 62411 to supply water to the ultrasonic eddy current probe 6242.

[0078] The execution lifting assembly 622 includes an execution positioning seat 6221 connected to the execution positioning assembly 621, an execution lifting transmission rod 6222 mounted on the execution positioning seat 6221, an execution transmission slider 6223 transmission-connected to the execution lifting transmission rod 6222, an execution connection guide rail 6224 connected to the execution positioning seat 6221, and an execution connection slider 6225 movably connected to the execution connection guide rail 6224 and connected to the execution transmission slider 6223. The execution connection slider 6225 is connected to the water collector 6239. Specifically, the execution lifting transmission rod 6222 is a cylinder rod, and the execution transmission slider 6223 and the execution connection slider 6225 can be connected by bolts. Driven by the execution lifting transmission rod 6222, the execution transmission slider 6223 and the execution connection slider 6225 move upward, and the execution detection assembly 624 is guided into the interior of the penetration member via the conical surface of the horn cover 95.

[0079] The working principle of the penetration inner wall inspection module 62 is as follows: Figure 13 As shown, when performing nondestructive testing, the penetration component's proximity to the outside of the top cover 96 limits the space within the penetration component's inner wall inspection module 62, requiring it to be extended a certain distance in the axial direction. First, driven by the execution lift transmission rod 6222, the execution transmission slider 6223 and the execution connection slider 6225 move upward. The vertical movement assembly 53 below the penetration component's inner wall inspection module 62 then moves upward, and under the flexible deformation of the upper centering block 6232, lower centering block 6234, upper coupling 6235, and lower coupling 6237, the penetration component is guided into the interior of the penetration component via the conical surface of the horn cover 95. Since the ultrasonic eddy current probe 6242 is hinged to the probe clamping block 6241 through the third rotating axis 6243, and the probe clamping block 6241 is hinged to the support frame 6231 through the fourth rotating axis 6244, a pair of probe clamping blocks 6241 are connected by the execution detection elastic member 6245. The ultrasonic eddy current probe 6242 passively adapts to the internal structure of the penetration component and achieves effective fitting with the inner surface of the penetration component, thereby completing the inspection of the inner wall of the penetration component.

[0080] like Figure 14 and Figure 15As shown, the water circulation mechanism 7 includes a water supply tank 71, a water storage tank 72, a coarse filtration water tank 73, a fine filtration water tank 74, and a control valve assembly 75. The water supply tank 71 is connected to the water supply end of the detection actuator 6, the water storage tank 72 is used to provide water to the water supply tank 71, the coarse filtration water tank 73 is connected to the water outlet end of the detection actuator 6, the fine filtration water tank 74 is used to filter the incoming water, and the control valve assembly 75 is used to control the flow of water within the water circulation mechanism 7.

[0081] Specifically, the water supply end of the detection actuator 6 is the water supply interface 62411, and the water outlet end of the detection actuator 6 is the drain port 62391. The control valve assembly 75 specifically includes a water supply control valve 751, a water supply tank inlet control valve 752, a water replenishment control valve 753, a water storage tank outflow control valve 754, a water storage tank inlet control valve 755, and a recovery and filtration valve 756. The water circulation mechanism 7 also includes a pump body 76.

[0082] Recombination Figure 16 As shown, the water supply control valve 751 is connected between the water supply interface 62411 and the water supply tank 71 to control the on / off flow of water from the water supply tank 71 to the detection actuator 6. The water supply tank inlet control valve 752 is connected upstream of the water supply tank 71 to control the on / off flow of water from the fine filtration tank 74 into the water supply tank 71. The water replenishment control valve 753 is connected downstream of the external replenishment water source 78 to control the on / off flow of water from the external replenishment water source 78. The water storage tank outflow control valve 754 is connected downstream of the water storage tank 72 to control the outflow of water from the water storage tank 72. The water storage tank inlet control valve 755 is connected upstream of the water storage tank 72 to control the on / off flow of water from the fine filtration tank 74 into the water storage tank 72. The recovery filter valve 756 and the pump body 76 are connected between the coarse filtration tank 73 and the fine filtration tank 74. The recovery filter valve 756 is used to control the flow of filtered water from the coarse filtration tank 73 into the fine filtration tank 74. The pump body 76 is used to provide power for the flow of water. The water circulation mechanism 7 also includes a water supply branch line 77, the ends of which are connected to a first access point and a second access point, respectively. The first access point is located between the water supply control valve 753 and the water storage tank outflow control valve 754, and the second access point is located between the recovery filter valve 756 and the pump body 76. The water circulation mechanism 7 also includes a water level gauge 79, which can be used to determine the water levels in the water supply tank 71 and the water storage tank 72.

