Device for inspecting inner fillet on opening of reactor pressure vessel nozzle, and operating method thereof

Abstract

Disclosed in the present invention are a device for inspecting an inner fillet on the opening of a reactor pressure vessel nozzle, and an operating method thereof. The device for inspecting an inner fillet on the opening of a reactor pressure vessel nozzle comprises a radial positioning mechanism, an axial positioning mechanism arranged on the radial positioning mechanism, an adaptive linkage mechanism arranged on the axial positioning mechanism, and a probe assembly arranged on the adaptive linkage mechanism, wherein the radial positioning mechanism drives the axial positioning mechanism, the adaptive linkage mechanism, and the probe assembly to move back and forth in the radial direction of the opening of a pressure vessel nozzle; and the axial positioning mechanism can move back and forth in the axial direction of the nozzle to drive the adaptive linkage mechanism and the probe assembly to move closer to or away from a boss surface of the nozzle and an inner fillet region of the opening, respectively. By means of adaptive adjustment of the adaptive linkage mechanism, the present invention can fit onto the boss surface of the nozzle, and can ensure that the positions of the probe assembly and the inner fillet are relatively consistent, thereby enabling the stable fitting between the probe assembly and the inner fillet region, and realizing ultrasonic inspection of the inner fillet region.

Description

Reactor Pressure Vessel Inlet Fillet Detection Device and Its Working Method Technical Field

[0001] This invention relates to the field of nuclear power equipment testing technology, and in particular to a device for detecting the inner radius of the inlet of a reactor pressure vessel and its working method. Background Technology

[0002] The reactor pressure vessel is a nuclear-grade primary component and one of the core components of the reactor coolant pressure boundary. It consists of a flange ring, a cylindrical section, inlet and outlet nozzles, a top cover assembly, a bottom head, and flange seals. The inner rounded corners of the pressure vessel nozzles are prone to stress concentration due to mechanical loads, pressure fluctuations, high temperature and pressure, high radiation, and thermal loads, leading to cracking. Therefore, regular inspection and monitoring are necessary to ensure the integrity of the primary circuit pressure boundary. The American Society for Microsystems and Information Technology (ASME) standard explicitly mandates volumetric inspection of the inner rounded corner areas of the nozzles, with ultrasonic testing being the primary method for this inspection.

[0003] The inner rounded corner area of ​​the reactor pressure vessel outlet nozzle has a complex and unique shape, resembling a saddle surface, with an inner surface covered by a stainless steel weld overlay of approximately 6 mm thickness. According to ASME Section IX inspection requirements, the inspection area for the inner rounded corner area is the lower 1 / 2 in (13 mm) of the weld overlay. The inner rounded corner of the outlet is an irregular structure formed by chamfering the intersection of the inner surface of the nozzle and the cylindrical surface of the outlet boss. Due to the special structure and irregular shape of this location, accurate probe scanning is difficult to achieve using only multi-axis motion control. Therefore, it is necessary to design a dedicated mechanical positioning inspection device to accurately position the ultrasonic probe in the inner rounded corner area of ​​the outlet, thereby achieving automated inspection of the inspected object. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device for accurately locating and detecting the inner radius of the inlet of a reactor pressure vessel and its working method.

[0005] The technical solution adopted by the present invention to solve its technical problem is: to provide a reactor pressure vessel inlet fillet detection device, including a radial positioning mechanism, an axial positioning mechanism disposed on the radial positioning mechanism, an adaptive linkage mechanism disposed on the axial positioning mechanism, and a probe assembly disposed on the adaptive linkage mechanism;

[0006] The radial positioning mechanism is used to drive the axial positioning mechanism, the adaptive linkage mechanism, and the probe assembly to move back and forth radially in the nozzle of the pressure vessel; the axial positioning mechanism can move back and forth axially relative to the radial positioning mechanism in the nozzle, driving the adaptive linkage mechanism and the probe assembly to move closer to or further away from the boss surface of the nozzle and the inner rounded corner area of ​​the nozzle, respectively; the adaptive linkage mechanism drives itself and the probe assembly to fit against the boss surface of the nozzle and the inner rounded corner area of ​​the nozzle, respectively, through adaptive action.

[0007] Preferably, the adaptive linkage mechanism includes a sliding plate, a swing arm, and a positioning component;

[0008] The slide plate is fitted onto the axial positioning mechanism and can move back and forth relative to the axial positioning mechanism in the axial direction of the tube. The swing arm is connected to the slide plate at an angle that is adjustable. The positioning component is disposed on the swing arm and is used to slide against the boss surface of the tube. The positioning component guides the angle between the swing arm and the slide plate to change synchronously by fitting against the boss surface of the tube.

