Reactor pressure vessel inspection apparatus and reactor pressure vessel inspection method

Abstract

A reactor pressure vessel inspection apparatus and a reactor pressure vessel inspection method. The reactor pressure vessel inspection apparatus comprises a support frame body (10), a lifting mechanism (20) mounted on the support frame body (10), a rotating mechanism (30) mounted on the lower part of the lifting mechanism (20) facing a cylinder, and a nozzle scanning arm (40) and two multi-degree-of-freedom robotic arm probe holders (50), which are mounted below the rotating mechanism (30), wherein the lifting mechanism (20) can move relative to the support frame body (10) to drive the rotating mechanism (30) and the nozzle scanning arm (40) and the multi-degree-of-freedom robotic arm probe holders (50), which are arranged on the rotating mechanism (30), to move up and down along the central axis of the cylinder; and the rotating mechanism (30) drives the rotation of the nozzle scanning arm (40) and the multi-degree-of-freedom robotic arm probe holders (50), which are arranged on the rotating mechanism (30). The multi-degree-of-freedom robotic arm probe holders (50) and the nozzle scanning arm (40) can perform synchronous and parallel scanning, thereby reducing scanning time and improving work efficiency.

Description

Reactor pressure vessel inspection apparatus and reactor pressure vessel inspection method TECHNICAL FIELD

[0001] The present application relates to the technical field of in-service inspection of nuclear power equipment, and particularly relates to a reactor pressure vessel inspection apparatus and a reactor pressure vessel inspection method. BACKGROUND

[0002] The most important component of a nuclear power plant is the reactor pressure vessel located in the center of the reactor building, which is used to fix, support and contain the reactor core and all in-core components. The nuclear fuel in the internal reactor body undergoes a chain fission reaction under the action of neutron irradiation. The reactor pressure vessel is also the only large component that cannot be replaced in the entire service life of the nuclear power plant. During normal operation, it not only withstands high temperature and high pressure, but also withstands strong radioactivity. In order to ensure the safety of the nuclear reactor pressure vessel, it is necessary to periodically conduct non-destructive testing to find out possible damage to the structure, so as to judge its safety state and confirm whether remedial measures need to be taken.

[0003] The nuclear power plant in-service inspection specification and inspection outline proposes mandatory requirements for non-destructive testing of the welds, bolt holes, cladding layer, and base metal of the high-flux area of the reactor pressure vessel. Pre-service inspection and in-service inspection of the reactor pressure vessel are specified to be carried out before being put into use and within a certain interval of operation, respectively. The results of pre-service inspection and in-service inspection are important basis for analyzing and evaluating the operating state and life extension of the pressure vessel. Even after the unit is shut down, the reactor pressure vessel still has high radioactivity due to the presence of activated products, and manual detection cannot be carried out in a full range and for a long time at close range. Therefore, safe and reliable automated inspection equipment is an essential key element for the inspection of the reactor pressure vessel. Moreover, the detection of the reactor pressure vessel has always been on the critical path of nuclear power overhaul, and the inspection efficiency is crucial, which is directly related to the nuclear power overhaul period and the power generation efficiency of the unit.

[0004] The existing reactor pressure vessel inspection device has multiple types. A first type is a large inspection device designed with multiple probe racks mounted on a fixed position on the reactor pressure vessel. Due to the dispersion of the inspected position, a single ultrasonic probe rack is used to sequentially scan the butt weld of the cylinder, the butt weld of the bottom head, the cylinder overlay, the weld between the nozzle and the cylinder, the safety end weld, and the inner corner area of the nozzle. A second type is a general mechanical arm with multiple degrees of freedom. The load capacity is limited, and the installation position of the mechanical arm needs to be changed multiple times and the probe rack needs to be replaced to complete the detection of multiple positions of the reactor pressure vessel. The multiple replacement times and low inspection efficiency significantly increase the complexity of on-site installation, transportation, and use. The existing inspection devices described above greatly limit the efficiency improvement of the reactor pressure vessel inspection work and increase the workload of the on-site operators and the risk of human error. SUMMARY

[0005] The technical problem to be solved by the present application is to provide an improved reactor pressure vessel inspection device and method.

[0006] The technical solution adopted by the present application to solve the technical problem is to provide a reactor pressure vessel inspection device, comprising a support frame body for mounting on the flange surface of the cylinder of the pressure vessel, a lifting mechanism mounted on the support frame body and coaxial with the cylinder, a rotating mechanism mounted on the lower part of the lifting mechanism towards the cylinder, a nozzle scanning arm mounted below the rotating mechanism, and two multi-degree-of-freedom mechanical arm probe racks.

[0007] The lifting mechanism is movable relative to the support frame body, driving the rotating mechanism and the nozzle scanning arm and multi-degree-of-freedom mechanical arm probe racks thereon to move up and down along the central axis of the cylinder. The rotating mechanism is used to drive the nozzle scanning arm and multi-degree-of-freedom mechanical arm probe racks to rotate around the central axis of the cylinder. The nozzle scanning arm and the two multi-degree-of-freedom mechanical arm probe racks are used to synchronously and in parallel scan the cylinder.

[0008] In some embodiments, the support frame body includes four support legs respectively for standing on the flange surface of the cylinder, and a connecting bracket connected between the four support legs and capable of spanning above the flange surface of the cylinder.

[0009] The four support legs are distributed at intervals along the circumference of the flange surface, and two of the support legs located at diagonal positions are respectively used to cooperate with guide columns on the flange surface.

