Vortex inspection device for steam generator

Abstract

The utility model discloses a steam generator eddy current inspection device which comprises a crawling robot, a probe guider is arranged on the crawling robot, and an eddy current probe is arranged in the probe guider; the probe push-pull device comprises a driving module, and one end of the eddy current probe is arranged on the driving module; one end of the catheter is connected with the probe guider, the other end of the catheter is connected with the probe puller, and the eddy current probe is arranged in the catheter in a penetrating manner; the adjustable support comprises a lifting platform, a lifting rod and a plurality of electric wheels, and the probe push-pull device is fixedly arranged on the lifting platform; the control host is connected with the crawling robot, the eddy current probe, the probe push-pull device and an electric control part of the adjustable support. The adjustable support is remotely controlled by the control host to change the position of the probe push-pull device, so that the posture of the catheter is adjusted, the situation of circling or knotting is avoided, an operator does not need to enter a steam generator room, the exposure dose of the operator is reduced, the amount of radioactive waste is reduced, and the inspection efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of nuclear power plant steam generator detection, and particularly relates to a steam generator eddy current inspection device. BACKGROUND

[0002] The steam generator is one of the facilities commonly used in nuclear power plants, and in the nuclear power plant, the steam generator often needs to be inspected to ensure the smooth operation of the steam generator. However, the existing steam generator eddy current inspection device has low automation degree, and in the process of use, the operator often needs to repeatedly enter the steam generator room for manual adjustment. For example, the operator needs to enter the steam generator room to manually adjust the length, winding mode and other postures of the steam generator eddy current inspection device to avoid the occurrence of the spiral or knot of the guide pipe. However, the repeated entry of the operator into the steam generator room will cause the following problems: first, when performing in-service inspection, the radiation environment dose rate in the steam generator room is high, and the repeated entry of the operator into the steam generator room will cause the radiation leakage due to the repeated opening of the isolation door of the steam generator room, thereby increasing the collective radiation dose; second, the operator needs to wear additional protective articles such as paper clothes every time when entering the steam generator room, and these protective articles are mostly disposable, thereby increasing the amount of radioactive waste; and finally, in order to ensure the safety of the operator, the data acquisition work needs to be temporarily suspended when the operator enters the steam generator room for manual adjustment, and the data acquisition work can be continued only after the adjustment work is completed, which affects the inspection efficiency to some extent.

[0003] Therefore, it is necessary to develop a steam generator eddy current inspection device with higher automation degree. CONTENT OF THE UTILITY MODEL

[0004] In order to solve one of the technical problems in the prior art, the present application provides a steam generator eddy current inspection device, which can remotely adjust the length of the guide pipe and does not need the operator to repeatedly enter the steam generator room.

[0005] According to the steam generator eddy current inspection device of the first aspect of the present application, the steam generator eddy current inspection device is applied to the steam generator room to perform eddy current inspection on the heat transfer pipe of the steam generator, and comprises: a crawling robot, a probe guide is arranged on the crawling robot, an eddy current probe is movably arranged in the probe guide, and the crawling robot is configured to crawl on the tube sheet of the steam generator to position the probe guide to the heat transfer pipe to be detected; a probe pusher, the probe pusher comprises a driving module, one end of the eddy current probe is arranged on the driving module, the driving module clamps and drives the eddy current probe to advance or retreat in the heat transfer pipe; a conduit, the conduit is a flexible conduit, one end of the conduit is connected to the probe guide, and the other end of the conduit is connected to the probe pusher, the eddy current probe passes through the conduit and enters and exits the heat transfer pipe through the probe guide; an adjustable support, the adjustable support comprises a lifting platform and a lifting rod that drives the lifting platform to perform lifting action, a plurality of electric wheels are arranged at the bottom of the adjustable support, and the probe pusher is fixedly arranged on the lifting platform; a control host, the control host is electrically connected with the crawling robot, the eddy current probe, the probe pusher and the electric control part of the adjustable support respectively; wherein the control host is arranged outside the steam generator room, and the control host can control the electric wheels and the lifting rod of the adjustable support to change the position of the probe pusher, so as to adjust the posture of the conduit.

