Inspection device for reactor pressure vessel closure head penetrations

Abstract

Disclosed in the present invention is an inspection device for reactor pressure vessel closure head penetrations. The inspection device comprises a support mechanism, a main rotating mechanism, a translation mechanism, a connecting mechanism, a space adjustment mechanism, a detection actuation mechanism, a water circulation mechanism and a calibration mechanism. In the inspection device for reactor pressure vessel closure head penetrations, by means of providing the main rotating mechanism, the translation mechanism, the connecting mechanism and the space adjustment mechanism, the spatial position of the detection actuation mechanism is adjusted, such that the detection actuation mechanism can inspect reactor pressure vessel closure head penetrations at different positions. Moreover, by means of providing the water circulation mechanism, coupling water used by the detection actuation mechanism is supplied and recycled, and by means of providing the calibration mechanism, the detection actuation mechanism is calibrated, thereby ensuring the operational accuracy and stability of the detection actuation mechanism. The inspection device for reactor pressure vessel closure head penetrations has complete modules, which has great significance for ensuring the comprehensive inspection of the reactor pressure vessel closure head penetrations.

Description

Reactor pressure vessel top cover penetration inspection device Technical Field

[0001] This invention relates to the field of inspection of penetrations in the top cover of nuclear power plant reactor pressure vessels, and more particularly to an inspection device for penetrations in the top cover of reactor pressure vessels. Background Technology

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

[0003] The irregular intersection line between the top cover 96 and the penetration section, with varying curvature at different angles, makes probe contact difficult, posing a challenge to automated scanning. The CRDM penetration section 92 contains internal heat sleeves 94, each with a horn-shaped cover 95 at its end. The diameter of the horn-shaped cover 95 is larger than the outer diameter of the penetration section. Due to the influence of the surrounding horn-shaped cover 95 structures, the inspection mechanism needs to make avoidance maneuvers within a limited radial space. When performing ultrasonic and eddy current inspections inside the thermocouple penetration section 91, the issue of probe misalignment and failure to contact due to positioning errors of the inspection device must be considered. Furthermore, since ultrasonic inspection requires coupling water, a coupling water supply and recovery system is necessary. According to ASME regulations, the ultrasonic system must be calibrated using an ultrasonic test block after a certain period of ultrasonic inspection, requiring a calibration device. Currently, there is a lack of a multifunctional device for inspecting the top cover penetration section of a reactor pressure vessel. Summary of the Invention

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

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

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

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

[0008] The detection actuator is connected to the space adjustment mechanism, which is used to drive the detection actuator to move in space. The detection actuator is used to inspect the penetration part of the reactor pressure vessel top cover.

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

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

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

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

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

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

[0015] The space adjustment mechanism includes a connecting rotary driver, an intermediate rotary moving component, a vertical moving component, and an end rotary moving component. The connecting rotary driver is mounted on the connecting positioning seat and its output end is connected to the intermediate rotary moving component. The connecting rotary driver is used to drive the intermediate rotary moving component to rotate.

[0016] The vertical moving component is connected to the intermediate rotating moving component and the end rotating moving component respectively. The detection actuator is connected to the end rotating moving component. The vertical moving component is used to drive the end rotating moving component to perform lifting and lowering movements. The end rotating moving component is used to drive the detection actuator to perform rotational movements.

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

[0018] The centering mechanism includes a centering camera and multiple centering lasers, all of which are mounted on the vertical moving assembly. The multiple centering lasers are arranged along the circumferential direction of the centering camera.

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

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

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

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

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

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

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

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

[0027] In some embodiments, the reactor pressure vessel top cover penetration inspection device further includes a cable management mechanism, which includes a cable management installation assembly, a cable management lifting assembly, a cable management positioning assembly, and a cable body.

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

[0029] In some embodiments, the cable organizing and positioning assembly includes an organizing movable seat, a stop bar, a pulley, and a pulley shaft. The cable body is mounted on the pulley, the pulley is hinged to the organizing movable seat via the pulley shaft, and the stop bar is mounted on the organizing movable seat and is used to cover the cable body.

[0030] The cable organizing and installation assembly includes an organizing mounting plate, an organizing support base connected to the organizing mounting plate, and an organizing slider connected to the organizing support base. The organizing mounting plate is mounted on the connecting mechanism, and the organizing movable base is movably connected to the organizing slider.