[0010] In some embodiments, the lifting mechanism comprises a lifting column vertically penetrating the connecting support;

[0011] The opposite ends of the lifting column are respectively located on the upper and lower sides of the connecting support, and the rotating mechanism is installed on the lower end of the lifting column located on the lower side of the connecting support; the lower end of the lifting column is telescopic to drive the rotating mechanism to move up and down.

[0012] In some embodiments, the rotating mechanism comprises a support plate, a hollow cable running seat, a torque motor with an absolute encoder, a connecting cylinder, and a rotating disc;

[0013] The cable running seat and the connecting cylinder are connected on the opposite sides of the support plate, and the support plate is provided with a through hole communicating the cable running seat and the connecting cylinder; the end of the cable running seat away from the support plate is fixedly connected with the lifting column; the rotating disc is sleeved on the outer periphery of the connecting cylinder and is rotatable relative to the connecting cylinder; the torque motor is arranged on the support plate and connected and drives the rotating disc to rotate;

[0014] The rotating disc is provided with a plurality of installation holes spaced apart and distributed thereon, which are respectively used for the installation of the pipe scanning arm and the multi-degree-of-freedom mechanical arm probe rack below the rotating disc.

[0015] In some embodiments, at least one side surface of the cable running seat is provided with a cable running hole communicating the internal space thereof;

[0016] The support plate is provided with a connection unit integrated with a plurality of connectors, and the connection cables of the pipe scanning arm and the multi-degree-of-freedom mechanical arm probe rack are respectively connected to the connectors of the connection unit through the cable running seat.

[0017] In some embodiments, the reactor pressure vessel inspection device further comprises a cable winding and unwinding winch arranged on the lifting mechanism, and the hanging end of the cable winding and unwinding winch is provided with a cable rack for suspending a cable, and the connection cable externally connected is suspended on the cable rack, one end is connected to the connector of the connection unit, and the other end is used for externally connecting a control system.

[0018] In some embodiments, the multi-degree-of-freedom mechanical arm probe rack comprises a six-degree-of-freedom mechanical arm and a probe rack;

[0019] The six-degree-of-freedom mechanical arm is parallel to the central axis of the cylinder at its first joint and is installed below the rotating mechanism through a first quick mounting structure, and the probe rack is detachably arranged on the sixth joint of the six-degree-of-freedom mechanical arm away from the rotating mechanism through a second quick mounting structure.

[0020] In some embodiments, the first quick-mounting structure comprises a positioning post arranged on a first joint of the six-degree-of-freedom robot arm, a positioning hole matched with the positioning post and arranged on the rotating mechanism, a positioning pin protruding from at least one side of the first joint and located on the positioning post, a pin hole arranged on the rotating mechanism and located on at least one side of the positioning hole, and a locking member; the positioning post penetrates into the positioning hole from one side of the positioning hole, while the positioning pin is matched with the pin hole, and the locking member penetrates into and fastens on the positioning post from the other side of the positioning hole.

[0021] In some embodiments, the second quick-mounting structure comprises a first connecting seat arranged on a sixth joint of the six-degree-of-freedom robot arm, a second connecting seat arranged on the probe holder, and a docking assembly.

[0022] The first connecting seat is provided with an axial docking hole and a threaded hole; one side of the second connecting seat is provided with a docking post matched with the docking hole, and the second connecting seat is further provided with a central channel penetrating the docking post; the docking assembly is arranged in the central channel and can axially move and rotate relative to the central channel; the docking assembly comprises an axial rotating operation part and a screw rod.

[0023] When the first connecting seat and the second connecting seat are docked, the docking post is matched with the docking hole, the docking assembly is arranged with the screw rod facing the threaded hole, the screw rod is matched with the threaded hole by rotating the rotating operation part, and the first connecting seat and the second connecting seat are fixedly docked.

[0024] In some embodiments, the probe holder comprises a protective cover, a probe support, and a plurality of probe assemblies; each probe assembly comprises an ultrasonic probe having at least two degrees of freedom.

[0025] One end of the protective cover is open, the probe support is matched with the open end of the protective cover to close the open end; and the probe support is provided with a plurality of passage holes penetrating the probe support relative to both ends and connected with the internal space of the protective cover; one passage hole is used for inserting one probe assembly, and the probe assembly can move back and forth along the passage hole relative to the protective cover and the probe support in the direction of entering and exiting the protective cover.

[0026] In some embodiments, the probe assembly further comprises a probe sliding rod and a probe frame; the first end of the probe sliding rod is inserted into the passage hole and moves back and forth along the passage hole; the probe frame is rotatably arranged on the second end of the probe sliding rod, and the ultrasonic probe is arranged on the probe frame and rotatable relative to the probe frame.

[0027] In some embodiments, the probe assembly further comprises a constant force spring; the constant force spring is arranged at the first end of the probe slide rod and connected to the probe support, so that the probe slide rod has a constant tendency force moving to the outside of the protective cover.

[0028] The application also provides a reactor pressure vessel inspection method using the reactor pressure vessel inspection device, and the reactor pressure vessel inspection method comprises the following steps:

[0029] S1, installing the reactor pressure vessel inspection device on the flange surface of the cylinder of the pressure vessel;

[0030] S2, starting the lifting mechanism of the reactor pressure vessel inspection device to lower the nozzle scanning arm and the two multi-degree-of-freedom mechanical arm probe racks to the scanning position in the cylinder;

[0031] S3, synchronously and in parallel scanning the nozzle scanning arm and the two multi-degree-of-freedom mechanical arm probe racks;

[0032] The scanning position of the nozzle scanning arm comprises at least one of the inlet nozzle safety end weld, the outlet nozzle safety end weld, the inlet nozzle inner corner extension section, the outlet nozzle inner corner extension section, the inlet nozzle cylinder side of the inlet nozzle and cylinder connecting weld, the outlet nozzle cylinder side of the outlet nozzle and cylinder connecting weld, the inlet nozzle surfacing layer, the outlet nozzle surfacing layer, the inlet nozzle inner corner and the outlet nozzle inner corner.