[0006] According to the steam generator eddy current inspection device of the first aspect of the present application, an angle adjusting platform is arranged on the lifting platform, and the probe pusher is fixedly arranged on the angle adjusting platform; one end of the angle adjusting platform is hinged to the lifting platform, and the other end of the angle adjusting platform is connected to the lifting platform through an angle adjusting push rod; wherein the included angle between the angle adjusting platform and the horizontal plane is between 0 degrees and 90 degrees, and the angle adjusting push rod is configured to increase the included angle between the angle adjusting platform and the horizontal plane when being elongated.

[0007] According to the steam generator eddy current inspection device of the first aspect of the present application, one end of the angle adjusting platform close to the crawling robot is provided with the angle adjusting push rod, and the other end of the angle adjusting platform away from the crawling robot is hinged to the lifting platform.

[0008] According to the steam generator eddy current inspection device of the first aspect of the present application, the lifting rod is an electric servo push rod.

[0009] According to the steam generator eddy current inspection device of the first aspect of the present application, the angle adjusting push rod is an electric servo push rod.

[0010] The steam generator eddy current inspection device according to the first aspect of the present application, the adjustable support comprises a base frame, one end of the lifting rod is fixedly arranged on the base frame, and the other end of the lifting rod is connected with the lifting platform; a guide rod is further arranged between the base frame and the lifting platform, one end of the guide rod is arranged on one of the base frame and the lifting platform, and the other end of the guide rod is arranged on the other one of the base frame and the lifting platform.

[0011] The steam generator eddy current inspection device according to the first aspect of the present application, the electric wheel is arranged on the base frame.

[0012] The steam generator eddy current inspection device according to the first aspect of the present application, the electric wheel is a Mecanum wheel.

[0013] The steam generator eddy current inspection device according to the first aspect of the present application, the electric wheel is arranged with four.

[0014] The steam generator eddy current inspection device according to the first aspect of the present application, the adjustable support, through the control host arranged outside the steam generator room, can remotely control the adjustable support, according to the position and attitude of the crawling robot on the tube plate, control the electric wheel and the lifting rod of the adjustable support to change the position of the probe pusher, so as to adjust the attitude of the guide pipe, avoid the guide pipe from winding or knotting, reduce the movement resistance of the crawling robot and the eddy current probe, and the whole process does not need the operator to enter the steam generator room, can reduce the radiation dose of the personnel, reduce the amount of radioactive waste, and improve the efficiency of the inspection.

[0015] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and obtained by the structure particularly pointed out in the specification, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present application, the present application will be further described below in combination with the drawings and examples. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0017] Figure 1 is a structural schematic diagram of a steam generator eddy current inspection device provided by the present application;

[0018] Figure 2 is Figure 1 a structural schematic diagram of the adjustable support in

[0019] Brief Description of the Drawings

[0020] Steam generator 100, tube sheet 110, crawling robot 200, probe guide 210, probe pusher 300, reel 310, catheter 400, adjustable support 500, base frame 510, lifting platform 520, lifting rod 521, guide rod 522, angle adjustment platform 530, hinge 531, angle adjustment push rod 532, electric wheel 540, control host 600. DETAILED DESCRIPTION

[0021] The application will be further described in details through specific embodiments and with reference to the drawings. In different embodiments, similar elements are marked with similar reference numbers. In the following embodiments, many details are described in order to make the application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different cases, or can be replaced by other elements, materials or methods. In some cases, some operations related to the application are not shown or described in the specification, in order to avoid the core of the application being overwhelmed by too many descriptions, and it is not necessary to describe these related operations in detail for those skilled in the art, who can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

