CN108269626B - Ultrasonic inspection system for inner wall of vertical connecting pipe of nuclear reactor steam generator - Google Patents
Ultrasonic inspection system for inner wall of vertical connecting pipe of nuclear reactor steam generator Download PDFInfo
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- CN108269626B CN108269626B CN201611262271.XA CN201611262271A CN108269626B CN 108269626 B CN108269626 B CN 108269626B CN 201611262271 A CN201611262271 A CN 201611262271A CN 108269626 B CN108269626 B CN 108269626B
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- ultrasonic inspection
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention relates to the technical field of ultrasonic inspection of the inner wall of a steam generator connecting pipe, and particularly discloses an ultrasonic inspection system of the inner wall of a vertical connecting pipe of a nuclear reactor steam generator. The system comprises a carrying platform, an ultrasonic inspection device and a quick connection mechanism, wherein the carrying platform is fixed in a manhole of a cold end water chamber of a steam generator and is quickly connected with and disconnected from the ultrasonic inspection device through the quick connection mechanism; the carrying platform can drive the ultrasonic inspection device to lift and swing in the water outlet connecting pipe of the steam generator, so that ultrasonic inspection on the inner wall of the welding seam between the water outlet pipe and the main pump is realized. According to the ultrasonic inspection system, the carrying platform and the ultrasonic inspection device can be quickly arranged outside the cold end water chamber of the steam generator; the ultrasonic inspection device can be sent into each inspected connection pipe by means of the carrying platform; the ultrasonic inspection device can realize the positioning and installation in the inspected pipe through the movement of a plurality of mechanisms, and can realize the circumferential and axial ultrasonic scanning.
Description
Technical Field
The invention belongs to the technical field of ultrasonic inspection of the inner wall of a steam generator connecting pipe, and particularly relates to an ultrasonic inspection system of the inner wall of a vertical connecting pipe of a nuclear reactor steam generator.
Background
The AP1000 nuclear reactor is a third-generation nuclear power unit introduced from a western house in the United states of China, and according to related requirements of ASME specifications, a steam generator water outlet connecting pipe and a main pump connecting welding seam of the unit are used as equipment connecting welding seams of a main loop, belong to the content of the necessary inspection of regulations, and the nuclear safety supervision department of China correspondingly puts forward the in-service inspection requirements of the connecting welding seam and is incorporated into the in-service inspection outline of three doors and sea. It is anticipated that all AP1000 nuclear reactors will need to perform this project check in the future.
At present, the ultrasonic inspection of the welding seam is taken over by a steam generator of the nuclear motor unit, and the approach mode from the outer wall of the welding seam is selected. The connecting welding seam of the AP1000 steam generator and the main pump is a thick-wall welding seam, and is limited by an ultrasonic inspection method, inspection is required to be carried out from the inner wall of the connecting welding seam, and the inspection range is 1/3 of the wall thickness of the inner wall of the welding seam.
The AP1000 steam generator lower seal head is a hemispherical body with the diameter of about 4500mm, the inner partition plate divides the lower seal head into a cold end water chamber and a hot end water chamber, and the water outlet connecting pipe is a vertical connecting pipe. When the ultrasonic inspection is implemented from inside to the joint weld of steam generator play water takeover and main pump, the only channel of cold junction hydroecium is the hydroecium manhole, and the manhole diameter only 457.2mm, and the internal diameter 657.4mm of joint weld, and take over and manhole deposit 45 contained angles, and low head hydroecium structural feature brings very big difficulty for inspection device's accessibility.
During in-service inspection, the steam generator and the main pump area are high-environment radiation areas and have the risk of in-vivo contamination; the radiation hot spot exists in the steam generator water chamber, and the direct influence is caused on the health of an installer.
Disclosure of Invention
The invention aims to provide an ultrasonic inspection system for the inner wall of a vertical connecting pipe of a nuclear reactor steam generator, which can move according to a preset track, send an ultrasonic inspection device into an inspected connecting pipe, position and install the ultrasonic inspection device in the connecting pipe by means of self movement, and carry out ultrasonic inspection on the inner wall of the vertical connecting pipe, so that an installer can install and operate inspection equipment outside a water chamber, and the purpose of carrying out ultrasonic inspection on a welding seam from the inner wall of the welding seam between a water outlet connecting pipe of the similar AP1000 steam generator and a main pump is realized.
The technical scheme of the invention is as follows: the ultrasonic inspection system comprises a carrying platform, an ultrasonic inspection device and a quick connecting mechanism, wherein the carrying platform is fixed in a manhole of a cold end water chamber of the steam generator and is quickly connected with and disconnected from the ultrasonic inspection device through the quick connecting mechanism; the carrying platform can drive the ultrasonic inspection device to lift and swing in the water outlet connecting pipe of the steam generator, so that ultrasonic inspection on the inner wall of the welding seam between the water outlet pipe and the main pump is realized.