[0083] The specific functions of the water circulation mechanism 7 are as follows:

[0084] 1. When coupling water is needed for the non-destructive inspection of the detection actuator 6, the water supply control valve 751 is opened, and air is connected to pressurize the water in the water supply tank 71 so that the water is supplied to the detection actuator 6 through the water pipe;

[0085] 2. The water level in the water supply tank 71 and the water storage tank 72 can be obtained by the water level gauge 79. If the water level in the water supply tank 71 is lower than the standard water level, only the water supply control valve 753 and the water supply tank inlet control valve 752 are opened, so that the external water supply can be filtered through the fine filter box and then directly replenished into the water supply tank 71. If the water level in the water storage tank 72 is lower than the standard water level, only the water supply control valve 753 and the water storage tank inlet control valve 755 are opened, so that the external water supply can be filtered through the fine filter box and then directly replenished into the water storage tank 72.

[0086] 3. Open only the recovery filter valve 756 and the water supply tank inlet control valve 752 to allow the recycled water to directly enter the water supply tank 71 for replenishment; open only the recovery filter valve 756 and the water storage tank inlet control valve 755 to allow the recycled water to directly enter the water storage tank 72 for replenishment;

[0087] 4. Only opening the water tank outflow control valve 754 and the water supply tank inlet control valve 752 can realize the water supply tank 71 replenishment from the water storage tank 72;

[0088] 5. Only opening the water tank inlet control valve 755 and the water tank outlet control valve 754 can realize the circulation and purification of the water in the water tank 72.

[0089] The water circulation mechanism 7 realizes the water circulation of coupled water, integrating the three functions of water supply, return water and filtration. It uses a pump body 76 and six control valves to complete the water circulation function, and realizes the filtration function during the return water and water replenishment process. At the same time, water filtration can be repeated many times to ensure the water quality of the water supply and avoid problems such as water pipe block blockage or poor test block water coupling effect due to impurities in the water.

[0090] like Figure 17 As shown, the reactor pressure vessel top cover penetration inspection device also includes a cable tidying mechanism 30, which includes a cable tidying installation assembly 301, a cable tidying lifting assembly 302, a cable tidying positioning assembly 303, and a cable body 304. The cable tidying installation assembly 301 is connected to the connecting mechanism 4, the cable tidying positioning assembly 303 is movably connected to the cable tidying installation assembly 301, the cable body 304 is connected to the cable tidying positioning assembly 303, and the end of the cable body 304 away from the cable tidying positioning assembly 303 is connected to the vertical movement assembly 53. The cable tidying lifting assembly 302 is connected to the cable tidying installation assembly 301 and is used to drive the cable tidying positioning assembly 303 to perform lifting and lowering movements.