[0031] The cable sorting and lifting assembly includes a sorting cylinder, which is mounted on the sorting mounting plate, and the output end of the sorting cylinder is connected to the sorting movable base.

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

[0033] The calibration lifting assembly is connected to the calibration mounting assembly and the calibration positioning assembly respectively. The calibration action component is mounted on the calibration positioning assembly. The calibration lifting assembly is used to drive the calibration positioning assembly and the calibration action component to perform lifting and lowering movements.

[0034] The present invention offers the following advantages: This reactor pressure vessel top cover penetration inspection device, through the inclusion of a main rotation mechanism, a translation mechanism, a connecting mechanism, and a spatial adjustment mechanism, adjusts the spatial position of the detection actuator, enabling it to inspect reactor pressure vessel top cover penetrations at different locations. Simultaneously, a water circulation mechanism supplies and recovers the coupling water used by the detection actuator, and a calibration mechanism calibrates the actuator, ensuring its accuracy and stability. This reactor pressure vessel top cover penetration inspection device is modular, highly efficient in installation, and of great significance for ensuring comprehensive inspection of reactor pressure vessel top cover penetrations. Attached Figure Description

[0035] To more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

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

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

[0038] Figure 3 is an enlarged view of point A in Figure 2;

[0039] Figure 4 is a top view of the structure shown in Figure 2;

[0040] Figure 5 is an enlarged view of point B in Figure 4;

[0041] Figure 6 is a schematic diagram of the cooperation structure between the reactor pressure vessel top cover penetration inspection device and the reactor pressure vessel top cover in some embodiments of the present invention.

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

[0043] Figure 8 is a three-dimensional structural diagram of Figure 7 from another direction;

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

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

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

[0047] Figure 12 is a front view structural schematic diagram of the through-hole inner wall inspection module in some embodiments of the present invention;

[0048] Figure 13 is a schematic diagram of the cooperation structure between the through-hole inner wall inspection module and the reactor pressure vessel top cover in some embodiments of the present invention.

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

[0050] Figure 15 is a schematic diagram of the structure in another direction of Figure 14;

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

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

[0053] Figure 18 is a three-dimensional structural schematic diagram of the calibration mechanism in some embodiments of the present invention. Detailed Implementation

[0054] To provide a clearer understanding of the technical features, objectives, and effects of this invention, specific embodiments are now described in detail with reference to the accompanying drawings. In the following description, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "upper," "lower," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or element referred to must have a specific orientation; therefore, they should not be construed as limitations on this invention.

[0055] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0056] Please refer to Figures 2 to 16, which illustrate a reactor pressure vessel top cover penetration inspection device according to some embodiments of the present invention. The device includes a support mechanism 1, a main rotation mechanism 2, a translation mechanism 3, a connecting mechanism 4, a space adjustment mechanism 5, a detection and execution mechanism 6, a water circulation mechanism 7, and a calibration mechanism 8. The support mechanism 1 is used to support the reactor pressure vessel 9. The main rotation mechanism 2 is connected to both the support mechanism 1 and the translation mechanism 3, and drives the translation mechanism 3 to rotate. The connecting mechanism 4 is connected to both the translation mechanism 3 and the space adjustment mechanism 5, and drives both the connecting mechanism 4 and the space adjustment mechanism 5 to perform translational movements. The detection and execution mechanism 6 is connected to the space adjustment mechanism 5, and drives the detection and execution mechanism 6 to move spatially. The detection and execution mechanism 6 is used to inspect the reactor pressure vessel top cover penetration. The water circulation mechanism 7 supplies and recovers the coupling water used by the detection and execution mechanism 6. The calibration mechanism 8 calibrates the detection and execution mechanism 6.

[0057] Understandably, this reactor pressure vessel top cover penetration inspection device, through the inclusion of a main rotation mechanism 2, a translation mechanism 3, a connecting mechanism 4, and a spatial adjustment mechanism 5, adjusts the spatial position of the detection actuator 6, enabling it to inspect reactor pressure vessel top cover penetrations at different locations. Simultaneously, a water circulation mechanism 7 supplies and recovers the coupling water used by the detection actuator 6, and a calibration mechanism 8 calibrates the detection actuator 6, ensuring its accuracy and stability. This reactor pressure vessel top cover penetration inspection device is modular, highly efficient in installation, and of great significance for ensuring comprehensive inspection of reactor pressure vessel top cover penetrations.