The carrying platform comprises a platform bracket, a first rod, a second rod and a turntable, wherein the first rod is arranged on the turntable in a penetrating way and can move along the direction vertical to the turntable; the turntable is fixed in a manhole of a cold end water chamber of the steam generator through a platform bracket; the first rod is rotated by rotation of the spindle in the turntable; the second rod is fixedly connected with the upper end of the first rod through a rotary joint.
The platform bracket is of a disc structure, and a pair of positioning plates are vertically arranged on the disc structure; the positioning plate is provided with a pin sliding groove and a pin inserting hole, and the turntable is fixed on the platform bracket through the pin, the pin sliding groove in the positioning plate and the pin inserting hole.
The connecting line of the axle center of the pin sliding groove in the positioning plate and the axle center of the first pin jack is parallel to the plane where the disc structure in the platform bracket is located, and the connecting line of the axle center of the pin sliding groove and the axle center of the second pin jack forms an included angle of 45 degrees with the plane where the disc structure in the platform bracket is located.
The turntable is composed of a turntable seat, a turntable mandrel and a worm and gear meshing structure, the turntable seat is connected and positioned with the platform support through a pin on a positioning plate on the platform support, the turntable mandrel is connected with the turntable seat through a bearing, and the turntable mandrel is driven by the worm and gear to rotate relative to the turntable seat.
The platform support is of a one-third disc structure, the distance between a pair of positioning plates is L=a+0.5mm, and a is the width of the rotary table.
The second rod sleeve rod structure is connected with the upper end of the first rod through a rotary joint, and the included angle between the second rod and the first rod is adjusted within the range of 0-100 degrees through the rotary joint; the second rod is internally provided with a motor, a sliding screw rod and a guide rail, so that the second rod sleeve rod with the diameter of 40-60 mm can stretch and retract within the range of 1.4-2 m.
The end of the second rod is connected with the ultrasonic inspection device through the quick connecting mechanism, wherein the quick connecting mechanism comprises a quick connector, a rotating shaft and a rotating joint, the end of the second rod is connected with the rotating shaft through the rotating joint, the other end of the rotating shaft is connected with the quick connector and is connected with the ultrasonic inspection device through the quick connector, and the included angle between the second rod and the rotating shaft is adjusted within the range of 0-100 degrees through the rotating joint.
The first rod is of a cylindrical rod-shaped structure, the length of the first rod is 1.6-2 m, the diameter of the first rod is 50-70 mm, the first rod is arranged in the turntable mandrel through a guide rail and rotates simultaneously with the turntable mandrel, and the first rod passes through an internally arranged motor and a sliding screw rod, and a sliding screw rod nut passes through a first rod body to be fixed on the turntable mandrel so as to realize the movement of the first rod along the direction vertical to the turntable; the first rod is fixedly connected with the turntable mandrel through the linear guide rail and the sliding block, so that the first rod rotates along with the rotation of the turntable mandrel.
The ultrasonic inspection device comprises an inspection device swinging component, an upper supporting mechanism component, a tray turntable component and an inspection device frame, wherein the inspection device swinging component connected with the quick connecting mechanism is connected with the inspection device frame, the inspection device frame is respectively provided with the upper supporting mechanism component and the tray turntable component, and the ultrasonic inspection device swinging relative to the carrying platform is realized by utilizing the inspection device swinging component.
The inspection device swinging component comprises a swinging machine frame rod, a swinging mandrel, a swinging motor component, an inspection device holding ring and a swinging nut seat, wherein the swinging mandrel is arranged in the swinging frame, one end of the swinging mandrel is provided with the inspection device holding ring, and the other end of the swinging mandrel is provided with the swinging nut seat; the swinging motor assembly arranged on the swinging frame comprises a motor, a screw nut and a crank block, the motor drives a nut in the screw nut to linearly run, the screw nut is connected with the swinging nut seat through a pin, and the movement of the screw nut realizes the swinging of the swinging mandrel relative to the swinging frame through the crank block; the swinging machine frame is fixedly connected with the carrying platform through the quick connecting mechanism, and the checking device embracing ring is relatively fixed with the checking device frame, so that the ultrasonic checking device swings relative to the carrying platform through the swinging of the swinging mandrel relative to the swinging frame.