[0033] The scanning position of the multi-degree-of-freedom mechanical arm probe rack comprises at least one of the inlet nozzle and cylinder connecting weld cylinder side, the outlet nozzle and cylinder connecting weld cylinder side, the outlet nozzle inner corner, the cylinder girth weld, the bottom head girth weld and the high flux area of the reactor core.

[0034] The application has the following beneficial effects: two multi-degree-of-freedom mechanical arm probe racks are arranged to cooperate with the nozzle scanning arm to scan the reactor pressure vessel, the multi-degree-of-freedom mechanical arm probe rack and the nozzle scanning arm can be synchronously and in parallel scanned, the scanning time is reduced, the work efficiency is improved, and the key path time of the nuclear power plant overhaul is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

[0035] The application will be further described below in combination with the drawings and embodiments, and the drawings show:

[0036] Fig. 1 is a structural schematic view of the reactor pressure vessel inspection device according to an embodiment of the application;

[0037] Fig. 2 is a structural schematic view of the lifting mechanism and rotating mechanism in the reactor pressure vessel inspection device according to an embodiment of the application;

[0038] Figure 3 is a schematic diagram of the structure of a rotating mechanism in a reactor pressure vessel inspection device according to an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of the cross-sectional structure of the rotating mechanism shown in Figure 3;

[0040] Figure 5 is a schematic diagram of the structure of a reactor pressure vessel inspection device according to an embodiment of the present application after removal of a support frame and a lifting mechanism;

[0041] Figure 6 is a schematic diagram of the structure of a nozzle scanning arm in Figure 5;

[0042] Figure 7 is a schematic diagram of the structure of a multi-degree-of-freedom robotic arm probe holder in Figure 5;

[0043] Figure 8 is a schematic diagram of the structure of a multi-degree-of-freedom robotic arm probe holder and a rotating disc (partially cross-sectioned);

[0044] Figure 9 is a schematic diagram of the structure of an embodiment of a probe holder in a multi-degree-of-freedom robotic arm probe holder according to the present application;

[0045] Figure 10 is a schematic diagram of the structure of the probe holder shown in Figure 9 after removal of a protective cover;

[0046] Figure 11 is a schematic diagram of the structure of a probe assembly in Figure 10;

[0047] Figure 12 is a schematic diagram of the structure of a reactor pressure vessel inspection device according to an embodiment of the present application inside a cylindrical body (with a support frame and a lifting mechanism omitted); DETAILED DESCRIPTION

[0048] In order to have a clearer understanding of the technical features, objectives and effects of the present application, a specific embodiment of the present application will now be described in detail with reference to the accompanying drawings.

[0049] The reactor pressure vessel inspection device according to the present application is used for non-destructive testing of locations such as welds, bolt holes, cladding layers and substrate metals in high neutron flux regions of a reactor pressure vessel.

[0050] As shown in Figure 1, the reactor pressure vessel inspection device according to an embodiment of the present application can include a support frame 10, a lifting mechanism 20 mounted on the support frame 10, a rotating mechanism 30 mounted on the lifting mechanism 20, a nozzle scanning arm 40 mounted on the rotating mechanism 30 and two multi-degree-of-freedom robotic arm probe holders 50.

[0051] The support frame body 10 is used to be installed on the flange surface of the cylinder of the pressure vessel (RPV), so as to realize stable positioning of the whole device on the cylinder. The lifting mechanism 20 is suspended on the cylinder by being installed on the support frame body 10 and is coaxial with the cylinder and can move up and down on the central axis of the cylinder relative to the support frame body 10 and the cylinder. The rotating mechanism 30 is installed on the lower part of the lifting mechanism 20 towards the cylinder and can move up and down with the lifting mechanism 20 and can also rotate relative to the lifting mechanism 20. The nozzle scanning arm 40 and the two multi-degree-of-freedom mechanical arm probe racks 50 are used to synchronously and parallelly scan the cylinder, and the nozzle scanning arm 40 and the two multi-degree-of-freedom mechanical arm probe racks 50 are respectively installed below the rotating mechanism 30 and move up and down and rotate with the rotating mechanism 30, so as to meet sufficient scanning of the position to be scanned.

[0052] Specifically, the support frame body 10 can include a connecting bracket 11 and four support legs 12 in structure, and the four support legs 12 are respectively used to stand on the flange surface of the cylinder, and the connecting bracket 11 is connected between the four support legs 12 and can span above the flange surface of the cylinder. The lower part of each support leg 12 is provided with a support sleeve 13 which can be sleeved with a guide column on the flange surface.

[0053] When the support frame body 10 is placed on the flange surface of the cylinder, the four support legs 12 are spaced apart along the circumference of the flange surface, so that two support legs 12 located at diagonal positions are respectively matched with the guide columns on the flange surface through the support sleeves 13, and the other two support legs 12 can be respectively matched with the flange holes on the flange surface through the support sleeves 13, and further can be locked through bolts.

[0054] In a preferred embodiment, the connecting bracket 11 of the support frame body 10 is in the shape of an I-beam, and four free ends located at four circumferences are respectively used to connect the support legs 12.

[0055] The lifting mechanism 20 is vertically connected to the connecting bracket 11 and penetrates the connecting bracket 11, and the central axis of the lifting mechanism 20 is coaxial with the central axis of the cylinder. The connecting bracket 11 can be provided with a bracket hole matched with the lifting mechanism 20.