[0009] The probe assembly is located on one side of the swing arm and is movably connected to the slide plate. It can rotate relative to the slide plate to make the probe assembly fit against the inner rounded corner area of ​​the tube opening.

[0010] Preferably, the positioning assembly includes a positioning seat and at least two positioning balls for slidingly engaging with the boss surface of the connecting pipe; the positioning seat is disposed on the rocker arm parallel to the length direction of the rocker arm, and the at least two positioning balls are arranged at intervals along the length direction of the positioning seat.

[0011] Preferably, the probe assembly includes a probe holder and an ultrasonic probe;

[0012] The probe bracket is movably connected to the slide plate, and the ultrasonic probe is mounted on the probe bracket, having multiple degrees of freedom relative to the slide plate.

[0013] Preferably, the probe bracket includes a bracket and a probe frame; one end of the bracket is connected to the slide plate via a rotating shaft assembly, and the probe frame is rotatably connected to the other end of the bracket;

[0014] The ultrasonic probe can be oscillating within the probe frame, and the ultrasonic probe has a probe surface that matches the inner rounded corner area of ​​the tube opening.

[0015] Preferably, the pivot assembly includes a pivot that passes between the bracket and the slide plate, a torsion spring sleeved on the pivot, and a limiting plate disposed on the bracket and used to abut against the slide plate.

[0016] Preferably, the bracket includes a first U-shaped frame and a second U-shaped frame; the first U-shaped frame is connected to the slide plate through a pivot assembly, and the second U-shaped frame is fitted onto the first U-shaped frame and can swing back and forth relative to the first U-shaped frame.

[0017] Preferably, the axial positioning mechanism includes an L-shaped bracket that can move back and forth in the axial direction of the pipe relative to the radial positioning mechanism;

[0018] The L-shaped bracket has a guide rail and a rolling element on its horizontal part; the sliding plate is engaged with the guide rail by a slider and can move back and forth along the guide rail in the axial direction of the pipe; the rolling element protrudes above the sliding plate on the horizontal part to contact the inner wall of the pipe; one end of the rocker arm is rotatably connected to the sliding plate, and the other end is rotatably connected to the vertical part of the L-shaped bracket.

[0019] Preferably, the axial positioning mechanism further includes a pneumatic component disposed on the radial positioning mechanism and supporting the L-shaped bracket, the pneumatic component driving the L-shaped bracket to move back and forth relative to the radial positioning mechanism in the axial direction of the pipe.

[0020] Preferably, the radial positioning mechanism includes a slide mounting plate and a drive assembly. The slide mounting plate is disposed on the drive shaft of the drive assembly, and the drive assembly drives the slide mounting plate to move back and forth radially in the inlet of the pressure vessel. The axial positioning mechanism is disposed on the slide mounting plate and fixed relative to the slide mounting plate.

[0021] Preferably, the radial positioning mechanism further includes a support base and a guide assembly;

[0022] The drive assembly is supported on the support base; the drive shaft of the drive assembly is retractable relative to the support base, driving the slide mounting plate to move back and forth in the radial direction of the pipe inlet relative to the support base.

[0023] The guide component is movable through the support base and connected to the slide mounting plate, providing guidance for the back-and-forth movement of the slide mounting plate.

[0024] The present invention also provides a method for operating a reactor pressure vessel inlet fillet detection device, wherein the reactor pressure vessel inlet fillet detection device is installed in pairs on a main device coaxial with the inlet, and the two sets of the reactor pressure vessel inlet fillet detection devices are symmetrically arranged relative to the central axis of the inlet.

[0025] The motion of the fillet detection device inside the reactor pressure vessel inlet meets the following formula:

[0026]

[0027] Where Z is the distance moved along the axial direction of the nozzle, R is the radius of the circumference of the nozzle boss surface inside the pressure vessel, r is the radius of the inner wall of the nozzle; θ is the circumferential position angle of the reactor pressure vessel nozzle fillet detection device inside the nozzle, where the uppermost position of the boss surface in the vertical direction is 0°.

[0028] The beneficial effects of this invention are as follows: By using an adaptive linkage mechanism and a probe assembly in conjunction with a radial positioning mechanism and an axial positioning mechanism, the adaptive linkage mechanism and the probe assembly are delivered to the boss surface of the pipe and the inner rounded corner area of ​​the pipe opening. Furthermore, through the adaptive adjustment of the adaptive linkage mechanism, it can fit the boss surface of the pipe and ensure that the probe assembly and the inner rounded corner are relatively aligned, thereby achieving stable contact between the probe assembly and the inner rounded corner area and realizing ultrasonic detection of the inner rounded corner area.

[0029] This patent applies to nuclear power plant reactor pressure vessels where the chamfer size is less than R19. During ultrasonic testing, the probe needs to be accurately delivered to the inner rounded corner area to ensure precise control of the relative position between the probe and the object being inspected, thereby guaranteeing the accuracy of defect detection. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0031] Figure 1 is a schematic diagram of the usage status of the reactor pressure vessel inlet fillet detection device according to an embodiment of the present invention.