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

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

[0024] At present, when implementing the eddy current inspection of the steam generator on site by using the existing eddy current inspection device of the steam generator, the crawling robot 200 is installed on the tube sheet 110 of the steam generator 100, and the crawling robot 200 crawls on the tube sheet 110 to position the eddy current probe to the heat transfer pipe to be detected. Since the manhole of the steam generator 100 is at a certain height from the floor of the room, the probe pusher 300 is usually placed on a shelf at present to ensure that the guide pipe 400 enters the manhole at a suitable angle and reduce the movement resistance of the eddy current probe in the guide pipe 400. The shelf used at present is a fixed support, which does not have the moving ability itself, that is, the position of the probe pusher 300 will not change. When the length of the guide pipe 400 connected between the crawling robot 200 and the probe pusher 300 is too short, the crawling robot 200 cannot crawl away from the manhole, and the full coverage of the tube sheet 110 cannot be achieved. If the length of the guide pipe 400 is enough for the crawling robot 200 to cover the full tube sheet 110, when the crawling robot 200 is located close to the manhole, the too long guide pipe 400 is easy to coil or even knot in the steam generator 100, which can significantly increase the movement resistance of the eddy current probe in the guide pipe 400 and affect the passability of the eddy current probe. Therefore, when the crawling robot 200 crawls on the tube sheet 110, the posture of the guide pipe 400 needs to be adjusted in time to ensure the smooth progress of the eddy current inspection of the steam generator. At present, the operator usually enters the steam generator room to manually adjust the posture of the guide pipe 400, for example, the length of the guide pipe 400 is adjusted to change the posture of the guide pipe 400. When the length of the guide pipe 400 is manually adjusted, according to the actual operation experience, two specifications of 1 meter and 0.5 meter of the guide pipe 400 are usually prepared. Moreover, the repeated entry of the operator into the steam generator room can increase the collective radiation dose, increase the amount of radioactive waste, and affect the inspection efficiency.

[0025] The embodiments provided in the present application are further described below in combination with the drawings. Figure 1 and the drawings. Figure 2 The embodiments provided in the present application are further described below in combination with the drawings.

[0026] As Figure 1As shown, in some embodiments, the present application provides a steam generator eddy current inspection device for eddy current inspection of heat transfer pipes of a steam generator 100 in a steam generator room. The steam generator eddy current inspection device comprises a crawling robot 200, a probe puller 300, a guide pipe 400, an adjustable support 500 and a control host 600. The crawling robot 200 is configured to crawl on a tube sheet 110 of the steam generator 100, and a probe guide 210 is arranged on the crawling robot 200. An eddy current probe is movably arranged in the probe guide 210. The crawling robot 200 crawls on the tube sheet 110 to position the probe guide 210 to a heat transfer pipe to be detected, so that the eddy current probe can extend into the heat transfer pipe from a tube hole of the heat transfer pipe to detect the heat transfer pipe. The probe puller 300 is arranged on the adjustable support 500, and the probe puller 300 comprises a driving module. One end of the eddy current probe is arranged on the driving module. The driving module clamps and drives the eddy current probe to advance or retreat in the heat transfer pipe. The guide pipe 400 is a flexible guide pipe 400. One end of the guide pipe 400 is connected to the probe guide 210, and the other end of the guide pipe 400 is connected to the probe puller 300. One end of the eddy current probe is wound on a reel 310, and the other end of the eddy current probe is movably arranged in the probe guide 210 through the guide pipe 400. The guide pipe 400 has a guiding and protecting effect on the eddy current probe. The adjustable support 500 is placed in the steam generator room. The adjustable support 500 comprises a plurality of electric wheels 540 arranged at the bottom of the adjustable support 500. The adjustable support 500 can move in the steam generator room through the action of the electric wheels 540 to change the position of the probe puller 300. The adjustable support 500 comprises a lifting platform 520 and a lifting rod 521 for driving the lifting platform 520 to perform lifting action. The probe puller 300 is fixedly arranged on the lifting platform 520. The height of the probe puller 300 can be changed through the action of the lifting rod 521. The control host 600 is arranged outside the steam generator room. The control host 600 is connected to the crawling robot 200, the eddy current probe, the probe puller 300 and the electric control part of the adjustable support 500, respectively. The action of each device can be controlled through the software in the control host 600. Figure 2 As shown, the adjustable support 500 comprises a plurality of electric wheels 540 arranged at the bottom of the adjustable support 500. The adjustable support 500 can move in the steam generator room through the action of the electric wheels 540 to change the position of the probe puller 300. The adjustable support 500 comprises a lifting platform 520 and a lifting rod 521 for driving the lifting platform 520 to perform lifting action. The probe puller 300 is fixedly arranged on the lifting platform 520. The height of the probe puller 300 can be changed through the action of the lifting rod 521.

