Automatic detection system for outer wall of nuclear power plant reactor internals hanging basket

Abstract

The utility model discloses an automatic detection system for the outer wall of a reactor internal hanging basket of a nuclear power plant. The automatic detection system comprises a crawling track arranged in the circumferential direction of the reactor internal hanging basket, the automatic crawling device comprises a power part, a crawling assembly, clamping assemblies and a mounting frame, the power part, the crawling assembly and the clamping assemblies are mounted on the mounting frame, the power part is connected with the crawling assembly, the crawling assembly is connected with the crawling rail and moves on the crawling rail, and the clamping assemblies clamp the two sides of the crawling rail in the radial direction; the bracket extends along the axial direction of the reactor internals hanging basket and is connected with the mounting rack; the video detection device has a waterproof function and is connected with the bracket; and the control box is electrically connected with the power part and the video detection device respectively. The control box controls the power part to enable the automatic crawling device to move on the crawling rail, and controls the video detection device to perform video detection on the periphery of the reactor internal hanging basket, so that automatic detection of the weld joint on the outer wall of the reactor internal hanging basket can be realized, and remote operation can be realized in the whole detection process.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline weld detection, in particular to an automatic detection system for the outer wall of a hanging basket of a nuclear power plant internal component. Background Art

[0002] The reactor internals are one of the key equipment of nuclear reactors. They are installed in the reactor pressure vessel and are combined with the reactor pressure vessel, control rod drive mechanism, fuel assembly and related components to realize the reactor function. Their long-term service reliability and stability are key factors affecting the safety and economy of nuclear power plant operation. The reactor internals are in harsh environments such as high temperature, high-pressure water flow, high radiation, and vibration. Different parts are at risk of failure due to radiation-induced stress corrosion cracking (IASCC), wear, and fatigue cracking. Once the relevant parts fail, it will pose a great risk to the primary circuit main equipment and core fuel assemblies. Formulating an effective in-service inspection strategy for reactor internals and implementing supervision of the integrity of reactor internals have become key factors in ensuring the safety of the unit.

[0003] As for the ring weld area of ​​the upper hanging basket of the internal components of the reactor, the structure around the weld is complex and the space is narrow, so existing equipment cannot directly reach it. Conventional ROV (remotely operated submersible or remotely operated submersible) and conventional long-pole PTZ (camera horizontal rotation, vertical rotation and zoom function) are unstable and difficult to control underwater. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide an automatic detection system for the outer wall of the hanging basket of the internal components of a nuclear power plant.

[0005] The utility model solves the technical problem by adopting a technical solution: an automatic detection system for the outer wall of the hanging basket of the internal components of a nuclear power plant, comprising:

[0006] A crawling track installed on the circumference of the internals hanging basket;

[0007] An automatic crawling device, comprising a power member, a crawling assembly, a clamping assembly and a mounting frame, wherein the power member, the crawling assembly and the clamping assembly are respectively mounted on the mounting frame, the power member is connected to the crawling assembly, the crawling assembly is connected to the crawling track and moves on the crawling track, and the clamping assembly is clamped on both sides of the crawling track in a radial direction;

[0008] A bracket extending along the axial direction of the internal component hanging basket and connected to the mounting frame;

[0009] A video detection device with waterproof function, connected to the bracket;

[0010] A control box is electrically connected to the power component and the video detection device respectively.

[0011] In some embodiments, the mounting frame includes a clamping tool and a frame body for mounting the power member, the crawling assembly and the clamping assembly, and the clamping tool is respectively connected to the frame body and detachably connected to the bracket.

[0012] In some embodiments, the clamping tool comprises at least one pneumatic clamp, the pneumatic clamp is provided with a slot for the bracket to shuttle, and the slot extends along the radial direction of the internal component hanging basket;

[0013] The pneumatic clamp is connected to an external air source.

[0014] In some embodiments, the bracket includes a stopper and a support rod for connecting the video detection device, the stopper is connected to an end of the support rod away from the video detection device and abuts against the pneumatic clamp;

[0015] The diameter of the limiting member is greater than the diameter of the supporting rod.

[0016] In some embodiments, the clamping assembly includes at least two clamping rollers and at least two anti-roll clamping guides, the two clamping rollers are installed on both sides of the mounting frame in a radial direction and are respectively rollingly connected to both sides of the crawling track in a radial direction, and the two anti-roll clamping guides are installed on both sides of the mounting frame in a radial direction and are respectively rollingly connected to the bottom of the crawling track.