[0056] Further, as shown in FIG. 1 and FIG. 2, the lifting mechanism 20 can include a lifting column 21 which is vertically connected to the connecting bracket 11 and penetrates the connecting bracket 11. One end (upper end) of the lifting column 21 is located on the upper side of the connecting bracket 11, and the other end (lower end) is located on the lower side of the connecting bracket 11 and faces the inside of the cylinder.

[0057] The lower end of the lifting column 21 can be provided with a plurality of sleeves which are sequentially sleeved. By relatively extending or retracting the sleeves, the lower end of the lifting column 21 can realize up and down movement through extension and retraction. The rotating mechanism 30 is installed on the lower end of the lifting column 21 and can move up and down relative to the support frame body 10 and the cylinder through the extension and retraction of the lower end of the lifting column 21.

[0058] The lifting mechanism 20 further comprises a winch mechanism 22 connected thereto, which is used to pull up or drop down the sleeve at the lower end of the lifting column 21, so that the lower end of the lifting column 21 performs the telescopic action.

[0059] The rotating mechanism 30 is installed at the lower end of the lifting column 21 at the lower side of the connecting support 11. In some embodiments, the rotating mechanism 30 comprises a rotating disc 31 which can be rotated by a motor or the like. The rotating disc 31 is provided with a plurality of mounting holes spaced apart thereon, which are respectively used for mounting the pipe scanning arm 40 and the multi-DOF mechanical arm probe holder 50 below the rotating disc 31. For example, the mounting holes are uniformly spaced apart along the circumference of the rotating disc 31, and the pipe scanning arm 40 can be connected to the lower side of the rotating disc 31 in a transverse direction by cooperating with two mounting holes which are 180° apart. The two multi-DOF mechanical arm probe holders 50 can be connected to the lower side of the rotating disc 31 by cooperating with the mounting holes on the opposite sides of the pipe scanning arm 40, respectively.

[0060] Further, as shown in FIGS. 2 to 4, the rotating mechanism 30 further comprises a support plate 32, a hollow cable running seat 33, a torque motor 34 with an absolute encoder, and a connecting cylinder 35. The cable running seat 33 and the connecting cylinder 35 are connected to opposite sides of the support plate 32, and the support plate 32 is provided with a through hole 320 for connecting the cable running seat 33 and the connecting cylinder 35; one end of the cable running seat 33 away from the support plate 32 is fixedly connected to the lifting column 21, so that the cable running seat 33, the support plate 32 and the connecting cylinder 35 are fixedly connected to the lower end of the lifting column 21.

[0061] The upper end of the cable running seat 33 can be connected or integrally formed with a cylinder 331 for fixed connection with the lifting column 21. The cable running seat 33 is a hollow shell structure, and the internal space thereof can be used for cable passing and accommodation. At least one side of the cable running seat 33 is provided with a cable running hole 330 for connecting the internal space thereof, for the cable to enter and exit the cable running seat 33. The rotating disc 31 is sleeved on the outer periphery of the connecting cylinder 35 and is rotatable relative to the connecting cylinder 35; the torque motor 34 is arranged on the support plate 32 and drives the rotating disc 31 to rotate.

[0062] At least one bearing 36 is sleeved between the rotating disc 31 and the connecting cylinder 35 to reduce the friction coefficient therebetween.

[0063] The torque motor 34 can be connected and drive the rotating disc 31 to rotate through gears or the like. The torque motor 34 is provided with an absolute encoder for picking up and feeding back the rotating angle information and rotating speed information of the torque motor 34. The remote control system receives the above information, processes the rotating angle and rotating speed of the rotating disc 31, and monitors the rotating angle and speed during scanning of the pipe scanning arm 40 and the multi-degree-of-freedom mechanical arm probe rack 50.

[0064] Further, the support plate 32 is provided with a connection unit 37 integrated with a plurality of connectors. The connection cables of the pipe scanning arm 40 and the multi-degree-of-freedom mechanical arm probe rack 50 are connected to the connectors of the connection unit 37 through the cable running seat 33. The connection unit 37 is externally connected to the control system through the connection cables, realizing the connection of the pipe scanning arm 40 and the multi-degree-of-freedom mechanical arm probe rack 50 to the control system for monitoring, power supply, etc.

[0065] The setting of the cable running seat 33 in the rotating mechanism 30 makes the connection cables of the pipe scanning arm 40 and the multi-degree-of-freedom mechanical arm probe rack 50 not entangled and pulled with the rotation of the rotating disc 31. The rotating disc 31 is an open disc structure without a closed space. After the rotating mechanism 30 operates in the pressure vessel, the coolant in the pressure vessel will not accumulate in the rotating disc 31, the cable running seat 33, etc., and the accumulation of radioactive substances in them is also avoided or reduced.

[0066] Corresponding to the external connection of the connection cables of the connection unit 37, the reactor pressure vessel inspection equipment further comprises a cable winding and unwinding winch 60 arranged on the lifting mechanism 20. Referring to FIG. 1, the cable winding and unwinding winch 60 can be fixed on the lifting column 21 or the winch mechanism 22. The hanging end of the cable winding and unwinding winch 60 is provided with a cable rack 61 for hanging cables. The externally connected connection cables are hung on the cable rack 61, one end is connected to the connector of the connection unit 37, and the other end is used for external connection of the control system. The setting of the cable winding and unwinding winch 60 and its cable rack 61 makes the cable arrangement more convenient, and with the extension and retraction of the lower end of the lifting column 21, the cable winding and unwinding winch 60 can synchronously wind and unwind the cable, and the problems such as entanglement and pulling will not occur.