The inspection device rack comprises an upper supporting telescopic rod and an inspection device rack rod, wherein one end of the upper supporting telescopic rod is fixedly connected with an inspection device holding ring in the inspection swinging component, and the other end of the upper supporting telescopic rod is connected with the inspection device rack rod through an upper supporting base in the upper supporting mechanism component; the upper supporting mechanism part comprises an upper supporting base, an upper supporting expanding sliding table, an upper supporting connecting rod and an upper supporting shoe, wherein the upper supporting base is fixedly arranged on a frame rod of the inspection device, a sliding block matched with guide rails on two sides of an upper supporting telescopic rod is arranged in the upper supporting base, and the upper supporting telescopic rod stretches in the upper supporting base and the frame rod of the inspection device through motor driving worm gears and racks; the three upper support boots are connected with the upper support base through three upper support connecting rods, the upper support connecting rods of the parallel connecting rod structure are connected with an upper support expansion sliding table arranged on the upper support telescopic rod through connecting rods, and the upper support expansion sliding table moves along the upper support telescopic rod to realize synchronous parallel expansion of the upper support boots.
The opening angle of the three support connecting rods is changed within the range of 0-90 degrees, and when the support connecting rods are completely retracted, the enveloping circle diameter of the three upper support boots is slightly smaller than the diameter of the groove of the connecting tube 'plum petal'.
The upper support expansion sliding table is provided with a lock tongue which is matched with a lock hole on the upper support telescopic rod, and after the upper support telescopic rod stretches to a proper position, the lock tongue is inserted into the lock hole, so that the upper support expansion sliding table and the upper support telescopic rod synchronously move.
The tray turntable component is arranged on a frame rod of the inspection device in the inspection device frame, and the screw rod is driven to rotate by utilizing an axial scanning driving mechanism on an upper supporting base in the upper supporting mechanism component to act together with a nut on the tray turntable component so as to realize the lifting of the tray turntable component.
The tray turntable component comprises a tray opening rack, a tray opening mandrel, a circumferential scanning mechanism, a tray opening driving mechanism, a tray opening mechanism and a probe tray, wherein the tray opening rack is of a frame structure and is fixed on a rack rod of an inspection device through the tray opening mandrel, so that the tray opening driving mechanism and the tray opening mechanism which are arranged on the tray opening rack rotate around the tray opening mandrel under the action of the circumferential scanning mechanism; the circumferential scanning mechanism comprises a motor-driven pinion arranged on the tray opening rack and rotates in a meshed mode through a large gear arranged on a mandrel of the tray turntable, so that circumferential rotation of the tray opening rack is realized; the probe tray is connected with the tray opening rack through the tray opening mechanism and driven by a tray opening driving mechanism arranged on the tray opening rack, so that the probe tray is opened.
The tray opening driving mechanism comprises a driving mechanism nut and a driving mechanism rocker, a motor in the tray opening driving mechanism drives a screw rod to drive the driving mechanism nut to move up and down, and the driving mechanism nut is connected with the driving mechanism rocker so as to drive the driving mechanism rocker to swing; the tray opening mechanism comprises an opening mechanism driving rod, an opening mechanism middle rod and an opening mechanism connecting rod, wherein the probe tray is connected with the tray opening rack through the opening mechanism connecting rod, one end of the opening mechanism driving rod is connected with the opening mechanism connecting rod through the opening mechanism middle rod, and the other end of the opening mechanism driving rod is connected with a driving mechanism rocker, so that the opening mechanism connecting rod is driven to swing through the swing of the opening mechanism driving rod, and the opening of the probe tray is realized.
The invention has the remarkable effects that: the invention relates to an ultrasonic inspection system for the inner wall of a vertical connecting pipe of a nuclear reactor steam generator, wherein a carrying platform can be quickly arranged outside a cold end water chamber of the steam generator and an ultrasonic inspection device; the ultrasonic inspection device can be sent into each inspected connection pipe by means of the carrying platform; the ultrasonic inspection device can realize the positioning and installation in the inspected pipe through the movement of a plurality of mechanisms, and can realize the circumferential and axial ultrasonic scanning.