[0091] Specifically, the cable body 304 can be a drag chain, and the cable arrangement and positioning assembly 303 includes an arrangement movable base 3031, a blocking rod 3032, a pulley 3033, and a pulley shaft 3034. The cable body 304 is mounted on the pulley 3033, which is hinged to the arrangement movable base 3031 via the pulley shaft 3034. The blocking rod 3032 is mounted on the arrangement movable base 3031 and is used to shield the cable body 304. The cable arrangement installation assembly 301 includes an arrangement installation plate 3011, an arrangement support base 3012 connected to the arrangement installation plate 3011, and an arrangement slider 3013 connected to the arrangement support base 3012. The arrangement installation plate 3011 can be mounted on the connecting mechanism 4, and the arrangement movable base 3031 is movably connected to the arrangement slider 3013. The cable management and lifting assembly 302 includes a management cylinder 3021 mounted on a management mounting plate 3011. The output end of the management cylinder 3021 is connected to a management movable base 3031. The management cylinder 3021 is used to move the management movable base 3031 up and down on the management slider 3013 to adjust the overall length of the cable body 304. The cable management and mounting assembly 301 also includes a tension spring 3015, the ends of which are connected to the management movable base 3031 and the management support base 3012, respectively. The tension spring 3015 provides a resilient force for the management movable base 3031 to return to its original position. During normal inspection, the arranging cylinder 3021 drives the arranging movable seat 3031 to move up and down. When the detection actuator 6 needs to be replaced or the ultrasonic eddy current system needs to be calibrated, the vertical moving component 53 is in a horizontal state and needs to extend outside the biological shielding ring 97. At this time, the length of the cable body 304 will be insufficient, and the arranging cylinder 3021 needs to drive the arranging movable seat 3031 to move downward, so that the pulley 3033 is lowered, thereby releasing more length of the cable body 304.

[0092] like Figure 18 As shown, calibration mechanism 8 includes a calibration mounting assembly 81, a calibration lifting assembly 82, a calibration positioning assembly 83, and a calibration actuator 84. Calibration lifting assembly 82 is connected to calibration mounting assembly 81 and calibration positioning assembly 83, respectively. Calibration actuator 84 is mounted on calibration positioning assembly 83. Calibration lifting assembly 82 is used to drive calibration positioning assembly 83 and calibration actuator 84 to move upward and downward. The primary purpose of calibration mechanism 8 is to ensure the measurement accuracy and reliability of the probe.

[0093] The calibration process of the calibration mechanism 8 is as follows:

[0094] 1. The detection actuator 6 of the reactor pressure vessel top cover penetration inspection device extends from the biological shielding ring 97, and the calibration mechanism 8 is moved to the vicinity of the detection actuator 6;

[0095] 2. Select a corresponding calibration element 84 according to the detection actuator 6, such as a thermocouple calibration block or a CRDM calibration block;

[0096] 3. By driving the handwheel of the calibration lifting assembly 82, the vertical height of the calibration action member 84 is adjusted, and the bottom moving wheel of the calibration installation assembly 81 is moved to achieve full horizontal movement, thereby completing the concentric alignment of the calibration action member 84 and the detection actuator 6;

[0097] 4. Lock the bottom moving wheel to fix the position of the calibration mechanism 8 to facilitate the next calibration;

[0098] 5. Perform a calibration scan of the detection actuator 6;

[0099] 6. The detection actuator 6 is retracted into the biological shielding ring 97 for non-destructive inspection.

[0100] The working process of the reactor pressure vessel top cover penetration inspection device is as follows:

[0101] 1. The reactor pressure vessel top cover penetration inspection device, driven by the main rotation mechanism 2 and translation mechanism 3, positions the detection actuator 6 below the penetration to be inspected;

[0102] 2. Using the centering camera 101 and multiple centering lasers 102 to emit laser points for precise positioning;

[0103] 3. The vertical moving assembly 53 is used to drive the detection actuator 6 to move upward. After reaching the inspection position, the end rotary moving assembly 54 is used to drive the detection actuator 6 to perform non-destructive inspection on the inspection part.

[0104] 4. After the inspection of the different detection actuators 6 is completed or the time reaches the calibration requirement, the intermediate rotary movement assembly 52 moves the detection actuators 6 to a horizontal position. The detection actuators 6 are then extended outside the biological shielding ring 97 by the main rotation mechanism 2, the translation mechanism 3, and the spatial adjustment mechanism 5. During this process, the length of the cable body 304 is adjusted by the cable arrangement mechanism 30.

[0105] 5. Replace another detection actuator 6 outside the biological shielding ring 97, or move the calibration mechanism 8, keep the calibration member 84 and the detection actuator 6 center coincident, and calibrate the corresponding detection actuator 6;

[0106] 6. Repeat steps 1 to 5 until all inspection tasks are completed.

[0107] It can be understood that the above embodiments only express the preferred implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, all of which fall within the scope of protection of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of coverage of the claims of the present invention.