[0032] Figure 2 is a schematic diagram of the reactor pressure vessel inlet fillet detection device according to an embodiment of the present invention, in which the inlet fillet is used in pairs.

[0033] Figure 3 is a schematic diagram of the reactor pressure vessel inlet fillet detection device according to an embodiment of the present invention.

[0034] Figure 4 is a schematic diagram of the radial positioning mechanism in Figure 3;

[0035] Figure 5 is a schematic diagram of the axial positioning mechanism in Figure 3;

[0036] Figure 6 is a schematic diagram of the adaptive linkage mechanism in Figure 3 on the axial positioning mechanism;

[0037] Figure 7 is a schematic diagram of the probe assembly in Figure 3;

[0038] Figure 8 is a schematic diagram of the partial removal of the support in the probe assembly shown in Figure 7. Detailed Implementation

[0039] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0040] The reactor pressure vessel inlet roundness detection device of the present invention is used for detecting the roundness area inside the inlet (i.e., pipe opening) of the inlet of a nuclear power reactor pressure vessel, wherein the inlet of the pressure vessel includes, but is not limited to, the outlet pipe.

[0041] Referring to Figures 1 to 3, a reactor pressure vessel inlet fillet detection device according to an embodiment of the present invention may include a radial positioning mechanism 10, an axial positioning mechanism 20 disposed on the radial positioning mechanism 10, an adaptive linkage mechanism 30 disposed on the axial positioning mechanism 20, and a probe assembly 40 disposed on the adaptive linkage mechanism 30.

[0042] The radial positioning mechanism 10 drives the axial positioning mechanism 20, its adaptive linkage mechanism 30, and the probe assembly 40 to move back and forth radially in front of the nozzle 110 of the pressure vessel 100, thereby moving closer to or away from the inner wall of the nozzle 110. The axial positioning mechanism 20, mounted on the radial positioning mechanism 10, can move back and forth relative to the radial positioning mechanism 10 in the axial direction of the nozzle 110, driving the adaptive linkage mechanism 30 and the probe assembly 40 to move closer to or away from the boss surface 111 and the inner rounded corner area 112 of the nozzle 110, respectively. The adaptive linkage mechanism 30 has an adaptive function, driving itself and the probe assembly 40 to conform to the boss surface 111 and the inner rounded corner area 112 of the nozzle 110, respectively, through adaptive action.

[0043] As shown in Figures 1, 3, and 4, in some embodiments, the radial positioning mechanism 10 may include a slide mounting plate 11 and a drive assembly 12. The slide mounting plate 11 is mounted on the drive shaft 121 of the drive assembly 12, and the slide mounting plate 11 moves back and forth relative to the main body of the drive assembly 12 by the extension and retraction of the drive shaft 121. Inside the nozzle 110, the drive assembly 12 is used to drive the slide mounting plate 11 and the axial positioning mechanism 20 thereon to move back and forth radially in the nozzle 110 opening of the pressure vessel 1, thereby driving the adaptive linkage mechanism 30 and the probe assembly 40 on the axial positioning mechanism 20 to approach or move away from the boss surface 111 and the inner rounded corner region 112 of the nozzle 110.

[0044] Alternatively, the drive assembly 12 includes a cylinder, preferably a pen-shaped cylinder. Inside the connector 110, the pen-shaped cylinder is parallel to the radial direction of the connector 110, and the telescopic rod (i.e., drive shaft 121) of the pen-shaped cylinder faces the inner wall of the connector 110. The slide mounting plate 11 is fixedly mounted on the telescopic rod of the pen-shaped cylinder and moves back and forth radially in the pipe opening as the telescopic rod extends and retracts.

[0045] Furthermore, the radial positioning mechanism 10 also includes a support base 13 and a guide assembly. The drive assembly 12 is supported on the support base 13, with the support base 13 serving as a fixed fulcrum. The drive shaft 121 of the drive assembly 12 is telescopic relative to the support base 13, driving the slide mounting plate 11 to move back and forth radially relative to the support base 13 at the port of the pipe 110.

[0046] Understandably, the support base 13 can also be installed on the main equipment (such as the spindle), and the main equipment can be used to send the support base 13 and the entire reactor pressure vessel inlet fillet detection device into or out of the inlet of the pipe 110.