[0067] In combination with FIG. 3, FIG. 5 and FIG. 6, the pipe scanning arm 40 is installed below the rotating disc 31 in the diameter direction of the rotating disc 31, and the two multi-degree-of-freedom mechanical arm probe racks 50 are respectively installed below the rotating disc 31 on both sides of the pipe scanning arm 40.

[0068] The nozzle scanning arm 40 further comprises a scanning mechanical arm 41 installed below the rotating disc 31, a rotating part 42 rotatably installed at one end of the scanning mechanical arm 41, and a plurality of scanning assemblies 43 arranged on the rotating part 42. The scanning mechanical arm 41 can move back and forth in the radial direction of the cylinder of the pressure vessel relative to the rotating disc 31, thereby driving the rotating part 42 and the scanning assemblies 43 at the end of the scanning mechanical arm 41 to move back and forth in the radial direction.

[0069] For the back-and-forth movement of the scanning mechanical arm 41, a telescopic movement form can be adopted. The scanning mechanical arm 41 can be fixed below the rotating disc 31 through cooperation of at least one suspension bracket 44 and a mounting hole. The rotating part 42 at the end of the scanning mechanical arm 41 can be driven to rotate by a motor or the like. Preferably, the plurality of scanning assemblies 43 can be distributed along the circumference of the rotating part 42 on the outer peripheral surface of the rotating part 42. The scanning assemblies 43 can include a camera, a ranging probe, and the like.

[0070] As shown in FIG. 5, the multi-degree-of-freedom mechanical arm probe rack 50 further comprises a six-degree-of-freedom mechanical arm 51 (also referred to as a six-axis mechanical arm) and a probe rack 52.

[0071] The six-degree-of-freedom mechanical arm 51 is installed below the rotating mechanism 30 (the rotating disc 31) through a first quick-mounting structure with its first joint 511 parallel to the central axis of the cylinder of the pressure vessel, and the probe rack 52 is detachably arranged on the sixth joint 516 of the six-degree-of-freedom mechanical arm 51 away from the rotating mechanism 30 through a second quick-mounting structure.

[0072] The first quick-mounting structure facilitates quick disassembly and assembly of the six-degree-of-freedom mechanical arm 51 in the RPV pool, and the second quick-mounting structure facilitates quick disassembly and assembly of the probe rack 52 on the six-degree-of-freedom mechanical arm 51 in the RPV pool. The above quick disassembly and assembly can be completed at one time, and the equipment does not need to be taken out of water, thereby achieving all RPV inspection items. In combination with the fact that 70% of the inspection workload is the nozzle part inspection work, the nozzle scanning arm 40 and the multi-degree-of-freedom mechanical arm probe rack 50 can complete the nozzle part inspection work, and the two can be synchronously and parallelly inspected, thereby greatly reducing the inspection time and improving the work efficiency.

[0073] Referring to FIGS. 7 and 8, in some embodiments, the first quick-mounting structure comprises a positioning column 101, a positioning hole 102 matched with the positioning column 101, a positioning pin 103, a pin hole 104 matched with the positioning pin 103, and a locking member 105, etc.

[0074] The positioning column 101 is arranged on the first joint 511 of the six-degree-of-freedom robot arm 51, and the positioning hole 102 is arranged on the rotating disc 31 of the rotating mechanism 30. When the six-degree-of-freedom robot arm 51 is docked with the rotating disc 31, the positioning column 101 is inserted into the positioning hole 102. The positioning column 101 is further provided with a threaded hole 106 for cooperating with the locking piece 105. The positioning hole 102 is realized by a mounting hole on the rotating disc 31.

[0075] The positioning pin 103 protrudes on the first joint 511 and is located at least one side of the positioning column 101. The positioning pin 103 is smaller in height (i.e. diameter) than the positioning column 101, and is mainly used for alignment before the positioning column 101 and the positioning hole 102 are docked. The pin hole 104 is arranged on the rotating disc 31 and is located at least one side of the positioning hole 102, and is used for inserting the positioning pin 103.

[0076] When the six-degree-of-freedom robot arm 51 is docked with the rotating disc 31, the positioning pin 103 is first aligned with the pin hole 104 to confirm the installation direction of the six-degree-of-freedom robot arm 51. The positioning column 101 is inserted into the positioning hole 102 from one side of the positioning hole 102, and the positioning pin 103 is cooperated in the pin hole 104. The locking piece 105 is inserted from the other side of the positioning hole 102 and is fastened in the threaded hole 106 of the positioning column 101. The locking piece 105 can be, but is not limited to, a bolt.

[0077] Referring to FIGS. 8 and 9, in some embodiments, the second quick-mounting structure includes a first connecting seat 210 arranged on the sixth joint 516 of the six-degree-of-freedom robot arm 51, a second connecting seat 220 arranged on the probe holder 52, and a docking assembly.

[0078] The first connecting seat 210 is provided with an axial abutment docking hole 211 and a threaded hole 212. The inner diameter of the docking hole 211 is larger than that of the threaded hole 212, and the docking hole 211 penetrates one end of the first connecting seat 210, and the threaded hole 212 penetrates the opposite end of the first connecting seat 210.

[0079] One side of the second connecting seat 220 is provided with a docking column 221 matched with the docking hole 211, and the second connecting seat 220 is further provided with a central channel 222 penetrating the docking column 221. The central channel 222 includes a first channel penetrating the second connecting seat 220 and a second channel penetrating the docking column 221, and the connection part of the first channel and the second channel has a boss. The docking assembly is arranged in the central channel 222 and can be axially moved and rotated relative to the central channel 222.