Drawings
FIG. 1 is a schematic view of an ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator according to the present invention;
FIG. 2 is a schematic view of the carrying platform of FIG. 1;
FIG. 3 is a schematic view of the platform support structure of FIG. 2;
FIG. 4 is a schematic view of the structure of the positioning plate in FIG. 3;
FIG. 5 is a schematic view of the ultrasonic inspection apparatus of FIG. 1;
FIG. 6 is a schematic view of the swing member of the inspection apparatus of FIG. 5;
FIG. 7 is a schematic view of the upper support mechanism assembly of FIG. 5;
FIG. 8 is a schematic view of the pallet turret assembly of FIG. 5;
FIG. 9 is a schematic view of the tray opening related mechanism of FIG. 5;
FIG. 10 is a cross-sectional view of the transfer table structure of FIG. 2;
in the figure: 1. a carrying platform; 2. an ultrasonic inspection device; 3. a quick connection mechanism; 4. a platform bracket; 5. A first lever; 6. a second lever; 7. a quick connector; 8. a turntable; 9. a positioning plate; 10. pin insertion holes; 11. A pin chute; 12. an inspection device swinging member; 13. an upper support mechanism component; 14. a tray turntable member; 15. a swinging machine hack lever; 16. swinging the mandrel; 17. a swing motor assembly; 18. the checking device is embraced; 19. swinging the nut seat; 20. an upper support base; 21. checking a machine frame rod of the device; 22. an upper support telescopic rod; 23. the upper support opens the slipway; 24. an upper support link; 25. an upper support shoe; 26. an axial scanning driving mechanism; 27. the tray opens the frame; 28. the tray opens the mandrel; 29. a circumferential scanning mechanism; 30. a tray opening driving mechanism; 31. a tray opening mechanism; 32. a probe tray; 33. a drive mechanism nut; 34. A driving mechanism rocker; 35. an opening mechanism driving rod; 36. an opening mechanism middle rod; 37. an opening mechanism connecting rod; 38. a turret base; 39. a turntable mandrel; 40. a worm gear meshing structure; 41. sliding a lead screw; 42. And sliding the lead screw nut.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
As shown in fig. 1, an ultrasonic inspection system for the inner wall of a vertical connecting pipe of a nuclear reactor steam generator comprises a carrying platform 1, an ultrasonic inspection device 2 and a quick connecting mechanism 3, wherein the carrying platform 1 is fixed in a manhole of a cold end water chamber of the steam generator and is quickly connected with and disconnected from the ultrasonic inspection device 2 through the quick connecting mechanism 3;
as shown in fig. 2 to 4, the carrying platform 1 comprises a platform bracket 4, a first rod 5, a second rod 6 and a turntable 8, wherein the platform bracket 4 is of a third disc structure, a pair of positioning plates 9 are vertically arranged on the disc structure, and the distance between the two positioning plates 9 on the disc structure is l=a+0.5mm, wherein a is the width of the turntable 8; each positioning plate 9 comprises a pin chute 11 and two pin insertion holes 10 at the upper end of the positioning plate, wherein the connecting line of the axis of the pin chute 11 and the axis of the first pin insertion hole is parallel to the plane where the disc structure in the platform bracket 4 is located, and the connecting line of the axis of the pin chute 11 and the axis of the second pin insertion hole forms an included angle of 45 degrees with the plane where the disc structure in the platform bracket 4 is located; the turntable 8 is inserted into the pin sliding groove 11 and the pin insertion hole 10 through the pin, the turntable 8 is fixed with the platform bracket 4, and when the posture of the carrying platform 1 is integrally adjusted, the carrying platform 1 except the platform bracket 4 can be integrally rotated by 45 degrees by taking the pin sliding groove as the center through changing the pin insertion hole 10; the turntable 8 consists of a turntable seat 38, a turntable mandrel 39 and a worm and gear meshing structure 40, wherein the turntable seat is connected and positioned with the platform bracket 4 through a pin on a positioning plate 9 on the platform bracket 4, the turntable mandrel is connected with the turntable seat through a bearing, and the turntable mandrel is driven by a worm and gear to rotate relative to the turntable seat; the first rod 5 is of a cylindrical rod-shaped structure, the length of the first rod 5 is 1.6-2 m, the diameter of the first rod is 50-70 mm, the first rod 5 is arranged in the turntable mandrel through a guide rail and rotates simultaneously with the turntable mandrel, a motor and a sliding screw 41 are arranged in the first rod 5, the sliding screw nut 42 penetrates through the first rod body to be fixed on the turntable mandrel, and the first rod 5 moves along the direction vertical to the turntable 8 through the screw nut structure; the second rod 6 is in a loop rod structure, the second rod is connected with the upper end of the first rod 5 through a rotary joint, and the included angle between the second rod 6 and the first rod 5 is adjusted within the range of 0-100 degrees through the rotary joint; the second rod 6 is internally provided with a motor, a sliding screw rod and a guide rail, so that the second rod 6 sleeve rod with the diameter of 40-60 mm can stretch and retract within the range of 1.4-2 m; the tail end of the second rod 6 is connected with the ultrasonic inspection device 2 through the quick connecting mechanism 3, wherein the quick connecting mechanism 3 comprises a quick connector 7, a rotating shaft and a rotating joint, the tail end of the second rod 6 is connected with the rotating shaft through the rotating joint, the other end of the rotating shaft is connected with the quick connector 7 and is connected with the ultrasonic inspection device 2 through the quick connector 7, and the included angle between the second rod 6 and the rotating shaft is adjusted within the range of 0-100 degrees through the rotating joint;