[0027] In some embodiments, as shown in Figure 1 and Figure 2As shown, the angle adjustment platform 530 is arranged on the lifting platform 520, and the probe pusher 300 is fixedly arranged on the angle adjustment platform 530. One end of the angle adjustment platform 530 is hingedly connected to the lifting platform 520 through a hinge 531, and the other end of the angle adjustment platform 530 is connected to the lifting platform 520 through an angle adjustment push rod 532. The angle between the angle adjustment platform 530 and the horizontal plane is between 0 degrees and 90 degrees, and the angle adjustment push rod 532 is configured to increase the angle between the angle adjustment platform 530 and the horizontal plane when it is elongated. By controlling the angle adjustment push rod 532, the angle between the angle adjustment platform 530 and the horizontal plane can be adjusted, that is, the pitch angle of the probe pusher 300 is adjusted, so that the posture of the guide pipe 400 is adjusted, and the guide pipe 400 can pass through the manhole of the steam generator 100 at the best angle, while reducing the movement resistance of the guide pipe 400 to the vortex probe.

[0028] In some embodiments, as shown in Figure 1 and Figure 2 As shown, the angle adjustment platform 530 is arranged on the lifting platform 520, and the probe pusher 300 is fixedly arranged on the angle adjustment platform 530. One end of the angle adjustment platform 530 is hingedly connected to the lifting platform 520 through a hinge 531, and the other end of the angle adjustment platform 530 is connected to the lifting platform 520 through an angle adjustment push rod 532. The angle between the angle adjustment platform 530 and the horizontal plane is between 0 degrees and 90 degrees, and the angle adjustment push rod 532 is configured to increase the angle between the angle adjustment platform 530 and the horizontal plane when it is elongated. By controlling the angle adjustment push rod 532, the angle between the angle adjustment platform 530 and the horizontal plane can be adjusted, that is, the pitch angle of the probe pusher 300 is adjusted, so that the posture of the guide pipe 400 is adjusted, and the guide pipe 400 can pass through the manhole of the steam generator 100 at the best angle, while reducing the movement resistance of the guide pipe 400 to the vortex probe.

[0029] In some embodiments, the lifting rod 521 is an electric servo push rod, which can accurately adjust the elongation of the lifting rod 521, thereby accurately controlling the height of the probe pusher 300.

[0030] In some embodiments, the angle adjustment push rod 532 is an electric servo push rod, which can accurately adjust the elongation of the angle adjustment push rod 532, thereby accurately controlling the pitch angle of the angle adjustment platform 530 and the probe pusher 300.

[0031] In some embodiments, the adjustable support 500 includes a base frame 510, one end of the lifting rod 521 is fixedly arranged on the base frame 510, and the other end of the lifting rod 521 is connected to the lifting platform 520. A guide rod 522 is further arranged between the base frame 510 and the lifting platform 520. One end of the guide rod 522 is arranged on one of the base frame 510 and the lifting platform 520, and the other end of the guide rod 522 is arranged on the other of the base frame 510 and the lifting platform 520. By arranging the guide rod 522, the lifting rod 521 driven lifting platform 520 can be guided when performing lifting movement, so that the lifting of the lifting platform 520 is more stable and reliable.