[0047] A guide assembly movably passes through the support base 13 and connects to the slide mounting plate 11, providing guidance for the reciprocating movement of the slide mounting plate 11 and maintaining the stability of its movement. In the embodiments shown in Figures 3 and 4, the guide assembly includes at least one guide rod 14 and a tail plate 15. The guide rod 14 passes through the support base 13 and is movable back and forth relative to the support base 13 along its own axial direction; one end of the guide rod 14 is connected to the slide mounting plate 11, and the other end is connected to the tail plate 15. When the drive assembly 12 is activated to drive the slide mounting plate 11 to move back and forth, it also drives the guide rod 14 and the tail plate 15 to move synchronously relative to the support base 13. Preferably, there are two or more guide rods 14.

[0048] The support seat 13 can be a linear bearing seat, and the guide rod 14 is engaged with the linear bearing seat through a linear bearing. The tail plate 15 and the slide mounting plate 11 are located on opposite sides of the linear bearing seat. The tail plate 15 increases the overall rigidity of the radial positioning mechanism 10.

[0049] The axial positioning mechanism 20 is mounted on the slide mounting plate 11 of the radial positioning mechanism 10 and is fixed relative to the slide mounting plate 11, moving with the slide mounting plate 11. Inside the pipe 110, the slide mounting plate 11 moves back and forth radially along the pipe opening under the drive of the drive assembly 12, causing the axial positioning mechanism 20 to also move back and forth radially along the pipe opening of the pipe 110.

[0050] As shown in Figures 3 and 5, in some embodiments, the axial positioning mechanism 20 may include an L-shaped bracket 21, which can move back and forth relative to the radial positioning mechanism 10 in the axial direction of the tube 110. The adaptive linkage mechanism 30 and the probe assembly 40 are both mounted on the L-shaped bracket 21 and move back and forth with the L-shaped bracket 21 in the axial direction of the tube 110.

[0051] The L-shaped bracket 21 is structurally formed by connecting a horizontal portion 211 and a vertical portion 212. Specifically, the horizontal portion 211 of the L-shaped bracket 21 is provided with a guide rail 22 and a rolling element 23. The guide rail 22 is used to cooperate with the adaptive linkage mechanism 30, so that the adaptive linkage mechanism 30 can move on the L-shaped bracket 21 to achieve adaptive adjustment. The rolling element 23 is used to contact the inner wall of the nozzle 110 to achieve the positioning of the radial positioning mechanism 10. That is, after the rolling element 23 contacts the inner wall of the nozzle 110, it can restrict the radial degree of freedom of the reactor pressure vessel nozzle inner radius detection device.

[0052] Alternatively, the rolling element 23 may include a universal ball bearing that can be positioned and supported on the L-shaped bracket 21 by a support column, and can pass through the adaptive linkage mechanism 30 to ensure that the universal ball bearing can contact the inner wall of the nozzle 110.

[0053] To drive the L-shaped bracket 21 to move back and forth, the axial positioning mechanism 20 may also include a pneumatic component 24 disposed on the radial positioning mechanism 10 and supporting the L-shaped bracket 21. The pneumatic component 24 is used to drive the L-shaped bracket 21 to move back and forth relative to the radial positioning mechanism 10 in the axial direction of the pipe 110.

[0054] The pneumatic assembly 24 may further include a pneumatic slide, which can move along the axial direction of the pipe 110 after being ventilated. After the radial positioning mechanism 10 drives the L-shaped bracket 21 to move radially in the pipe opening, and the rolling element 23 is in contact with the inner wall of the pipe 110, the pneumatic slide extends and drives the adaptive linkage mechanism 30 to approach and contact the boss surface 111 of the pipe 110.

[0055] The pneumatic slide is fixed to the slide mounting plate 11 by the slide body. The L-shaped bracket 21 is positioned on the sliding seat of the pneumatic slide. The rolling element 23 is positioned on the sliding seat of the pneumatic slide by a support column, which supports the rolling element 23 above the horizontal portion 211 of the L-shaped bracket 21. When the horizontal portion 211 is provided with two spaced-apart guide rails 22, the rolling element 23 is positioned between the two guide rails 22.

[0056] The adaptive linkage mechanism 30 is fitted on the L-shaped bracket 21 of the axial positioning mechanism 20, and can move relative to the L-shaped bracket 21 to achieve self-adaptation.

[0057] Referring to Figures 1, 3, 5 and 6, in some embodiments, the adaptive linkage mechanism 30 includes a slide plate 31, a swing arm 32 and a positioning component 33.

[0058] The slide plate 31 is positioned on the L-shaped bracket 21 by engaging with the guide rail 22 on the L-shaped bracket 21 via a slider, and can move freely along the guide rail 22 in the length direction of the guide rail 22 (which is also the axial direction of the connecting pipe 110). In terms of dimensions, the length of the slide plate 31 is preferably equal to or less than the length of the transverse portion 211 of the L-shaped bracket 21, and the width of the slide plate 31 is preferably equal to or less than the width of the transverse portion 211, so that the edge of the slide plate 31 protrudes beyond the transverse portion 211, thus avoiding increasing the volume and reducing the overall external integrity.