as shown in fig. 5 to 9, the ultrasonic inspection device 2 includes an inspection device swinging member 12, an upper supporting mechanism member 13, a tray turntable member 14, and an inspection device frame, wherein the inspection device swinging member 12 connected with the quick connection mechanism 3 is connected with the inspection device frame, and the upper supporting mechanism member 13 and the tray turntable member 14 are respectively mounted on the inspection device frame, and the inspection device swinging member 12 is utilized to realize the swinging of the ultrasonic inspection device 2 relative to the carrying platform 1;
the inspection device swinging component 12 comprises a swinging machine frame rod 15, a swinging mandrel 16, a swinging motor assembly 17, an inspection device holding ring 18 and a swinging nut seat 19, wherein the swinging mandrel 16 is installed in the swinging frame 15, the inspection device holding ring 18 is installed at one end of the swinging mandrel 16, and the swinging nut seat 19 is installed at the other end of the swinging mandrel 16; the swing motor assembly 17 mounted on the swing frame 15 comprises a motor, a screw nut and a crank block, the motor drives a nut in the screw nut to linearly run, the screw nut is connected with the swing nut seat 19 through a pin, and the movement of the screw nut realizes the swing of the swing mandrel 16 relative to the swing frame 15 through the crank block; the swing frame 15 is fixedly connected with the carrying platform 1 through the quick connecting mechanism 3, and the checking device holding ring 18 and the checking device frame are relatively fixed, so that the swing of the ultrasonic checking device 2 relative to the carrying platform 1 is realized through the swing of the swing mandrel 16 relative to the swing frame 15;
the inspection device rack comprises an upper supporting telescopic rod 22 and an inspection device rack rod 21, wherein one end of the upper supporting telescopic rod 22 is fixedly connected with the inspection device holding ring 18, and the other end of the upper supporting telescopic rod is connected with the inspection device rack rod 21 through an upper supporting base 20 in the upper supporting mechanism part 13; the upper supporting mechanism part 13 comprises an upper supporting base 20, an upper supporting expanding sliding table 23, an upper supporting connecting rod 24 and an upper supporting shoe 25, wherein the upper supporting base 20 is fixedly arranged on the checking device frame rod 21, sliding blocks matched with guide rails on two sides of the upper supporting telescopic rod 22 are arranged in the upper supporting base 20, and the upper supporting telescopic rod 22 is driven by a motor to realize the telescopic action of the upper supporting telescopic rod 22 in the upper supporting base 20 and the checking device frame rod 21 through the driving of a worm gear and a rack and pinion; the three upper support boots 25 are connected with the upper support base 20 through three upper support connecting rods 24, the upper support connecting rods 24 of the parallel connecting rod structure are connected with an upper support expansion sliding table 23 arranged on the upper support telescopic rod 22 through connecting rods, and the upper support expansion sliding table 23 moves along the upper support telescopic rod 22 to realize synchronous parallel expansion of the upper support boots, wherein the expansion angle is changed within the range of 0-90 degrees; when the upper supporting shoe connecting rod is stretched to 90 degrees, the diameter of the enveloping circle of the three upper supporting shoes 25 is slightly smaller than the diameter of the groove of the connecting pipe 'plum blossom valve'; the upper support expansion sliding table 23 is provided with a lock tongue which is matched with a lock hole on the upper support telescopic rod 22, and after the upper support telescopic rod 22 stretches to a proper position, the lock tongue is inserted into the lock hole to enable the upper support expansion sliding table 23 and the upper support telescopic rod 22 to synchronously move;