[0058] As shown in Figure 2, the support mechanism 1 includes multiple support legs 11 and lighting lamps 12 installed on the support legs 11. In this embodiment, there are four support legs 11. The four support legs 11 can be stably supported inside the reactor pressure vessel 9. The lighting lamps 12 can facilitate the operator to observe the on-site operation of the inspection device.

[0059] In addition, the main rotating mechanism 2 includes a rotating fixed base 21 connected to multiple support legs 11, a rotating gear disk 23 connected to the rotating fixed base 21, a rotating mounting base 24 rotatably connected to the rotating gear disk 23, and a main rotating driver 22 mounted on the rotating mounting base 24. The output end of the main rotating driver 22 is connected to the rotating gear disk 23. Specifically, the rotating gear disk 23 is fixedly connected to the rotating fixed base 21, and movably connected to the rotating mounting base 24. The output end of the main rotating driver 22 is engaged with the rotating gear disk 23. When the main rotating driver 22 is started, the main rotating driver 22 and the rotating mounting base 24 rotate together around the central axis of the rotating gear disk 23, so that the translation mechanism 3, the connecting mechanism 4, the spatial adjustment mechanism 5, and the detection and execution mechanism 6 can also rotate accordingly.

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

[0061] As shown in Figures 2 and 3, the connecting mechanism 4 includes a connecting positioning base 41 connected to the translation positioning base 34. The space adjustment mechanism 5 includes a connecting rotary driver 51, an intermediate rotary moving component 52, a vertical moving component 53, and an end rotary moving component 54. The connecting rotary driver 51 is mounted on the connecting positioning base 41, and its output end is connected to the intermediate rotary moving component 52. The connecting rotary driver 51 drives the intermediate rotary moving component 52 to rotate. The vertical moving component 53 is connected to both the intermediate rotary moving component 52 and the end rotary moving component 54. The detection actuator 6 is connected to the end rotary moving component 54. The vertical moving component 53 drives the end rotary moving component 54 to move up and down, and the end rotary moving component 54 drives the detection actuator 6 to rotate. Specifically, the connecting rotary driver 51 is an electric driver, which is mounted on the connecting positioning base 41 and can drive the intermediate rotary moving component 52 to rotate, so that the intermediate rotary moving component 52 can be in a vertical or horizontal state relative to the connecting positioning base 41. The vertical moving component 53 can drive the end rotating moving component 54 to move up and down. The end rotating moving component 54 can drive the detection actuator 6 to rotate, so that the detection actuator 6 can be spatially adjusted according to different positions of the reactor pressure vessel top cover penetration, meeting the usage requirements of reactor pressure vessel top covers of different shapes. The detection actuator 6 can be replaced according to different detection needs.

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

[0063] Additionally, the monitoring mechanism 20 includes a global camera 201 mounted on the connecting mechanism 4 and a local camera 202 mounted on the end-rotating moving assembly 54. The global camera 201 is used for global monitoring of the operation of the reactor pressure vessel top cover penetration inspection device, and the local camera 202 is used for local monitoring of the operation of the detection actuator 6.

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

[0065] More specifically, the detection and avoidance assembly 611 includes an avoidance mounting base 6111, an avoidance actuator 6112 connected to the avoidance mounting base 6111, an avoidance retaining base 6113 connected to the output end of the avoidance actuator 6112, and an avoidance moving block 6114 connected to the avoidance retaining base 6113. In this embodiment, the avoidance actuator 6112 is a pneumatic actuator, and there are two avoidance actuators 6112, which are respectively arranged on both sides of the avoidance retaining base 6113. The avoidance retaining base 6113 and the avoidance moving block 6114 can be fixedly connected by bolts. The avoidance retaining base 6113 is connected to the detection lifting assembly 612 through a mounting slider 6115, so that the detection lifting assembly 612 can move up and down along the height direction of the avoidance retaining base 6113. The avoidance mounting base 6111 is equipped with an avoidance slide rail 6116, and the avoidance moving block 6114 is movably connected to the avoidance slide rail 6116. When the avoidance driver 6112 is activated, it can simultaneously drive the avoidance fixed base 6113, the avoidance moving block 6114, the detection lifting assembly 612, and the detection adaptive adjustment assembly 613 to move back and forth. Understandably, since a heat sleeve 94 is installed inside the through-piece, and each heat sleeve 94 has a horn cover 95 structure at its end, and the diameter of the horn cover 95 is larger than the outer diameter of the through-piece, and due to the influence of the surrounding horn cover 95 structure, the container top cover inner wall inspection module 61 needs to avoid the horn cover 95 structure, so this detection avoidance assembly 611 can enable the container top cover inner wall inspection module 61 to avoid the horn cover 95 structure and easily reach the working position.