[0017] In some embodiments, the anti-roll clamping guide member includes a fixed seat, a driving member, a roller mounting seat and a follower roller, the fixed seat is connected to the mounting frame, the driving member is installed on the fixed seat, and the extending shaft of the driving member is connected to the roller mounting seat; the follower roller is rotatably mounted on the roller mounting seat and is rollingly connected to the bottom of the crawling track.

[0018] In some embodiments, the anti-roll clamping guide also includes a guide positioning pin, and a positioning pin hole is provided on the fixing seat. The guide positioning pin is inserted into the positioning pin hole to be in a clamped state, and the guide positioning pin is away from the positioning pin hole to be in a loosened state.

[0019] In some embodiments, the automatic crawling device further includes a circumferential positioner, which is mounted on the mounting frame and electrically connected to the control box.

[0020] In some embodiments, the video detection device includes a camera, a pitch assembly, a rotation assembly, a first waterproof shell and a second waterproof shell. The pitch assembly is installed inside the first waterproof shell and connected to the camera to drive the camera to pitch movement. The rotation assembly is arranged inside the second waterproof shell and connected to the first waterproof shell to drive the first waterproof shell to rotate.

[0021] In some embodiments, the automated detection system for the outer wall of the nuclear power plant internal component hanging basket further includes a host computer PC, a video PC and an emergency stop device, and the host computer PC, the video PC and the emergency stop device are electrically connected to the control box respectively.

[0022] By implementing the utility model, the following beneficial effects are achieved:

[0023] The utility model discloses an automatic detection system for the outer wall of a nuclear power plant internal component hanging basket, comprising a crawling track installed in the circumferential direction of the internal component hanging basket; an automatic crawling device, comprising a power piece, a crawling assembly, a clamping assembly and a mounting frame, wherein the power piece, the crawling assembly and the clamping assembly are respectively installed on the mounting frame, the power piece is connected to the crawling assembly, the crawling assembly is connected to the crawling track and moves on the crawling track, and the clamping assembly is clamped on both sides of the crawling track in the radial direction; a bracket extending along the axial direction of the hanging basket is connected to the mounting frame; a video detection device with a waterproof function is connected to the bracket; and a control box is electrically connected to the power piece and the video detection device respectively. The clamping assembly can stably fix the automatic crawling device on the crawling track to prevent it from tipping over. The control box controls the power part to drive the crawling assembly to move the automatic crawling device on the crawling track. The control box then controls the video detection device to perform video detection on the periphery of the in-piler component basket. This can realize automatic detection of the welds on the outer wall of the in-piler component basket, and the entire detection process can be remotely operated. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0025] Figure 1 It is a schematic diagram of the installation of an automatic detection system for the outer wall of a hanging basket of a nuclear power plant internal component according to an embodiment of the utility model;

[0026] Figure 2 yes Figure 1 A magnified schematic diagram of the local structure;

[0027] Figure 3 yes Figure 1 The structural diagram of the automatic crawling device;

[0028] Figure 4 yes Figure 3 A top view of the automatic crawling device;

[0029] Figure 5 yes Figure 3 Schematic diagram of the structure of the middle clamping tooling;

[0030] Figure 6 yes Figure 3 A schematic diagram of the structure of the middle anti-roll clamping guide member in a clamped state;

[0031] Figure 7 yes Figure 3 A schematic diagram of the structure of the middle anti-roll clamping guide member in a released state;

[0032] Figure 8 yes Figure 1 Schematic diagram of the structure of the middle bracket;

[0033] Fig. 9 yes Figure 1 Schematic diagram of the structure of the video detection device. DETAILED DESCRIPTION

[0034] In order to have a clearer understanding of the technical features, purposes and effects of the present utility model, the specific implementation methods of the present utility model are now described in detail with reference to the accompanying drawings.

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0036] In the description of the utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the utility model, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or a chemical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0038] See also Figures 1 to 9 An embodiment of the utility model discloses an automatic detection system for the outer wall of a nuclear power plant internal component hanging basket, which can be used for the surface condition detection of the outer wall of the internal component hanging basket 5, especially the detection of the outer ring weld of the internal component hanging basket 5. It can be understood that the detection of the outer ring weld of the internal component hanging basket 5 is only one application field of the utility model. In some other embodiments, the automatic detection system of the utility model can be widely used in the field of pipeline outer wall weld detection.