the tray turntable component 14 is arranged on a frame rod 21 of the inspection device with a guide rail, and drives a screw rod to rotate by utilizing an axial scanning driving mechanism arranged on the upper support base 20, and the screw rod and a nut on the tray turntable component jointly act to realize the lifting of the tray turntable component, so that the aim of axial scanning is realized; the tray turntable component comprises a tray opening rack 27, a tray opening mandrel 28, a circumferential scanning mechanism 29, a tray opening driving mechanism 30, a tray opening mechanism 31 and a probe tray 32, wherein the tray opening rack 27 is of a frame structure and is fixed on a rack rod 21 of the inspection device through the tray opening mandrel 28, so that the tray opening driving mechanism 26 and the tray opening mechanism 31 which are arranged on the tray opening rack 27 rotate around the tray opening mandrel 28 under the action of the circumferential scanning mechanism 29; wherein the circumferential scanning mechanism 29 comprises a motor-driven pinion gear mounted on the tray opening frame 27 to rotate, and is meshed and rotated by a large gear mounted on the tray turntable mandrel 28, so that circumferential rotation of the tray opening frame 27 is realized; the probe tray 32 is connected with the tray opening rack 27 through a tray opening mechanism and is driven by a tray opening driving mechanism 30 arranged on the tray opening rack 27, so that the probe tray 32 is opened; the tray opening driving mechanism 30 comprises a driving mechanism nut 33 and a driving mechanism rocker 34, a motor in the tray opening driving mechanism 30 drives a screw rod to drive the driving mechanism nut 33 to move up and down, and the driving mechanism nut 33 is connected with the driving mechanism rocker 34 so as to drive the driving mechanism rocker 34 to swing; the tray expanding mechanism 31 comprises an expanding mechanism driving rod 35, an expanding mechanism middle rod 36 and an expanding mechanism connecting rod 37, wherein the probe tray 32 is connected with the tray expanding rack 27 through the expanding mechanism connecting rod 37, one end of the expanding mechanism driving rod 35 is connected with the expanding mechanism connecting rod 37 through the expanding mechanism middle rod 36, the other end of the expanding mechanism driving rod 35 is connected with the driving mechanism rocker 34, and accordingly the expanding mechanism connecting rod 37 is driven to swing through the swing of the expanding mechanism driving rod 35, and accordingly the probe tray 32 is expanded. The probe tray 32 is provided with a plurality of ultrasonic detection probes which are symmetrically arranged at 180 degrees, and ultrasonic detection is implemented after the ultrasonic detection device is in place.
Claims (16)
1. An ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator, characterized in that: the system comprises a carrying platform (1), an ultrasonic inspection device (2) and a quick connecting mechanism (3), wherein the carrying platform (1) is fixed in a manhole of a cold end water chamber of a steam generator and is quickly connected with and disconnected from the ultrasonic inspection device (2) through the quick connecting mechanism (3); the carrying platform (1) can drive the ultrasonic inspection device to lift and swing in the water outlet connecting pipe of the steam generator, so that ultrasonic inspection on the inner wall of a welding seam between the water outlet pipe and the main pump is realized; the ultrasonic inspection device (2) comprises an inspection device swinging component (12), the inspection device swinging component (12) comprises a swinging machine frame rod (15), a swinging mandrel (16), a swinging motor assembly (17), an inspection device holding ring (18) and a swinging nut seat (19), wherein the swinging mandrel (16) is arranged in the swinging machine frame rod (15), one end of the swinging mandrel (16) is provided with the inspection device holding ring (18), and the other end of the swinging mandrel (16) is provided with the swinging nut seat (19); the swinging motor assembly (17) arranged on the swinging machine hack lever (15) comprises a motor, a screw nut and a crank block, the motor drives a nut in the screw nut to linearly run, the screw nut is connected with the swinging nut seat (19) through a pin, and the movement of the screw nut realizes the swinging of the swinging mandrel (16) relative to the swinging machine hack lever (15) through the crank block; the swinging machine hack lever (15) is fixedly connected with the carrying platform (1) through the quick connecting mechanism (3), and the checking device embracing ring (18) is relatively fixed with the checking device frame, so that the swinging of the ultrasonic checking device (2) relative to the carrying platform (1) is realized through the swinging of the swinging mandrel (16) relative to the swinging machine hack lever (15).
2. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator according to claim 1, wherein: the carrying platform (1) comprises a platform bracket (4), a first rod (5), a second rod (6) and a turntable (8), wherein the first rod (5) is arranged on the turntable (8) in a penetrating manner, and the first rod (5) can move along the direction perpendicular to the turntable (8); the turntable (8) is fixed in a manhole of a cold end water chamber of the steam generator through the platform bracket (4); the first rod (5) is rotated by rotation of the mandrel in the turntable (8); the second rod (6) is fixedly connected with the upper end of the first rod (5) through a rotary joint.
3. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator according to claim 2, wherein: the platform bracket (4) is of a disc structure, and a pair of positioning plates (9) are vertically arranged on the disc structure; the positioning plate (9) is provided with a pin sliding groove (11) and a pin inserting hole (10), and the turntable (8) is fixed on the platform bracket (4) through the pin, the pin sliding groove (11) and the pin inserting hole (10) in the positioning plate (9).