[0059] The swing arm 32 is positioned vertically relative to the slide plate 31, located on one side of the vertical portion 212 of the L-shaped bracket 21 and angled with the slide plate 31. The swing arm 32 and the slide plate 31 are connected by a pivot (or hinge), allowing the angle between them to be adjustable. Specifically, one end of the swing arm 32 is rotatably connected to one end of the slide plate 31, and the other end of the swing arm 32 is rotatably connected to the vertical portion 212 of the L-shaped bracket 21 via a pivot. When the slide plate 31 slides along the guide rail 22, it causes the swing arm 32 to rotate relative to the vertical portion 212; or, when the swing arm 32 rotates relative to the vertical portion 212, it causes the slide plate 31 to slide along the guide rail 22.

[0060] The positioning component 33 is mounted on the swing arm 32 and is used to slide against the boss surface 111 of the connector 110. By engaging with the boss surface 111 of the connector 110, the positioning component 33 guides the synchronous change of the included angle between the swing arm 32 and the slide plate 31, achieving self-adaptation. The probe assembly 40 is located on one side of the swing arm 32 and is movably connected to the slide plate 31. It can rotate relative to the slide plate 31 to engage with the inner rounded corner area 112 of the nozzle.

[0061] As an alternative implementation, the positioning assembly 33 may further include a positioning seat 331 and at least two positioning balls 332 for slidingly engaging with the boss surface 111 of the connecting pipe 110. The positioning seat 331 has a certain length and is arranged on the rocker arm 32 parallel to its length direction, and the at least two positioning balls 332 are arranged at intervals along the length direction of the positioning seat 331.

[0062] On one side of the boss surface 111 of the connector 110, the two positioning balls 332 of the positioning component 33 are in contact with the boss surface 111. When the entire device of the present invention moves radially along the pipe opening of the connector 110, the positioning balls 332 also move radially along the boss surface 111. Since the angle α between the boss surface 111 and the axis of the connector 110 (the angle α is usually 90°~102°) is different when the outlet connector is at different circumferential angles, the two positioning balls 332 will keep in contact with the boss surface 111 and drive the positioning component 33 to rotate as the angle α changes. This will guide the swing rod 32 to change the angle with the boss surface 111 synchronously, thereby driving the swing rod 32 to slide in the L-shaped bracket 21. The swing rod 32 also drives the slide plate 31 connected to it to move. After the slide plate 31 moves, the relative positional relationship between the probe component 40 and the inner rounded corner area 112 can be kept stable.

[0063] The 332 positioning ball bearing is a preferred universal ball bearing.

[0064] The probe assembly 40 is used to fit against the inner rounded corner area 112 of the pipe opening to perform ultrasonic testing on the inner rounded corner. The ultrasonic signal is sent to the back-end monitoring system for processing and storage.

[0065] In some embodiments, referring to Figures 6 and 7, the probe assembly 40 includes a probe bracket and an ultrasonic probe 41. The probe bracket is movably connected to the slide plate 31, and the ultrasonic probe 41 is disposed on the probe bracket, having multiple degrees of freedom relative to the slide plate 31, ensuring that the ultrasonic probe 41 and the contact surface of the inner rounded corner region 112 are stably fitted, and preventing the ultrasonic probe 41 from tilting or getting stuck.

[0066] The ultrasonic probe 41 has a probe surface that matches the inner rounded corner region 112 of the tube opening.

[0067] When the positioning component 33 of the adaptive linkage mechanism 30 is correctly engaged with the boss surface 111 of the connector 110, the ultrasonic probe 41 is precisely engaged at the inner rounded corner position, thereby realizing the acquisition of ultrasonic signals in the inner rounded corner region 112.

[0068] Furthermore, the probe holder may include a bracket 42 and a probe frame 43, with the ultrasonic probe 41 disposed within the probe frame 43. One end of the bracket 42 is connected to a sliding plate 31, and the probe frame 43 is rotatably connected to the other end of the bracket 42 via a pivot. The probe frame 43 drives the ultrasonic probe 41 to rotate relative to the bracket 42, and the rotatability of the probe frame 43 provides the first degree of freedom. The ultrasonic probe 41 is oscillatingly disposed within the probe frame 43 via a pivot connection, the axis of which is perpendicular to the axis of rotation of the probe frame 43 connecting to the bracket 42. The oscillation capability of the ultrasonic probe 41 provides the second degree of freedom.

[0069] The two degrees of freedom mentioned above ensure that the contact surface between the ultrasonic probe 41 and the inner rounded corner area 112 is stably fitted, and the ultrasonic probe 41 will not be lifted or stuck.