[0032] In some embodiments, the electric wheels 540 are arranged on the chassis 510, four electric wheels 540 are arranged, and the electric wheels 540 are Mecanum wheels. The Mecanum wheel is built-in with a servo drive motor, and can drive the adjustable support 500 to advance, retreat or even turn in place according to the control instructions issued by the upper computer through the combination of forward and reverse rotation. It should be noted that the control algorithm of the Mecanum wheel is very mature, and the present application does not make further description and elaboration. The present application adopts four Mecanum wheels to cooperate, so that the adjustable support 500 can be flexibly moved in a small space such as a steam generator room, which is very suitable for the application scene of steam generator eddy current inspection.

[0033] In some embodiments, the probe pusher 300 further comprises a reel 310 arranged behind the driving module, one end of the eddy current probe is wound on the reel 310, and the reel 310 cooperates with the driving module to effectively store the eddy current probe.

[0034] The process of steam generator eddy current inspection using the steam generator eddy current inspection device of the present application is as follows:

[0035] S1, install the crawling robot 200 to the tube sheet 110 of the steam generator 100, and then install the probe guide 210 to the crawling robot 200;

[0036] S2, connect a certain length of the conduit 400 to the probe guide 210, the length of the conduit 400 can meet the smooth movement of the crawling robot 200 to the farthest end of the tube sheet 110;

[0037] S3, move the crawling robot 200 to the farthest end of the tube sheet 110, adjust the lifting platform 520 of the adjustable support 500 to the highest position, and move the adjustable support 500 to the nearest position of the manhole of the steam generator 100, the conduit 400 is connected to the probe pusher 300 fixed on the adjustable support 500 from the manhole, at this time, most of the conduit 400 is in the steam generator 100;

[0038] S4, the crawling robot 200 moves on the tube plate 110 from far to near, and sequentially performs the detection work of the heat transfer pipes; wherein, when it is needed to reduce the length of the guide pipe 400 in the steam generator 100, that is, the crawling robot 200 moves on the tube plate 110 towards the manhole direction, the adjustable support 500 is moved away from the manhole by controlling the electric wheel 540, and the height of the lifting platform 520 is appropriately lowered by controlling the lifting rod 521, so that the probe pusher 300 is away from the crawling robot 200, thereby reducing the length of the guide pipe 400 in the steam generator 100, avoiding the coiling or knotting of the guide pipe 400; the pitch angle of the probe pusher 300 is adjusted by controlling the angle adjusting push rod 532, so that the guide pipe 400 does not appear obvious bending, and the eddy current probe does not have obvious resistance increase in the running process; when it is needed to increase the length of the guide pipe 400 in the steam generator 100, that is, the crawling robot 200 moves on the tube plate 110 away from the manhole direction, the adjustable support 500 is moved towards the manhole by controlling the electric wheel 540, and the height of the lifting platform 520 is appropriately raised by controlling the lifting rod 521, so that the probe pusher 300 is close to the crawling robot 200, thereby increasing the length of the guide pipe 400 in the steam generator 100, to increase the activity range of the crawling robot 200; the pitch angle of the probe pusher 300 is adjusted by controlling the angle adjusting push rod 532, so that the guide pipe 400 does not appear obvious bending, and the eddy current probe does not have obvious resistance increase in the running process;

[0039] S5, the detection data is fed back to the control host 600 through the eddy current probe, and when all the heat transfer pipes are detected, the steam generator eddy current inspection is completed.

[0040] In the above step S4, after the crawling robot 200 places the eddy current probe at the pipe hole of the heat transfer pipe to be detected, the probe pusher 300 works to send the eddy current probe into the heat transfer pipe to be detected along the guide pipe 400, thereby completing the inspection work of the heat transfer pipe. After the inspection of the heat transfer pipe is completed, the eddy current probe is pulled back by the probe pusher 300, so that the eddy current probe returns to the probe guide 210, facilitating the movement of the crawling robot 200.