[0039] The automatic detection system for the outer wall of the core component hanging basket of a nuclear power plant comprises a crawling track 1 installed on the circumference of the core component hanging basket 5, an automatic crawling device 2, a bracket 3 extending along the axial direction of the core component hanging basket 5, a video detection device 4 with a waterproof function, and a control box. Preferably, the crawling track 1 is an annular track, which is arranged around the outer circumference or the top of the core component hanging basket 5 and is fixedly connected to the core component hanging basket 5.

[0040] like Figures 2 to 4 As shown, the automatic crawling device 2 includes a power piece, a crawling assembly 21, a clamping assembly 22 and a mounting frame 23. The power piece, the crawling assembly 21 and the clamping assembly 22 are respectively mounted on the mounting frame 23. The power piece is connected to the crawling assembly 21, the crawling assembly 21 is connected to the crawling track 1 and moves on the crawling track 1, and the clamping assembly 22 is clamped on both sides of the crawling track 1 in the radial direction. The bracket 3 is connected to the mounting frame 23, the video detection device 4 is connected to the bracket 3, and the control box is electrically connected to the power piece and the video detection device 4 respectively. Preferably, the power piece is a driving motor, which is arranged inside the mounting frame 23, which is not shown in the figure. The crawling assembly 21 is composed of a plurality of wheels 211. One power piece can be connected to one wheel 211 to realize driving, or one power piece can be connected to two wheels 211 through a transmission assembly such as a gear assembly, and drive the two wheels 211 to rotate at the same time. The number of power pieces can be one, two, etc., which can be set according to actual conditions. The control box has been developed very maturely in the prior art, and the utility model will not be repeated here, which is not shown in the figure.

[0041] It can be understood that the control box can be connected to the power component through a control cable and connected to the video detection device 4 through a video cable. The bracket 3 can be a hollow structure for the video cable to be installed and connected to the video detection device 4 inside the bracket 3 to prevent the video cable from contacting the external liquid environment.

[0042] In some embodiments, in order to facilitate the detection of girth welds at different heights outside the hanging basket 5 of the internal components, the mounting frame 23 includes a clamping tool 232 and a frame body 231 for mounting the power member, the crawling assembly 21 and the clamping assembly 22, and the clamping tool 232 is respectively connected to the frame body 231 and detachably connected to the bracket 3. In actual operation, brackets 3 of various lengths can be equipped to meet the detection requirements of girth welds at different positions. It can be understood that in some other embodiments, the bracket 3 can be set to a foldable, retractable or other structural form for selection.

[0043] In some embodiments, Figure 5 As shown, the clamping tool 232 includes at least one pneumatic clamp 2321, and the pneumatic clamp 2321 is provided with a slot 2322 for the bracket 3 to shuttle, and the slot 2322 extends along the radial direction of the internal component hanging basket 5, and the pneumatic clamp 2321 is connected to an external air source. When the air source is connected, the pneumatic clamp 2321 clamps the bracket 3, and when the air source is disconnected, the pneumatic clamp 2321 loosens the bracket 3, thereby realizing the rapid locking and loosening of the bracket 3, which is convenient for the rapid replacement of brackets 3 of different lengths and sizes. It can be understood that the pneumatic clamp 2321 is a prior art and will not be described in detail here.

[0044] In some embodiments, Figure 5 As shown, the clamping assembly 22 includes at least two clamping rollers 221 and at least two anti-rolling clamping guides 222. The two clamping rollers 221 are mounted on both sides of the mounting frame 23 in the radial direction and are respectively connected to the two sides of the crawling track 1 in a rolling manner, so as to prevent the automatic crawling device 2 from moving radially along the crawling track 1. The two anti-rolling clamping guides 222 are mounted on both sides of the mounting frame 23 in the radial direction and are respectively connected to the bottom of the crawling track 1 in a rolling manner, so as to prevent the automatic crawling device 2 from rolling. Preferably, at least one of the two clamping rollers 221 plays an active clamping role, for example, the two clamping rollers 221 can be relatively close to or away from each other through an oil cylinder or an air cylinder, so as to clamp or loosen the crawling track 1.

[0045] In some embodiments, Figure 6 and Figure 7As shown, the anti-roll clamping guide member 222 includes a fixed seat 2221, a driving member 2222, a roller mounting seat 2223 and a follower roller 2224. The fixed seat 2221 is connected to the mounting frame 23, the driving member 2222 is installed on the fixed seat 2221, and the extension shaft of the driving member 2222 is connected to the roller mounting seat 2223. The follower roller 2224 is rotatably installed on the roller mounting seat 2223 and is rollingly connected to the bottom of the crawling track 1. Preferably, the driving member 2222 can be an oil cylinder or an air cylinder. When the extension shaft of the driving member 2222 is extended, the follower roller 2224 is away from the crawling track 1, as shown in FIG. Figure 7 The loosened state shown in the figure facilitates the automatic crawling device 2 to be detached from the crawling track 1. When the extended shaft of the driving member 2222 is retracted, the follower roller 2224 abuts against the crawling track 1, as shown in the figure. Figure 6 The clamping state shown can prevent the automatic crawling device 2 from tilting.