[0070] Preferably, one end of the bracket 42 is connected to the slide plate 31 via a rotating shaft assembly, so that the entire probe bracket can rotate relative to the slide plate 31 via the rotating shaft assembly. This provides a third degree of freedom and provides sufficient clamping force for the stable fit between the ultrasonic probe 41 and the inner rounded corner area 112.

[0071] The rotating shaft assembly includes a rotating shaft 44 passing between the bracket 42 and the slide plate 31, a torsion spring 45 sleeved on the rotating shaft 44, and a limiting plate 46 disposed on the bracket 42 and used to abut against the slide plate 31. The bracket 42 can rotate back and forth relative to the slide plate 31 via the rotating shaft 44 in the direction of approaching and moving away from the swing rod 32. The two ends of the torsion spring 45 abut against the bracket 42 and the slide plate 31 respectively, providing a clamping force to drive the ultrasonic probe 41 to stably fit against the inner rounded corner area 112. The limiting plate 46 is located on the side of the bracket 42 facing away from the swing rod 32, and limits the excessive rotation of the bracket 42 away from the swing rod 32 by abutting against the slide plate 31.

[0072] The bracket 42 can be an H-type bracket or a U-type bracket, etc.

[0073] In some embodiments, to allow the ultrasound probe 41 to fit more flexibly into the inner rounded corner region 112, the bracket 42 is optimized to provide a fourth degree of freedom. For this purpose, the bracket 42 may further include a first U-shaped frame 421 and a second U-shaped frame 422; the first U-shaped frame 421 is connected to the slide plate 31 via a pivot assembly, and the second U-shaped frame 422 fits onto the first U-shaped frame 421 and can swing back and forth relative to the first U-shaped frame 421 in the width direction of the bracket 42.

[0074] Furthermore, the second U-shaped frame 422 swings relative to the first U-shaped frame 421 in an arc shape, causing the probe frame 43 and the ultrasonic probe 41 inside the bracket 42 to swing back and forth on the arc path, adjusting the angle of the concave surface on the ultrasonic probe 41.

[0075] Furthermore, as shown in Figures 7 and 8, in order to enable the second U-shaped frame 422 to swing relative to the first U-shaped frame 421, the horizontal bar and the two opposite vertical bars of the first U-shaped frame 421 are respectively provided with strip grooves 47, and the horizontal bar and the two opposite vertical bars of the second U-shaped frame 422 are respectively provided with balls 48. The balls 48 are respectively engaged in the corresponding strip grooves 47, so that the balls 48 can roll in the corresponding strip grooves 47 along the extension direction of the strip grooves 47, thereby driving the second U-shaped frame 422 to swing relative to the first U-shaped frame 421.

[0076] Alternatively, the second U-shaped frame 422 can be further formed by two U-shaped pieces mating together. In the bracket 42, the two U-shaped pieces of the second U-shaped frame 422 respectively fit onto opposite sides of the first U-shaped frame 421.

[0077] The working method of the present invention will be described below using the detection of the inner radius of the nozzle of the water outlet pipe on the pressure vessel as an example.

[0078] When using the reactor pressure vessel inlet roundness detection device of the present invention, it is preferable to install two sets of devices in pairs on the main equipment coaxial with the outlet pipe through the intermediate support 200. The two sets of reactor pressure vessel inlet roundness detection devices are arranged in a line inside the inlet and are symmetrically arranged with respect to the central axis of the inlet.

[0079] The main equipment has two degrees of freedom: circumferential rotation along the outlet connector axis and axial movement along the outlet connector axis. Referring to Figures 1-7, the operation is as follows:

[0080] (1) Install the signal cable of the probe assembly 40 and the air pipe cable of the pneumatic slide and pen-shaped cylinder. If the scanning is carried out on the shore simulation, a water circulation and recovery device should also be set up.

[0081] (2) Connect the pipelines between the main equipment drive system, pneumatic control system, ultrasonic scanning software, coupling water circulation system and automated ultrasonic scanning equipment. The pen-shaped cylinder and pneumatic slide are both in the retracted state.

[0082] (3) First, adjust the position of the main equipment axis to coincide with the axis of the outlet pipe, rotate the main equipment circumferentially so that the detection device of the present invention is in the horizontal or vertical position of the pipe. Then, move the main equipment along the pipe axis to drive the detection device of the present invention to approach the outlet boss. Stop when the distance to the outlet boss is appropriate.

[0083] (4) First, start the radial positioning mechanism 10 to make the rolling element 23 fit against the inner wall of the outlet pipe. Then, extend the pneumatic slide and let the two positioning balls 332 on the swing arm fit against the protrusion surface 111 of the outlet pipe. At this time, the ultrasonic probe 41 will automatically fit against the inner rounded corner area 112. According to the ultrasonic feedback signal, it is confirmed that the ultrasonic probe 41 is well coupled. The pen-shaped cylinder and the pneumatic slide are respectively connected to the pneumatic control system controlled by the pressure proportional valve of the two circuits to maintain a constant extension force. At this time, the pen-shaped cylinder and the pneumatic slide are equivalent to two constant force springs. When the position of the inner wall of the pipe and the protrusion surface 111 changes, they can adaptively adjust to ensure that the ultrasonic probe 41 is in the inner rounded corner area.