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

[0067] Specifically, the detection positioning seat 6131 is a U-shaped component. The transverse rotating block 6132 can rotate along the transverse direction of the detection positioning seat 6131, while the longitudinal rotating block 6134 can rotate along the longitudinal direction of the detection positioning seat 6131. ​​The rotation directions of the transverse rotating block 6132 and the longitudinal rotating block 6134 are perpendicular. The transverse elastic element 6133 provides a reset elastic force for the transverse rotating block 6132, enabling the transverse rotating block 6132 to automatically return to its original position. The longitudinal elastic element 6135 provides a reset elastic force for the longitudinal rotating block 6134, enabling the longitudinal rotating block 6134 to automatically return to its original position. By automatically returning the transverse rotating block 6132 to its original position under the action of the transverse elastic element 6133, and by automatically returning the longitudinal rotating block 6134 to its original position under the action of the longitudinal elastic element 6135, the detection probe 614, in cooperation with the detection lifting assembly 612, passively adapts to the curvature changes at different circumferential positions of the inner wall of the reactor pressure vessel top cover under the action of the transverse rotating block 6132 and the longitudinal rotating block 6134, thereby achieving effective contact with the inner surface of the top cover 96 and improving detection efficiency.

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

[0069] Referring to Figure 9, the working principle of the container top cover inner wall inspection module 61 is as follows:

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

[0071] 2. When the bottom of the container top cover inner wall inspection module 61 exceeds the height of the horn cover 95, the avoidance driver 6112 is activated, driving the avoidance fixed seat 6113, the avoidance moving block 6114, the detection lifting component 612 and the detection adaptive adjustment component 613 to move towards the center of the through part.

[0072] 3. The detection lifting component 612 drives the detection adaptive adjustment component 613 and the detection probe 614 to move upward. Under the drive of the horizontal rotating block 6132 and the vertical rotating block 6134, the detection probe 614 passively adapts to the curvature changes at different circumferential positions, so as to achieve effective contact with the inner surface of the top cover 96.

[0073] 4. The end-rotating moving component 54 drives the container top cover inner wall inspection module 61 to rotate around the penetrating part once, thereby completing the scanning of the inner wall of the top cover 96 around the penetrating part to be inspected, realizing the automatic scanning of the outer side of the intersection line and the inner wall of the top cover 96.

[0074] As shown in Figures 10 to 12, the detection actuator 6 further includes a penetrating member inner wall inspection module 62 for inspecting the inner wall of the penetrating member. The penetrating member inner wall inspection module 62 includes an execution positioning component 621, an execution lifting component 622, an execution connecting component 623, and an execution detection component 624. The execution positioning component 621 is connected to the end-rotation moving component 54 and the execution lifting component 622, respectively. The execution connecting component 623 is connected to the execution lifting component 622 and the execution detection component 624, respectively. The execution lifting component 622 is used to drive the execution connecting component 623 and the execution detection component 624 to perform lifting and lowering movements.

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

[0076] The execution connection assembly 623 also includes an upper centering block 6232 located at the top of the support frame 6231. This upper centering block 6232 can be bolted to the support frame 6231. When the inspection device for the inner wall of the through-piece begins inspection, the upper centering block 6232 first enters the inner wall of the through-piece for centering and positioning. The execution connection assembly 623 also includes a fixing block 6233, a lower centering block 6234, an upper coupling 6235, an upper connecting pipe 6236, a lower coupling 6237, a lower connecting pipe 6238, and a water collector 6239, sequentially connected along the axial direction of the support frame 6231. The fixing block 6233 is connected to the bottom of the support frame 6231. Specifically, the upper coupling 6235, upper connecting pipe 6236, lower coupling 6237, and lower connecting pipe 6238 are hollow structures. Due to the arrangement of the upper coupling 6235 and the lower coupling 6237, the couplings allow for a certain off-axis tilt angle. The upper centering block 6232, the lower centering block 6234, the upper coupling 6235, and the lower coupling 6237 together form a flexible connection that can absorb the positioning error of the inspection module 62 penetrating the inner wall of the component. The water collector 6239 can be used to collect the coupling water required for the ultrasonic eddy current probe 6242 inspection.