[0080] The docking assembly specifically can include an axially abutting rotary operating part 223 and a screw rod 224; the rotary operating part 223 has a larger diameter than the screw rod 224, and the rotary operating part 223 can cooperate with a first hole of the central hole 222 to move in and out of the first hole. The screw rod 224 can be arranged in the first hole and the second hole, and move back and forth in the central hole 222 when the rotary operating part 223 moves in and out of the first hole. The end of the screw rod 224 away from the rotary operating part 223 is limited in the second hole by cooperation with the boss, and the end of the screw rod 224 can extend out of the second hole or retract into the second hole when the rotary operating part 223 moves back and forth along the axial direction of the central hole 222.

[0081] When the first connecting seat 210 and the second connecting seat 220 are docked, the docking column 221 is fitted into the docking hole 211 in a plug-in manner, and the docking assembly is screwed into the threaded hole 212 of the first connecting seat 210, at which time the initial docking of the first connecting seat 210 and the second connecting seat 220 can be completed. By rotating the rotary operating part 223, the screw rod 224 is locked in the threaded hole 212, and at the same time, with the rotation of the rotary operating part 223 and the cooperation of the screw rod 224 and the threaded hole 212, the rotation is converted into the axial movement of the connecting assembly, until the screw rod 224 is locked in place in the threaded hole 212, and the first connecting seat 210 and the second connecting seat 220 are docked and fixed.

[0082] In the second quick-mounting structure, the rotary operating part 223 is a cylindrical structure, and has a concave-convex structure inside for cooperating with the operating end of the long rod tool, so that the worker can enter the RPV pool through the long rod tool from outside the pressure vessel to quickly dismount and mount the probe holder 52 on the six-degree-of-freedom mechanical arm 51.

[0083] The probe holder 52 can be implemented by using the existing technology. Alternatively, in order to reduce the workload of foreign matter prevention on site, and thus reduce the time occupation and the radiation dose of personnel caused by foreign matter prevention inspection, the probe holder 52 is a probe holder with a foreign matter prevention function.

[0084] As shown in FIGS. 9-11, the probe holder 52 includes a protective cover 1, a probe support 2, and a plurality of probe assemblies 3; each probe assembly 3 includes at least two ultrasonic probes 300 with two degrees of freedom of movement;

[0085] One end of the protective cover 1 is open, and the probe support 2 is fitted into the open end of the protective cover 1 to close the open end. Furthermore, the probe support 2 is provided with a plurality of passage holes 201 penetrating through the opposite ends of the probe support 2 and communicating with the internal space of the protective cover 1; one passage hole 201 is used for inserting one probe assembly 3, and the probe assembly 3 can move back and forth in the passage hole 201 relative to the protective cover 1 and the probe support 2 in the direction of moving in and out of the protective cover 1.

[0086] On the probe support 2, a plurality of passage holes 201 are arranged along the length direction of the probe support 2, and can also be formed in one row, two rows or more.

[0087] The probe support 2 is preferably detachably fitted at the open end of the protective cover 1, facilitating the disassembly, replacement, maintenance and the like of the probe assembly 3.

[0088] Each probe assembly 3 can include an ultrasonic probe 300, a probe slide rod 301 and a probe frame 302. The probe slide rod 301 has opposite first and second ends, the first end of the probe slide rod 301 is threaded into the passage hole 201 and can move back and forth in the passage hole 201 in the direction of entering and exiting the protective cover 1. The probe frame 302 is rotatably arranged on the second end of the probe slide rod 301 through a rotating assembly or the like, and the ultrasonic probe 300 is arranged on the probe frame 302 through a rotating shaft or the like and is rotatable relative to the probe frame 302.

[0089] In the placement direction of the probe rack 52 shown in FIGS. 9 and 10, with the ultrasonic probe 300 upward, the probe slide rod 301 can move up and down relative to the protective cover 1 and the probe support 2, driving the probe frame 302 and the ultrasonic probe 300 on the second end of the probe slide rod 301 to also move up and down.

[0090] A limiting pin 202 that restricts the movement stroke of the probe slide rod 301 can also be arranged between the probe slide rod 301 and the probe support 2. The limiting pin 202 is fixed in the probe support 2 and passes through or fits into a limiting groove 304 formed on the probe slide rod 301 with one end. When the probe slide rod 301 moves up and down in the passage hole 201, the limiting pin 202 also moves in the limiting groove 304 at the same time. When the limiting pin abuts against the upper end or the lower end of the limiting groove 304, the continuous movement of the probe slide rod 301 in the direction is limited, achieving the effect of restricting the movement stroke of the probe slide rod 301.

[0091] The rotating direction of the probe frame 302 relative to the probe slide rod 301 and the rotating direction of the ultrasonic probe 300 relative to the probe frame 302 are in two perpendicular and orthogonal directions, and the rotation of the probe frame 302 also drives the ultrasonic probe 300 to rotate relative to the probe slide rod 301, so that the ultrasonic probe 300 has two perpendicular and orthogonal rotating degrees of freedom on the probe slide rod 301, ensuring the adhesion of the ultrasonic probe 300 to the position to be scanned. Combined with the back-and-forth movement of the probe slide rod 301, the ultrasonic probe 300 has three degrees of freedom.

[0092] The probe assembly 3 also includes a constant force spring 303; the constant force spring 303 is arranged at the first end of the probe slide rod 301 and connected to the probe support 2, so that the probe slide rod 301 has a constant tendency to move in the direction of the outside of the protective cover 1.

[0093] In the probe holder 52 described above, the protective cover 1 is provided to form a covering space to accommodate the probe support 2 and the lower structure of the probe assembly 3, thereby reducing the number of exposed external parts and the difficulty of preventing foreign matter.