[0084] (5) The equipment, motor drive system and ultrasonic analysis software are used to scan the position and scale of the equipment to ensure that the movement and positioning of the equipment meet the usage requirements. After the calibration is completed, the equipment is placed at the zero point.

[0085] (6) Test the condition of the ultrasonic probe 41 to ensure that the ultrasonic probe 41 is properly installed.

[0086] (7) Ultrasonic scanning procedure:

[0087] This position is at zero point. Open the motor drive software and ultrasonic acquisition software, and connect the main circumferential position encoder signal.

[0088] The two degrees of freedom motion axes of the main equipment are controlled to perform combined motion, which drives the detection device of the present invention to complete one saddle-shaped spatial motion of the inner rounded corner area 112, and complete the complete scanning of the inner rounded corner area;

[0089] After the scan is completed, move the control equipment to a suitable position and review the scan results of the ultrasound data acquisition software to check for any data loss or unclear areas, and ensure that the quality of the acquired data meets the requirements.

[0090] Any areas that do not meet the requirements will be cleaned up according to the cleaning plan until the entire cleaning work is completed.

[0091] During the inspection, the movement of the fillet detection device inside the reactor pressure vessel inlet within the inlet satisfies the following formula:

[0092]

[0093] Where Z is the distance moved along the axial direction of the nozzle; R is the radius of the circumference of the nozzle boss surface inside the pressure vessel, i.e., the distance from the central axis of the pressure vessel to the nozzle boss surface. r is the radius of the inner wall of the nozzle. θ is the circumferential position angle of the reactor pressure vessel nozzle fillet detection device inside the nozzle, where the uppermost position of the boss surface 111 in the vertical direction is 0° (as shown in Figure 2).

[0094] In one alternative embodiment, the inner rounded corner area of ​​the connector is divided into 720 scanning zones, with an included angle of 0.5° between each two adjacent scanning zones. If the current scanning circumferential position angle is θ, the next scanning position is θ+0.5°.

[0095] After each scanning zone completes its group motion, deviation detection is performed. If the deviation between the actual position and the target position exceeds 0.1mm, position compensation is performed to correct the excessive deviation. After compensation is completed, motion control for the next group continues.

[0096] The above describes the implementation of ultrasonic scanning of the saddle surface (i.e., the inner rounded corner area) based on vector motion control. During the scanning process, the piston position of the pneumatic slide of the axial positioning mechanism 20 can remain basically consistent. This reduces the stroke requirement of the pneumatic slide and also allows the swing arm 32 to avoid bearing a greater force to drive the pneumatic slide, thus improving the stress condition of the swing arm 32.

[0097] In summary, this invention enables the ultrasonic probe to be delivered to the inner rounded corner area, allowing precise control of the relative position between the ultrasonic probe and the object being inspected, thereby ensuring the accuracy of defect detection; it can accurately position ultrasonic probes in small-sized inner rounded areas; it solves the problem of the angle between the inner wall of the pipe and the protrusion of the outlet at different circumferential angles on probe positioning; the probe support clamp needs to provide sufficient coupling freedom within a limited space to ensure accurate contact between the probe and the inner rounded corner area.

[0098] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A device for detecting the inner radius of a reactor pressure vessel inlet, characterized in that, It includes a radial positioning mechanism, an axial positioning mechanism disposed on the radial positioning mechanism, an adaptive linkage mechanism disposed on the axial positioning mechanism, and a probe assembly disposed on the adaptive linkage mechanism; The radial positioning mechanism is used to drive the axial positioning mechanism, the adaptive linkage mechanism, and the probe assembly to move back and forth radially in the nozzle of the pressure vessel; the axial positioning mechanism can move back and forth axially relative to the radial positioning mechanism in the nozzle, driving the adaptive linkage mechanism and the probe assembly to move closer to or further away from the boss surface of the nozzle and the inner rounded corner area of ​​the nozzle, respectively; the adaptive linkage mechanism drives itself and the probe assembly to fit against the boss surface of the nozzle and the inner rounded corner area of ​​the nozzle, respectively, through adaptive action.