[0046] In some embodiments, the anti-roll clamping guide 222 further includes a guide positioning pin 2225, and a positioning pin hole 2226 is provided on the fixing seat 2221. The guide positioning pin 2225 is inserted into the positioning pin hole 2226 to be in a clamped state, and the guide positioning pin 2225 is away from the positioning pin hole 2226 to be in a loose state. The cooperation between the guide positioning pin 2225 and the positioning pin hole 2226 can prevent the roller mounting seat 2223 from deflecting.

[0047] In some embodiments, the automatic crawling device 2 further includes a circumferential positioner 24, which is mounted on the mounting frame 23 and electrically connected to the control box, and can monitor the position of the automatic crawling device 2, thereby determining the position of the video detection device 4, and realizing accurate circumferential positioning of the internal component hanging basket 5, so as to facilitate recording of the detection situation. It can be understood that the circumferential positioner 24 has been developed very maturely in the prior art, and the utility model will not be described in detail here.

[0048] In some embodiments, Figure 8As shown, the support 3 includes a stopper 31 and a support rod 32 for connecting the video detection device 4. The stopper 31 is connected to one end of the support rod 32 away from the video detection device 4 and abuts against the pneumatic clamp 2321. The diameter of the stopper 31 is greater than the diameter of the support rod 32. The stopper 31 can prevent the support 3 and the video detection device 4 from falling under the action of gravity, and limit the axial movement of the support 3 in the in-core component hanging basket 5. Preferably, the stopper 31 can be provided with a plurality of first stopper columns and / or a plurality of first stopper holes 2323, and the pneumatic clamp 2321 is provided with a plurality of second stopper holes matching the first stopper columns and / or a second stopper column matching the first stopper holes 2323. The first stopper column and the second stopper hole are plugged and positioned, and the second stopper column and the first stopper hole 2323 are plugged and positioned, so as to further limit the radial movement of the support 3 in the in-core component hanging basket 5. In this embodiment, two first limiting columns are provided on the limiting member 31 , and two second limiting holes matching the first limiting columns are provided on the pneumatic clamp 2321 .

[0049] In some embodiments, Fig. 9 As shown, the video detection device 4 includes a camera 41, a pitch assembly, a rotation assembly, a first waterproof housing 42, and a second waterproof housing 43. The pitch assembly is installed inside the first waterproof housing 42 and connected to the camera 41 to drive the camera 41 to pitch, and the rotation assembly is arranged inside the second waterproof housing 43 and connected to the first waterproof housing 42 to drive the first waterproof housing 42 to rotate. It can be understood that the camera 41, the pitch assembly, and the rotation assembly have been developed very maturely in the prior art, and the utility model will not be repeated here, and the pitch assembly and the rotation assembly are not shown in the figure.

[0050] In some embodiments, the automatic detection system of the outer wall of the hanging basket of the nuclear power plant internal components further includes a host computer PC, a video PC and an emergency stop device, and the host computer PC, the video PC and the emergency stop device are electrically connected to the control box respectively. It can be understood that the host computer PC, the video PC and the emergency stop device have been developed very maturely in the prior art, and the utility model will not be repeated here, and is not shown in the figure.

[0051] By implementing the utility model, the following beneficial effects are achieved:

[0052] The utility model discloses an automatic detection system for the outer wall of a nuclear power plant internal component hanging basket. The clamping assembly 22 can stably fix the automatic crawling device 2 on the crawling track 1 to prevent it from rolling over. The control box controls the power part to drive the crawling assembly 21 so that the automatic crawling device 2 moves on the crawling track 1. The control box then controls the video detection device 4 to perform video detection on the periphery of the internal component hanging basket 5. Automatic detection of the weld seam on the outer wall of the internal component hanging basket 5 can be achieved. The whole detection process can be remotely operated and the moving trajectory and speed can be accurately controlled.