[0094] The side surface of the protective cover 1 is provided with a bracket for connecting with the six-degree-of-freedom mechanical arm 51, and the second connecting seat 220 of the second quick-mounting structure is arranged on the bracket.

[0095] The reactor pressure vessel inspection method realized by the reactor pressure vessel inspection equipment of the present application, with reference to FIG. 1 and FIG. 12, can include the following steps:

[0096] S1, the reactor pressure vessel inspection equipment is installed on the flange surface of the cylinder 400 of the pressure vessel.

[0097] S2, the lifting mechanism 20 of the reactor pressure vessel inspection equipment is started, and the nozzle scanning arm 40 and the two multi-degree-of-freedom mechanical arm probe holders 50 are lowered to the scanning position in the cylinder 400.

[0098] S3, the nozzle scanning arm 40 and the two multi-degree-of-freedom mechanical arm probe holders 50 are synchronously scanned in parallel.

[0099] The scanning position in the cylinder 400 of the pressure vessel includes: the flange thread hole at the top flange surface of the cylinder, the flange ligament area, the connecting weld between the flange and the nozzle segment (S / C200 circumferential weld), the connecting weld between the water inlet nozzle and the cylinder (water inlet SET-IN weld), the safety end weld of the water inlet nozzle (nozzle and safety end, safety end and main pipe), the inner fillet extension of the water inlet nozzle, the safety end weld of the water outlet nozzle (nozzle and safety end, safety end and main pipe), the inner fillet extension of the water outlet nozzle, the connecting weld between the water outlet nozzle and the cylinder (water outlet SET-IN weld), the inner fillet (R19 inner fillet), the butt joint circumferential weld between the nozzle segment and the cylinder segment (S / C201 circumferential weld), the high flux area of the reactor core, the butt joint circumferential weld of the cylinder segment (S / C202 circumferential weld), the bottom head circumferential weld (S / C204 weld), etc.

[0100] Among them, the scanning position of the nozzle scanning arm 40 includes at least one of the safety end weld of the water inlet nozzle, the safety end weld of the water outlet nozzle, the connecting weld between the safety end and the main pipe, the inner fillet extension of the water inlet nozzle, the inner fillet extension of the water outlet nozzle, the connecting weld between the water inlet nozzle and the cylinder on the nozzle side, the connecting weld between the water outlet nozzle and the cylinder on the nozzle side, the overlay of the water inlet nozzle, the overlay of the water outlet nozzle, the inner fillet of the water inlet nozzle (except R19 inner fillet), and the inner fillet of the water outlet nozzle (except R19 inner fillet).

[0101] The scanning position of the multi-degree-of-freedom mechanical arm probe rack 50 includes at least one of the water inlet pipe and the cylinder body connection weld cylinder side, the water outlet pipe and the cylinder body connection weld cylinder side, the water outlet inner fillet (R19 inner fillet), the cylinder body circumferential weld, the bottom head circumferential weld, the high flux area of the reactor core, the flange thread hole and the flange ligament area.

[0102] The above description is only an embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A reactor pressure vessel inspection equipment, characterized in that: It includes a support frame for installation on the flange surface of the cylinder of the pressure vessel, a lifting mechanism installed on the support frame and coaxial with the cylinder, a rotating mechanism installed on the lower part of the lifting mechanism facing the cylinder, a pipe scanning arm installed below the rotating mechanism, and two multi-degree-of-freedom robotic arm probe holders; The lifting mechanism is movable relative to the support frame, driving the rotating mechanism and the pipe scanning arm and the multi-degree-of-freedom robotic arm probe frame thereon to move up and down along the central axis of the cylinder; the rotating mechanism is used to drive the pipe scanning arm and the multi-degree-of-freedom robotic arm probe frame to rotate around the central axis of the cylinder; the pipe scanning arm and the two multi-degree-of-freedom robotic arm probe frames are used to perform synchronous and parallel scanning of the cylinder.

2. The reactor pressure vessel inspection equipment according to claim 1, characterized in that: The support frame includes four support legs respectively used to stand on the flange surface of the cylinder, and a connecting bracket connected between the four support legs and capable of spanning above the flange surface of the cylinder; The four support legs are distributed at intervals along the circumference of the flange surface, and the two support legs located at diagonal positions are respectively used to cooperate with the guide columns on the flange surface.

3. The reactor pressure vessel inspection equipment according to claim 2, characterized in that: The lifting mechanism includes a lifting column perpendicular to the connecting bracket and connected to the connecting bracket; The opposite ends of the lifting column are respectively located on the upper and lower sides of the connecting bracket, and the rotating mechanism is installed on the lower end of the lifting column on the lower side of the connecting bracket; the lower end of the lifting column is retractable to drive the rotating mechanism to move up and down.

4. The reactor pressure vessel inspection equipment according to claim 3, characterized in that: The rotating mechanism includes a support plate, a hollow cable seat, a torque motor with an absolute encoder, a connecting cylinder and a rotating disk; The cable seat and the connecting cylinder are connected to opposite sides of the support plate, and a through hole is provided on the support plate to connect the cable seat and the connecting cylinder; one end of the cable seat away from the support plate is relatively fixedly connected to the lifting column; the rotating disk is sleeved on the outer periphery of the connecting cylinder and is rotatable relative to the connecting cylinder; the torque motor is provided on the support plate, connected to and drives the rotating disk to rotate; The rotating disk is provided with a plurality of installation holes distributed at intervals, which are respectively used for installing the pipe scanning arm and the multi-degree-of-freedom robotic arm probe frame below the rotating disk.