2. The reactor pressure vessel inlet fillet detection device according to claim 1, characterized in that, The adaptive linkage mechanism includes a sliding plate, a swing arm, and a positioning component; The slide plate is fitted onto the axial positioning mechanism and can move back and forth relative to the axial positioning mechanism in the axial direction of the tube. The swing arm is connected to the slide plate at an angle that is adjustable. The positioning component is disposed on the swing arm and is used to slide against the boss surface of the tube. The positioning component guides the angle between the swing arm and the slide plate to change synchronously by fitting against the boss surface of the tube. The probe assembly is located on one side of the swing arm and is movably connected to the slide plate. It can rotate relative to the slide plate to make the probe assembly fit against the inner rounded corner area of ​​the tube opening.

3. The reactor pressure vessel inlet fillet detection device according to claim 2, characterized in that, The positioning assembly includes a positioning seat and at least two positioning balls for sliding contact with the boss surface of the connecting pipe; the positioning seat is disposed on the rocker arm parallel to the length direction of the rocker arm, and the at least two positioning balls are arranged at intervals along the length direction of the positioning seat.

4. The reactor pressure vessel inlet fillet detection device according to claim 2, characterized in that, The probe assembly includes a probe holder and an ultrasonic probe; The probe bracket is movably connected to the slide plate, and the ultrasonic probe is mounted on the probe bracket, having multiple degrees of freedom relative to the slide plate.

5. The reactor pressure vessel inlet fillet detection device according to claim 4, characterized in that, The probe bracket includes a bracket and a probe frame; one end of the bracket is connected to the slide plate via a rotating shaft assembly, and the probe frame is rotatably connected to the other end of the bracket; The ultrasonic probe can be oscillating within the probe frame, and the ultrasonic probe has a probe surface that matches the inner rounded corner area of ​​the tube opening.

6. The reactor pressure vessel inlet fillet detection device according to claim 5, characterized in that, The pivot assembly includes a pivot that passes between the bracket and the slide plate, a torsion spring sleeved on the pivot, and a limiting plate disposed on the bracket and used to abut against the slide plate.

7. The reactor pressure vessel inlet fillet detection device according to claim 5, characterized in that, The bracket includes a first U-shaped frame and a second U-shaped frame; the first U-shaped frame is connected to the slide plate through a pivot assembly, and the second U-shaped frame is fitted onto the first U-shaped frame and can swing back and forth relative to the first U-shaped frame.

8. The reactor pressure vessel inlet fillet detection device according to claim 2, characterized in that, The axial positioning mechanism includes an L-shaped bracket that can move back and forth in the axial direction of the pipe relative to the radial positioning mechanism. The L-shaped bracket has a guide rail and a rolling element on its horizontal part; the sliding plate is engaged with the guide rail by a slider and can move back and forth along the guide rail in the axial direction of the pipe; the rolling element protrudes above the sliding plate on the horizontal part to contact the inner wall of the pipe; one end of the rocker arm is rotatably connected to the sliding plate, and the other end is rotatably connected to the vertical part of the L-shaped bracket.

9. The reactor pressure vessel inlet fillet detection device according to claim 8, characterized in that, The axial positioning mechanism further includes a pneumatic component disposed on the radial positioning mechanism and supporting the L-shaped bracket. The pneumatic component drives the L-shaped bracket to move back and forth relative to the radial positioning mechanism in the axial direction of the pipe.

10. The reactor pressure vessel inlet fillet detection device according to any one of claims 1-9, characterized in that, The radial positioning mechanism includes a slide mounting plate and a drive assembly. The slide mounting plate is disposed on the drive shaft of the drive assembly, and the drive assembly drives the slide mounting plate to move back and forth radially in the inlet of the pressure vessel. The axial positioning mechanism is disposed on the slide mounting plate and is fixed relative to the slide mounting plate.

11. The reactor pressure vessel inlet fillet detection device according to claim 10, characterized in that, The radial positioning mechanism also includes a support base and a guide assembly; The drive assembly is supported on the support base; the drive shaft of the drive assembly is retractable relative to the support base, driving the slide mounting plate to move back and forth in the radial direction of the pipe inlet relative to the support base. The guide component is movable through the support base and connected to the slide mounting plate, providing guidance for the back-and-forth movement of the slide mounting plate.

12. A method for operating the reactor pressure vessel inlet fillet detection device according to any one of claims 1-11, characterized in that, The reactor pressure vessel inlet fillet detection device is installed in pairs on the main equipment coaxial with the inlet, and the two sets of the reactor pressure vessel inlet fillet detection devices are symmetrically arranged relative to the central axis of the inlet. The motion of the fillet detection device inside the reactor pressure vessel inlet meets the following formula: Where Z is the distance moved along the axial direction of the nozzle, R is the radius of the circumference of the nozzle boss surface inside the pressure vessel, r is the radius of the inner wall of the nozzle; θ is the circumferential position angle of the inner round corner detection device of the reactor pressure vessel nozzle inside the nozzle, where the uppermost position of the boss surface in the vertical direction is 0°.

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