[0077] The probe holder 6241 is connected to a water supply interface 62411, while the water collector 6239 is provided with a drain outlet 62391. Specifically, the water supply interface 62411 is located inside the support frame 6231. The coupling water required for the ultrasonic eddy current probe 6242 is supplied through the water supply interface 62411, flows from top to bottom through the ultrasonic eddy current probe 6242, the inner wall of the penetrating part, and the inner wall of the horn cover 95, flows into the water collector 6239, and is finally collected through the drain outlet 62391. After being filtered by the water circulation mechanism 7, it returns to the water supply interface 62411 to supply water to the ultrasonic eddy current probe 6242.

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

[0079] The working principle of the through-hole inner wall inspection module 62 is as follows: As shown in Figure 13, during non-destructive testing, the space of the through-hole inner wall inspection module 62 is limited due to the proximity of the through-hole to the outer side of the top cover 96. Therefore, it needs to be extended a certain distance in the axial direction. First, driven by the lifting transmission rod 6222, the transmission slider 6223 and the connecting slider 6225 move upward. Then, through the upward movement of the vertical moving component 53 below the through-hole inner wall inspection module 62, and under the flexible deformation of the upper centering block 6232, the lower centering block 6234, the upper coupling 6235, and the lower coupling 6237, it is guided into the interior of the through-hole by the conical surface of the horn cover 95. Since the ultrasonic eddy current probe 6242 is hinged to the probe clamping block 6241 via the third rotating shaft 6243, and the probe clamping block 6241 is hinged to the support frame 6231 via the fourth rotating shaft 6244, and the pair of probe clamping blocks 6241 are connected by the action detection elastic element 6245, the ultrasonic eddy current probe 6242 passively adapts to the internal structure of the penetrating part and achieves effective contact with the inner surface of the penetrating part, thus completing the inspection of the inner wall of the penetrating part.

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

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

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

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

[0084] 1. When the detection actuator 6 needs coupling water for non-destructive testing, open the water supply control valve 751 to connect the air and pressurize it so that the water in the water supply tank 71 is supplied to the detection actuator 6 through the water pipe;

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

[0086] 3. Opening only the recovery filter valve 756 and the water supply tank inlet control valve 752 allows the recovered water to directly enter the water supply tank 71 for replenishment; opening only the recovery filter valve 756 and the water storage tank inlet control valve 755 allows the recovered water to directly enter the water storage tank 72 for replenishment.

[0087] 4. By opening only the water storage tank outflow control valve 754 and the water supply tank inflow control valve 752, water can be replenished from the water storage tank 72 to the water supply tank 71;

[0088] 5. Opening only the water tank inlet control valve 755 and the water tank outlet control valve 754 can achieve water circulation and purification in the water tank 72.

[0089] The water circulation mechanism 7 realizes the water circulation of the coupled water, integrating the three functions of water supply, water return and filtration into one. It uses a pump body 76 and six control valves to complete the water circulation function. The filtration function is realized in the water return and water replenishment process. At the same time, the water filtration can be repeated multiple times to ensure the water quality of the supply and avoid the blockage of water pipes or poor water coupling effect of test blocks caused by impurities in the water.

[0090] As shown in Figure 17, the reactor pressure vessel top cover penetration inspection device also includes a cable management mechanism 30. The cable management mechanism 30 includes a cable management installation component 301, a cable management lifting component 302, a cable management positioning component 303, and a cable body 304. The cable management installation component 301 is connected to the connecting mechanism 4. The cable management positioning component 303 is movably connected to the cable management installation component 301. The cable body 304 is connected to the cable management positioning component 303, and the end of the cable body 304 away from the cable management positioning component 303 is connected to the vertical moving component 53. The cable management lifting component 302 is connected to the cable management installation component 301 and is used to drive the cable management positioning component 303 to move up and down.