5. The reactor pressure vessel inspection equipment according to claim 4, characterized in that: At least one side surface of the cable running seat is provided with a cable running hole communicating with the internal space thereof; The support plate is provided with a connection unit with a plurality of integrated joints, and the connection cables of the takeover scanning arm and the multi-degree-of-freedom robotic arm probe frame are respectively connected to the joints of the connection unit through the cable seating.

6. The reactor pressure vessel inspection equipment according to claim 5, characterized in that: The reactor pressure vessel inspection equipment also includes a cable retracting and unwinding winch arranged on the lifting mechanism. The lifting end of the cable retracting and unwinding winch is provided with a cable rack for hanging cables. The external connecting cable is hung on the cable rack, one end of which is connected to the connector of the connecting unit, and the other end is used for an external control system.

7. The reactor pressure vessel inspection equipment according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm probe holder includes a six-degree-of-freedom robotic arm and a probe holder; The six-degree-of-freedom robotic arm has its first joint parallel to the central axis of the cylinder and is installed below the rotating mechanism through a first quick-install structure. The probe holder is detachably installed on the sixth joint of the six-degree-of-freedom robotic arm away from the rotating mechanism through a second quick-install structure.

8. The reactor pressure vessel inspection equipment according to claim 7, characterized in that: The first quick-release structure includes a positioning post arranged on the first joint of the six-degree-of-freedom robotic arm, a positioning hole adapted to the positioning post and arranged on the rotating mechanism, a positioning pin protruding from the first joint and located on at least one side of the positioning post, a pin hole arranged on the rotating mechanism and located on at least one side of the positioning hole, and a locking piece; the positioning post passes through the positioning hole from one side and fits in the positioning hole, while the positioning pin fits in the pin hole, and the locking piece passes through the other side of the positioning hole and is fastened to the positioning post.

9. The reactor pressure vessel inspection equipment according to claim 7, characterized in that: The second quick-install structure includes a first connecting seat provided on the sixth joint of the six-degree-of-freedom robotic arm, a second connecting seat provided on the probe holder, and a docking assembly; The first connecting seat is provided with an axially connected docking hole and a screw hole; a docking post adapted to the docking hole is provided on one side of the second connecting seat, and the second connecting seat is further provided with a central hole extending through the docking post, the docking assembly is inserted into the central hole and is axially movable and rotatable relative to the central hole; the docking assembly includes an axially connected rotating operating portion and a screw; When the first connecting seat and the second connecting seat are docked, the docking column fits into the docking hole, and the docking assembly faces the screw hole. The rotating operating part rotates the screw to fit into the screw hole, thereby docking and fixing the first connecting seat and the second connecting seat.

10. The reactor pressure vessel inspection equipment according to claim 7, characterized in that: The probe holder includes a protective cover, a probe support and a plurality of probe assemblies; each of the probe assemblies includes an ultrasound probe having at least two degrees of freedom of movement; One end of the protective cover is open, and the probe holder fits in the open end of the protective cover to close the open end; and the probe holder is provided with a plurality of channel holes that pass through the opposite ends of the probe holder and communicate with the internal space of the protective cover; one of the channel holes is used to insert a probe assembly, and the probe assembly can move back and forth along the channel hole relative to the protective cover and the probe holder in the direction of entering and exiting the protective cover.

11. The reactor pressure vessel inspection equipment according to claim 10, characterized in that: The probe assembly further includes a probe slide and a probe frame, wherein the first end of the probe slide is connected to the channel hole and moves back and forth along the channel hole; the probe frame is rotatably arranged on the second end of the probe slide, and the ultrasound probe is arranged on the probe frame and is rotatable relative to the probe frame; and / or, The probe assembly further includes a constant force spring; the constant force spring is arranged at the first end of the probe slide and connected to the probe support, so that the probe slide has a constant tendency force to move toward the outside of the protective cover.

12. The reactor pressure vessel inspection equipment according to any one of claims 1 to 11, characterized in that: The pipe scanning arm includes a scanning robot arm installed below the rotating mechanism and capable of moving back and forth in the radial direction of the cylinder relative to the rotating mechanism, a rotating part rotatably installed at one end of the scanning robot arm, and a plurality of scanning components arranged on the rotating part.

13. A method for inspecting a reactor pressure vessel, characterized in that: Using the reactor pressure vessel inspection equipment according to any one of claims 1 to 12, the reactor pressure vessel inspection method comprises the following steps: S1. Installing the reactor pressure vessel inspection equipment on the flange surface of the cylinder of the pressure vessel; S2. The lifting mechanism of the reactor pressure vessel inspection equipment is started to lower the scanning arm and the two multi-degree-of-freedom robotic arm probe racks to the position to be scanned in the cylinder; S3, the takeover scanning arm and the two multi-degree-of-freedom robotic arm probe holders perform synchronous and parallel scanning; The scanning position of the pipe scanning arm includes at least one of the weld of the safety end of the water inlet pipe, the weld of the safety end of the water outlet pipe, the extended section of the inner fillet of the water inlet pipe, the extended section of the inner fillet of the water outlet pipe, the pipe side of the weld connecting the water inlet pipe and the cylinder, the pipe side of the weld connecting the water outlet pipe and the cylinder, the cladding layer of the water inlet pipe, the cladding layer of the water outlet pipe, the inner fillet of the water inlet pipe and the inner fillet of the water outlet pipe; The scanning positions of the multi-degree-of-freedom robotic arm probe frame include at least one of the cylinder side of the weld connecting the water inlet pipe and the cylinder, the cylinder side of the weld connecting the water outlet pipe and the cylinder, the inner fillet of the water outlet, the cylinder girth weld, the bottom head girth weld and the core high flux area.

Images