Claims

1. A reactor pressure vessel top cover penetration inspection device, characterized in that: It includes a supporting mechanism (1), a main rotating mechanism (2), a translation mechanism (3), a connecting mechanism (4), a space adjustment mechanism (5), a detection actuator (6), a water circulation mechanism (7), and a calibration mechanism (8); The support mechanism (1) is used to be supported in a reactor pressure vessel (9); the main rotating mechanism (2) is respectively connected to the support mechanism (1) and the translation mechanism (3); the main rotating mechanism (2) is used to drive the translation mechanism (3) to rotate; The connecting mechanism (4) is respectively connected to the translation mechanism (3) and the space adjustment mechanism (5), and the translation mechanism (3) is used to drive the connecting mechanism (4) and the space adjustment mechanism (5) to perform translational movement; The detection actuator (6) is connected to the space adjustment mechanism (5), the space adjustment mechanism (5) is used to drive the detection actuator (6) to move in space, and the detection actuator (6) is used to inspect the reactor pressure vessel top cover penetration piece; The water circulation mechanism (7) is used to supply and recycle the coupling water used by the detection actuator (6); The calibration mechanism (8) is used to calibrate the detection actuator (6); The reactor pressure vessel top cover penetration inspection device further comprises a cable arranging mechanism (30), wherein the cable arranging mechanism (30) comprises a cable arranging installation assembly (301), a cable arranging lifting assembly (302), a cable arranging positioning assembly (303), and a cable body (304); The cable arranging and mounting assembly (301) is connected to the connecting mechanism (4), the cable arranging and positioning assembly (303) is movably connected to the cable arranging and mounting assembly (301), the cable body (304) is connected to the cable arranging and positioning assembly (303), and the end of the cable body (304) away from the cable arranging and positioning assembly (303) is connected to the vertical moving assembly (53) of the space adjustment mechanism (5), the cable arranging and lifting assembly (302) is connected to the cable arranging and mounting assembly (301), and the cable arranging and lifting assembly (302) is used to drive the cable arranging and positioning assembly (303) to perform an ascending and descending movement.

2. The reactor pressure vessel top cover penetration inspection device according to claim 1, characterized in that: The support mechanism (1) comprises a plurality of support legs (11) and lighting lamps (12) mounted on the support legs (11); The main rotating mechanism (2) comprises a rotating fixed seat (21) connected to the plurality of supporting legs (11), a rotating toothed disc (23) connected to the rotating fixed seat (21), a rotating mounting seat (24) rotatably connected to the rotating toothed disc (23), and a main rotating driver (22) mounted on the rotating mounting seat (24), wherein an output end of the main rotating driver (22) is connected to the rotating toothed disc (23); The translation mechanism (3) comprises a translation rail (31) connected to the rotation mounting seat (24), a translation slider (32) movably connected to the translation rail (31), a translation driver (33) for driving the translation slider (32) to move on the translation rail (31), and a translation positioning seat (34) connected to the translation slider (32).

3. The reactor pressure vessel top cover penetration inspection device according to claim 2, characterized in that: The connecting mechanism (4) includes a connecting positioning seat (41) connected to the translation positioning seat (34); The space adjustment mechanism (5) comprises a connecting rotation driver (51), an intermediate rotation moving assembly (52), a vertical moving assembly (53) and an end rotation moving assembly (54), wherein the connecting rotation driver (51) is mounted on the connecting positioning seat (41) and an output end of the connecting rotation driver (51) is connected to the intermediate rotation moving assembly (52), and the connecting rotation driver (51) is used to drive the intermediate rotation moving assembly (52) to perform rotational motion; The vertical moving assembly (53) is respectively connected to the intermediate rotating moving assembly (52) and the terminal rotating moving assembly (54), and the detection actuator (6) is connected to the terminal rotating moving assembly (54). The vertical moving assembly (53) is used to drive the terminal rotating moving assembly (54) to perform a lifting movement, and the terminal rotating moving assembly (54) is used to drive the detection actuator (6) to perform a rotational movement.