[0091] Specifically, the cable body 304 can be a cable chain, and the cable organizing and positioning assembly 303 includes an organizing moving seat 3031, a stop bar 3032, a pulley 3033, and a pulley shaft 3034. The cable body 304 is mounted on the pulley 3033, which is hinged to the organizing moving seat 3031 via the pulley shaft 3034. The stop bar 3032 is mounted on the organizing moving seat 3031 and is used to shield the cable body 304. The cable organizing and mounting assembly 301 includes an organizing mounting plate 3011, an organizing support seat 3012 connected to the organizing mounting plate 3011, and an organizing slider 3013 connected to the organizing support seat 3012. The organizing mounting plate 3011 can be mounted on the connecting mechanism 4, and the organizing moving seat 3031 and the organizing slider 3013 are movably connected. The cable organizing and lifting assembly 302 includes an organizing cylinder 3021, which is mounted on an organizing mounting plate 3011. The output end of the organizing cylinder 3021 is connected to an organizing movable seat 3031. The organizing cylinder 3021 drives the organizing movable seat 3031 to move up and down on the organizing slider 3013 to adjust the overall length of the cable body 304. The cable organizing and mounting assembly 301 also includes a tension spring 3015, whose two ends are respectively connected to the organizing movable seat 3031 and the organizing support seat 3012. The tension spring 3015 provides a restoring elastic force for the organizing movable seat 3031. During normal inspection, the tidying cylinder 3021 drives the tidying moving seat 3031 to move up and down. When it is necessary to replace the detection actuator 6 or to calibrate the ultrasonic eddy current system, the vertical moving component 53 is in a horizontal state and needs to extend beyond the biological shielding ring 97. At this time, the length of the cable body 304 will be insufficient, so the tidying cylinder 3021 needs to drive the tidying moving seat 3031 to move downward, so that the pulley 3033 lowers its height, thereby releasing more length of the cable body 304.

[0092] As shown in Figure 18, the calibration mechanism 8 includes a calibration mounting assembly 81, a calibration lifting assembly 82, a calibration positioning assembly 83, and a calibration actuator 84. The calibration lifting assembly 82 is connected to both the calibration mounting assembly 81 and the calibration positioning assembly 83. The calibration actuator 84 is mounted on the calibration positioning assembly 83. The calibration lifting assembly 82 drives the calibration positioning assembly 83 and the calibration actuator 84 to move up and down. The main purpose of the calibration mechanism 8 is to ensure the measurement accuracy and reliability of the probe.

[0093] The calibration process for calibration body 8 is as follows:

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

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

[0096] 3. By driving the handwheel of the calibration lifting assembly 82, the vertical height of the calibration action 84 is adjusted, and the bottom moving wheel of the calibration mounting assembly 81 is moved to achieve omnidirectional movement on the horizontal plane, thus completing the concentric alignment of the calibration action 84 and the detection actuator 6.

[0097] 4. Lock the bottom moving wheels to fix the position of the calibration mechanism 8 for easy calibration next time;

[0098] 5. Perform calibration scanning on the detection actuator 6;

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

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

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

[0102] 2. Precise positioning is achieved by emitting laser points using a centering camera 101 and multiple centering lasers 102;

[0103] 3. The vertical moving component 53 drives the detection actuator 6 to move upward. After reaching the position to be inspected, the end rotating moving component 54 drives the detection actuator 6 to perform non-destructive inspection on the part to be inspected.

[0104] 4. After the different detection actuators 6 have finished their checks or the time has reached the calibration requirements, the intermediate rotating moving component 52 moves the detection actuator 6 to a horizontal position. Driven by the main rotating mechanism 2, the translation mechanism 3 and the space adjustment mechanism 5, the detection actuator 6 extends out of the biological shielding ring 97. During this process, the cable management mechanism 30 is used to adjust the length of the cable body 304.

[0105] 5. Replace other detection actuators 6 outside the biological shielding ring 97, or move the calibration mechanism 8 to keep the center of the calibration component 84 and the detection actuator 6 aligned, and perform the corresponding calibration of the detection actuator 6;

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

[0107] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope of the claims of the present invention.