[0053] It can be understood that the above embodiments only express the preferred implementation methods of the utility model, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the utility model; it should be pointed out that for ordinary technicians in this field, without departing from the concept of the utility model, the above embodiments or technical features can be freely combined, and several deformations and improvements can be made, which all belong to the protection scope of the utility model, that is, the embodiments described in "some embodiments" can be freely combined with any of the above and below embodiments; therefore, all equivalent changes and modifications made to the scope of the claims of the utility model should fall within the scope of the claims of the utility model.

Claims

1. An automatic detection system for the outer wall of a nuclear power plant internal component hanging basket, characterized in that: include A crawling track (1) installed in the circumferential direction of the internal component hanging basket (5); An automatic crawling device (2) comprises a power member, a crawling assembly (21), a clamping assembly (22) and a mounting frame (23), wherein the power member, the crawling assembly (21) and the clamping assembly (22) are respectively mounted on the mounting frame (23), the power member is connected to the crawling assembly (21), the crawling assembly (21) is connected to the crawling track (1) and moves on the crawling track (1), and the clamping assembly (22) is clamped on both sides of the crawling track (1) in a radial direction; A bracket (3) extending along the axial direction of the internal component hanging basket (5) and connected to the mounting frame (23); A video detection device (4) with waterproof function, connected to the bracket (3); A control box is electrically connected to the power component and the video detection device (4) respectively.

2. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to claim 1, characterized in that: The mounting frame (23) comprises a clamping tool (232) and a frame body (231) for mounting the power component, the crawling assembly (21) and the clamping assembly (22); the clamping tool (232) is respectively connected to the frame body (231) and is detachably connected to the bracket (3).

3. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to claim 2, characterized in that: The clamping tool (232) comprises at least one pneumatic clamp (2321), the pneumatic clamp (2321) being provided with a slot (2322) for the support (3) to pass through, the slot (2322) extending in the radial direction of the in-core component hanging basket (5); The pneumatic clamp (2321) is connected to an external air source.

4. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to claim 3, characterized in that: The support (3) comprises a stopper (31) and a support rod (32) for connecting to the video detection device (4); the stopper (31) is connected to an end of the support rod (32) away from the video detection device (4) and abuts against the pneumatic clamp (2321); The diameter of the limiting member (31) is greater than the diameter of the supporting rod (32).

5. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to claim 1, characterized in that: The clamping assembly (22) comprises at least two clamping rollers (221) and at least two anti-roll clamping guides (222), the two clamping rollers (221) being mounted on both sides of the mounting frame (23) in a radial direction and respectively connected in a rolling manner to both sides of the crawling track (1) in a radial direction, and the two anti-roll clamping guides (222) being mounted on both sides of the mounting frame (23) in a radial direction and respectively connected in a rolling manner to the bottom of the crawling track (1).

6. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to claim 5, characterized in that: The anti-roll clamping guide member (222) comprises a fixed seat (2221), a driving member (2222), a roller mounting seat (2223) and a follower roller (2224); the fixed seat (2221) is connected to the mounting frame (23); the driving member (2222) is mounted on the fixed seat (2221), and the extended shaft of the driving member (2222) is connected to the roller mounting seat (2223); the follower roller (2224) is rotatably mounted on the roller mounting seat (2223) and is rollingly connected to the bottom of the crawling track (1).

7. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to claim 6, characterized in that: The anti-roll clamping guide (222) also includes a guide positioning pin (2225), and a positioning pin hole (2226) is provided on the fixing seat (2221). The guide positioning pin (2225) is inserted into the positioning pin hole (2226) to be in a clamped state, and the guide positioning pin (2225) is away from the positioning pin hole (2226) to be in a loosened state.

8. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to any one of claims 1 to 7, characterized in that: The automatic crawling device (2) also includes a circumferential positioner (24), which is mounted on the mounting frame (23) and is electrically connected to the control box.

9. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to any one of claims 1 to 7, characterized in that: The video detection device (4) comprises a camera (41), a pitch assembly, a rotation assembly, a first waterproof shell (42) and a second waterproof shell (43); the pitch assembly is installed inside the first waterproof shell (42) and is connected to the camera (41) to drive the camera (41) to pitch; the rotation assembly is arranged inside the second waterproof shell (43) and is connected to the first waterproof shell (42) to drive the first waterproof shell (42) to rotate.

10. The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internals according to any one of claims 1 to 7, characterized in that: The automatic detection system for the outer wall of the hanging basket of the nuclear power plant internal components also includes a host computer PC, a video PC and an emergency stop device, and the host computer PC, the video PC and the emergency stop device are electrically connected to the control box respectively.

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