[0041] The steam generator vortex inspection device of the application is provided with an adjustable support 500, the adjustable support 500 can be remotely controlled by a control host 600 arranged outside the steam generator room, according to the position and posture of the crawling robot 200 on the tube plate 110, the electric wheels 540 and the lifting rod 521 of the adjustable support 500 are controlled to act to change the position of the probe pusher 300, so as to adjust the posture of the guide pipe 400, make the length of the guide pipe 400 in the steam generator 100 be the most appropriate length, avoid the guide pipe 400 from winding or knotting, reduce the movement resistance of the crawling robot 200 and the vortex probe, and the whole process does not need the operator to enter the steam generator room, can reduce the radiation dose of the personnel, reduce the amount of radioactive waste, and improve the inspection efficiency.

[0042] It can be understood that the above embodiments only express the preferred embodiments of the application, the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the application, and several modifications and improvements can be made, which belong to the protection scope of the application; therefore, any equivalent transformation and modification within the scope of the claims of the application shall belong to the scope of the claims of the application.

Claims

1. A steam generator eddy current inspection device, used in a steam generator room to perform eddy current inspection on the heat transfer tubes of a steam generator, characterized in that: include: a crawling robot, wherein the crawling robot is provided with a probe guide, in which an eddy current probe is movably mounted, and the crawling robot is configured to crawl on the tube sheet of the steam generator to position the probe guide to the heat transfer tube to be inspected; A probe pusher, the probe pusher including a driving module, one end of the eddy current probe is disposed on the driving module, the driving module clamps the eddy current probe and drives the eddy current probe forward or backward in the heat transfer tube; A conduit, wherein the conduit is a flexible conduit, one end of the conduit is connected to the probe guide, and the other end of the conduit is connected to the probe pusher, and the eddy current probe passes through the conduit and enters and exits the heat transfer tube through the probe guide; An adjustable bracket, comprising a lifting platform and a lifting rod for driving the lifting platform to perform lifting movements, a plurality of electric wheels being provided at the bottom of the adjustable bracket, and the probe pusher being fixedly provided on the lifting platform; A control host, the control host being electrically connected to the crawling robot, the eddy current probe, the probe pusher, and the electric control part of the adjustable bracket respectively; The control host is arranged outside the steam generator room, and the control host can control the movement of the electric wheel and the lifting rod of the adjustable bracket to change the position of the probe pusher, thereby adjusting the posture of the catheter.

2. The steam generator eddy current inspection device according to claim 1, characterized in that: The lifting platform is provided with an angle adjustment platform, and the probe pusher is fixedly provided on the angle adjustment platform; One end of the angle adjustment platform is hinged to the lifting platform, and the other end of the angle adjustment platform is connected to the lifting platform via an angle adjustment push rod; The angle between the angle adjustment platform and the horizontal plane is between 0 degrees and 90 degrees, and the angle adjustment push rod is configured to increase the angle between the angle adjustment platform and the horizontal plane when extended.

3. The eddy current inspection device for a steam generator according to claim 2, wherein: The angle adjustment push rod is provided at one end of the angle adjustment platform close to the crawling robot, and the other end of the angle adjustment platform away from the crawling robot is hinged on the lifting platform.

4. The steam generator eddy current inspection device according to claim 1, characterized in that: The lifting rod is an electric servo push rod.

5. The steam generator eddy current inspection device according to claim 2, characterized in that: The angle adjustment push rod is an electric servo push rod.

6. The steam generator eddy current inspection device according to claim 1 or 4, characterized in that: The adjustable bracket includes a base frame, one end of the lifting rod is fixedly arranged on the base frame, and the other end of the lifting rod is connected to the lifting platform; A guide rod is further provided between the base frame and the lifting platform, one end of the guide rod is provided on one of the base frame and the lifting platform, and the other end of the guide rod is provided on the other of the base frame and the lifting platform.

7. The steam generator eddy current inspection device according to claim 6, characterized in that: The electric wheel is arranged on the base frame.

8. The steam generator eddy current inspection device according to claim 7, characterized in that: The electric wheel is a Mecanum wheel.

9. The steam generator eddy current inspection device according to claim 8, characterized in that: There are four electric wheels.

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