Claims

1. A device for inspecting penetration parts of a reactor pressure vessel top cover, characterized in that, It includes a support mechanism (1), a main rotation mechanism (2), a translation mechanism (3), a connection mechanism (4), a spatial adjustment mechanism (5), a detection and execution mechanism (6), a water circulation mechanism (7), and a calibration mechanism (8); The support mechanism (1) is used to support the reactor pressure vessel (9). The main rotation mechanism (2) is connected to the support mechanism (1) and the translation mechanism (3) respectively. The main rotation mechanism (2) is used to drive the translation mechanism (3) to rotate. The connecting mechanism (4) is connected to the translation mechanism (3) and the space adjustment mechanism (5) respectively. The translation mechanism (3) is used to drive the connecting mechanism (4) and the space adjustment mechanism (5) to perform translational movements. The detection actuator (6) is connected to the space adjustment mechanism (5). The space adjustment mechanism (5) is used to drive the detection actuator (6) to move in space. The detection actuator (6) is used to inspect the reactor pressure vessel top cover penetration. The water circulation mechanism (7) is used to supply and recycle the coupling water used by the detection actuator (6); The calibration mechanism (8) is used to calibrate the detection actuator (6).

2. The reactor pressure vessel top cover penetration inspection device according to claim 1, characterized in that, The support mechanism (1) includes a plurality of support legs (11) and a lighting lamp (12) mounted on the support legs (11). The main rotating mechanism (2) includes a rotating fixed seat (21) connected to a plurality of support legs (11), a rotating gear (23) connected to the rotating fixed seat (21), a rotating mounting seat (24) rotatably connected to the rotating gear (23), and a main rotating driver (22) mounted on the rotating mounting seat (24). The output end of the main rotating driver (22) is connected to the rotating gear (23). The translation mechanism (3) includes a translation slide rail (31) connected to the rotary mounting base (24), a translation slider (32) movably connected to the translation slide rail (31), a translation driver (33) for driving the translation slider (32) to move on the translation slide rail (31), and a translation positioning seat (34) connected to the translation slider (32).

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

4. The reactor pressure vessel top cover penetration inspection device according to claim 3, characterized in that, The reactor pressure vessel top cover penetration inspection device also includes an alignment mechanism (10) and a monitoring mechanism (20). The centering mechanism (10) includes a centering camera (101) and a plurality of centering lasers (102). The centering camera (101) and the plurality of centering lasers (102) are all mounted on the vertical moving assembly (53). The plurality of centering lasers (102) are arranged along the circumferential direction of the centering camera (101). The monitoring unit (20) includes a global camera (201) mounted on the connecting mechanism (4) and a local camera (202) mounted on the end rotating moving assembly (54).

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

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

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

8. The reactor pressure vessel top cover penetration inspection device according to claim 3, characterized in that, The reactor pressure vessel top cover penetration inspection device also includes a cable management mechanism (30), which includes a cable management installation component (301), a cable management lifting component (302), a cable management positioning component (303), and a cable body (304). The cable organizing and installation assembly (301) is connected to the connecting mechanism (4). The cable organizing and positioning assembly (303) is movably connected to the cable organizing and installation assembly (301). The cable body (304) is connected to the cable organizing and positioning assembly (303), and the end of the cable body (304) away from the cable organizing and positioning assembly (303) is connected to the vertical moving assembly (53). The cable organizing and lifting assembly (302) is connected to the cable organizing and installation assembly (301). The cable organizing and lifting assembly (302) is used to drive the cable organizing and positioning assembly (303) to perform lifting and lowering movements.

9. The reactor pressure vessel top cover penetration inspection device according to claim 8, characterized in that, The cable organizing and positioning assembly (303) includes an organizing movable seat (3031), a stop bar (3032), a pulley (3033), and a pulley shaft (3034). The cable body (304) is mounted on the pulley (3033), and the pulley (3033) is hinged to the organizing movable seat (3031) through the pulley shaft (3034). The stop bar (3032) is mounted on the organizing movable seat (3031) and is used to cover the cable body (304). The cable organizing and installation assembly (301) includes an organizing and installation plate (3011), an organizing support base (3012) connected to the organizing and installation plate (3011), and an organizing slider (3013) connected to the organizing support base (3012). The organizing and installation plate (3011) is mounted on the connecting mechanism (4), and the organizing movable base (3031) is movably connected to the organizing slider (3013). The cable sorting and lifting assembly (302) includes a sorting cylinder (3021), which is mounted on the sorting mounting plate (3011). The output end of the sorting cylinder (3021) is connected to the sorting moving base (3031).

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

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