4. The reactor pressure vessel top cover penetration inspection device according to claim 3, characterized in that: The reactor pressure vessel top cover penetration inspection device further includes a centering mechanism (10) and a monitoring mechanism (20); The centering mechanism (10) comprises a centering camera (101) and a plurality of centering lasers (102), the centering camera (101) and the plurality of centering lasers (102) are both mounted on the vertical moving assembly (53), and the plurality of centering lasers (102) are arranged along the circumferential direction of the centering camera (101); The monitoring mechanism (20) includes a global camera (201) mounted on the connecting mechanism (4) and a local camera (202) mounted on the terminal rotation moving component (54).

5. The reactor pressure vessel top cover penetration inspection device according to claim 3, characterized in that: The detection actuator (6) comprises a container top cover inner wall inspection module (61), and the container top cover inner wall inspection module (61) comprises a detection avoidance component (611), a detection lifting component (612), a detection adaptive adjustment component (613), and a detection probe (614); The detection avoidance component (611) is respectively connected to the terminal rotation movement component (54) and the detection lifting component (612), and the detection avoidance component (611) is used to drive the detection lifting component (612) to perform translational movement; The detection self-adaptive adjustment component (613) is respectively connected to the detection lifting component (612) and the detection probe (614); the detection lifting component (612) is used to drive the detection self-adaptive adjustment component (613) and the detection probe (614) to perform lifting and lowering movements; the detection self-adaptive adjustment component (613) is used to enable the detection probe (614) to self-adaptively fit the inner wall of the container top cover.

6. The reactor pressure vessel top cover penetration inspection device according to claim 3, characterized in that: The detection actuator (6) includes a penetration inner wall inspection module (62), and the penetration inner wall inspection module (62) includes an execution positioning component (621), an execution lifting component (622), an execution connection component (623), and an execution detection component (624); The execution positioning component (621) is respectively connected to the terminal rotation moving component (54) and the execution lifting component (622), the execution connection component (623) is respectively connected to the execution lifting component (622) and the execution detection component (624), and the execution lifting component (622) is used to drive the execution connection component (623) and the execution detection component (624) to perform lifting movements.

7. The reactor pressure vessel top cover penetration inspection device according to claim 1, characterized in that: The water circulation mechanism (7) comprises a water supply tank (71), a water storage tank (72), a coarse filtration water tank (73), a fine filtration water tank (74), and a control valve assembly (75); The water supply tank (71) is connected to the water supply end of the detection actuator (6); the water storage tank (72) is used to provide water for the water supply tank (71); the coarse filtration water tank (73) is connected to the water outlet end of the detection actuator (6); the fine filtration water tank (74) is used to filter the incoming water; and the control valve assembly (75) is used to control the flow of water inside the water circulation mechanism (7).

8. The reactor pressure vessel top cover penetration inspection device according to claim 1, characterized in that: The cable arranging and positioning assembly (303) comprises an arranging movable seat (3031), a blocking rod (3032), a pulley (3033) and a pulley shaft (3034); the cable body (304) is mounted on the pulley (3033); the pulley (3033) is hinged to the arranging movable seat (3031) via the pulley shaft (3034); the blocking rod (3032) is mounted on the arranging movable seat (3031) and is used to shield the cable body (304); The cable arranging and installing assembly (301) comprises an arranging and installing plate (3011), an arranging support seat (3012) connected to the arranging and installing plate (3011), and an arranging slider (3013) connected to the arranging support seat (3012); the arranging and installing plate (3011) is installed on the connecting mechanism (4); and the arranging movable seat (3031) is movably connected to the arranging slider (3013); The cable arranging and lifting assembly (302) comprises an arranging cylinder (3021), the arranging cylinder (3021) is mounted on the arranging mounting plate (3011), and the output end of the arranging cylinder (3021) is connected to the arranging movable seat (3031).

9. The reactor pressure vessel top cover penetration inspection device according to claim 1, characterized in that: The calibration mechanism (8) includes a calibration installation component (81), a calibration lifting component (82), a calibration positioning component (83), and a calibration action member (84); The calibration lifting assembly (82) is respectively connected to the calibration installation assembly (81) and the calibration positioning assembly (83), the calibration action member (84) is installed on the calibration positioning assembly (83), and the calibration lifting assembly (82) is used to drive the calibration positioning assembly (83) and the calibration action member (84) to perform lifting movements.

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