4. An ultrasonic inspection system for the internal walls of a vertical nozzle of a nuclear reactor steam generator according to claim 3, characterized in that: the connecting line of the axle center of the pin sliding groove (11) in the positioning plate (9) and the axle center of the first pin jack is parallel to the plane where the disc structure in the platform bracket (4) is located, and the connecting line of the axle center of the pin sliding groove (11) and the axle center of the second pin jack forms an included angle of 45 degrees with the plane where the disc structure in the platform bracket (4) is located.
5. An ultrasonic inspection system for the internal walls of a vertical nozzle of a nuclear reactor steam generator according to claim 3, characterized in that: the turntable (8) comprises a turntable seat (38), a turntable mandrel (39) and a worm gear meshing structure (40), wherein the turntable seat is connected and positioned with the platform bracket (4) through a pin on a positioning plate (9) on the platform bracket (4), and the turntable mandrel (39) is connected with the turntable seat (38) through a bearing and driven by the worm gear to rotate relative to the turntable seat.
6. An ultrasonic inspection system for the internal walls of the vertical tubes of a nuclear reactor steam generator according to claim 2 or 3, characterized in that: the platform bracket (4) is of a one-third disc structure, the distance between a pair of positioning plates (9) is L=a+0.5mm, and a is the width of the rotary table (8).
7. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator according to claim 2, wherein: the second rod (6) is in a sleeve rod structure, the second rod is connected with the upper end of the first rod (5) through a rotary joint, and an included angle between the second rod (6) and the first rod (5) is adjusted within a range of 0-100 degrees through the rotary joint; the second rod (6) is internally provided with a motor, a sliding screw rod and a guide rail, so that the second rod (6) sleeve rod with the diameter of 40-60 mm can stretch and retract within the range of 1.4-2 m.
8. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator according to claim 2, wherein: the tail end of the second rod (6) is connected with the ultrasonic inspection device (2) through the quick connecting mechanism (3), wherein the quick connecting mechanism (3) comprises a quick connector (7), a rotating shaft and a rotating joint, the tail end of the second rod (6) is connected with the rotating shaft through the rotating joint, the other end of the rotating shaft is connected with the quick connector (7) and is connected with the ultrasonic inspection device (2) through the quick connector (7), and the included angle between the second rod (6) and the rotating shaft is adjusted within the range of 0-100 degrees through the rotating joint.
9. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator according to claim 2, wherein: the first rod (5) is of a cylindrical rod-shaped structure, the length of the first rod (5) is 1.6-2 m, the diameter of the first rod is 50-70 mm, the first rod (5) is installed inside the turntable mandrel through a guide rail and rotates simultaneously with the turntable mandrel, the first rod (5) passes through an internally arranged motor and a sliding screw (41), and a sliding screw nut (42) passes through a first rod body to be fixed on the turntable mandrel, so that the first rod (5) moves along the direction vertical to the turntable (8); the first rod (5) is fixedly connected with the turntable mandrel through a linear guide rail and a sliding block, so that the first rod (5) rotates along with the rotation of the turntable mandrel.
10. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator according to claim 1, wherein: the ultrasonic inspection device (2) comprises an inspection device swinging component (12), an upper supporting mechanism component (13), a tray turntable component (14) and an inspection device frame, wherein the inspection device swinging component (12) connected with the quick connecting mechanism (3) is connected with the inspection device frame, the inspection device frame is respectively provided with the upper supporting mechanism component (13) and the tray turntable component (14), and the inspection device swinging component (12) is utilized to realize the swinging of the ultrasonic inspection device (2) relative to the carrying platform (1).
11. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator of claim 10, wherein: the inspection device rack comprises an upper supporting telescopic rod (22) and an inspection device rack rod (21), wherein one end of the upper supporting telescopic rod (22) is fixedly connected with an inspection device holding ring (18) in an inspection device swinging component (12), and the other end of the upper supporting telescopic rod is connected with the inspection device rack rod (21) through an upper supporting base (20) in an upper supporting mechanism component (13); the upper supporting mechanism part (13) comprises an upper supporting base (20), an upper supporting opening sliding table (23), an upper supporting connecting rod (24) and an upper supporting shoe (25), wherein the upper supporting base (20) is fixedly arranged on a machine frame rod (21) of the inspection device, sliding blocks matched with guide rails on two sides of an upper supporting telescopic rod (22) are arranged in the upper supporting base (20), and the upper supporting telescopic rod (22) is driven by a motor to realize the telescopic action in the upper supporting base (20) and the machine frame rod (21) of the inspection device through worm gear and gear rack transmission; the three upper support boots (25) are connected with the upper support base (20) through three upper support connecting rods (24), the upper support connecting rods (24) of the parallel connecting rod structure are connected with an upper support expansion sliding table (23) arranged on the upper support telescopic rod (22) through connecting rods, and the upper support expansion sliding table (23) moves along the upper support telescopic rod (22) to realize synchronous parallel expansion of the upper support boots.
12. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator of claim 11, wherein: the opening angle of the three support connecting rods (24) is changed within the range of 0-90 degrees, and when the support connecting rods (24) are completely retracted, the enveloping circle diameter of the three upper support boots (25) is slightly smaller than the diameter of the groove of the connecting tube 'plum petal'.
13. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator of claim 11, wherein: the upper support expansion sliding table (23) is provided with a lock tongue which is matched with a lock hole on the upper support telescopic rod (22), and after the upper support telescopic rod (22) stretches to a proper position, the lock tongue is inserted into the lock hole, so that the upper support expansion sliding table (23) and the upper support telescopic rod (22) synchronously move.
14. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator of claim 10, wherein: the tray turntable component (14) is arranged on an inspection device frame rod (21) in the inspection device frame, and an axial scanning driving mechanism on an upper supporting base (20) in the upper supporting mechanism component (13) is utilized to drive a screw rod to rotate, so that the tray turntable component can be lifted and lowered under the combined action of nuts on the tray turntable component (14).
15. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator of claim 14, wherein: the tray turntable component (14) comprises a tray opening rack (27), a tray opening mandrel (28), a circumferential scanning mechanism (29), a tray opening driving mechanism (30), a tray opening mechanism (31) and a probe tray (32), wherein the tray opening rack (27) is of a frame structure and is fixed on a rack rod (21) of the inspection device through the tray opening mandrel (28), so that the tray opening driving mechanism (30) and the tray opening mechanism (31) arranged on the tray opening rack (27) rotate around the tray opening mandrel (28) under the action of the circumferential scanning mechanism (29); the circumferential scanning mechanism (29) comprises a motor-driven pinion arranged on the tray opening frame (27) and rotates in a meshed manner through a large gear arranged on the tray opening mandrel (28), so that the circumferential rotation of the tray opening frame (27) is realized; the probe tray (32) is connected with the tray opening rack (27) through a tray opening mechanism and is driven by a tray opening driving mechanism (30) arranged on the tray opening rack (27), so that the probe tray (32) is opened.
16. The ultrasonic inspection system for the inner wall of a vertical nozzle of a nuclear reactor steam generator of claim 15, wherein: the tray opening driving mechanism (30) comprises a driving mechanism nut (33) and a driving mechanism rocker (34), a motor in the tray opening driving mechanism (30) drives a screw rod to drive the driving mechanism nut (33) to move up and down, the driving mechanism nut (33) is connected with the driving mechanism rocker (34), and then the driving mechanism rocker (34) is driven to swing; the tray opening mechanism (31) comprises an opening mechanism driving rod (35), an opening mechanism middle rod (36) and an opening mechanism connecting rod (37), wherein the probe tray (32) is connected with the tray opening rack (27) through the opening mechanism connecting rod (37), one end of the opening mechanism driving rod (35) is connected with the opening mechanism connecting rod (37) through the opening mechanism middle rod (36), the other end of the opening mechanism driving rod (35) is connected with the driving mechanism rocker (34), and accordingly the opening mechanism connecting rod (37) is driven to swing through the swing of the opening mechanism driving rod (35), and accordingly the opening of the probe tray (32) is achieved.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262271.XA CN108269626B (en) | 2016-12-30 | 2016-12-30 | Ultrasonic inspection system for inner wall of vertical connecting pipe of nuclear reactor steam generator |
| PCT/CN2017/119491 WO2018121683A1 (en) | 2016-12-30 | 2017-12-28 | Ultrasonic inspection system of vertical connection pipe inner wall of steam generator of nuclear reactor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262271.XA CN108269626B (en) | 2016-12-30 | 2016-12-30 | Ultrasonic inspection system for inner wall of vertical connecting pipe of nuclear reactor steam generator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108269626A CN108269626A (en) | 2018-07-10 |
| CN108269626B true CN108269626B (en) | 2023-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611262271.XA Active CN108269626B (en) | 2016-12-30 | 2016-12-30 | Ultrasonic inspection system for inner wall of vertical connecting pipe of nuclear reactor steam generator |
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| Country | Link |
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| CN (1) | CN108269626B (en) |
| WO (1) | WO2018121683A1 (en) |
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| CN111354484A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Automatic checking device for bolts of nuclear safety primary parts |
| CN111354486A (en) * | 2018-12-21 | 2020-06-30 | 核动力运行研究所 | Automatic inspection device for main bolt of reactor pressure vessel |
| CN109406634B (en) * | 2018-12-21 | 2023-10-20 | 核动力运行研究所 | Probe laminating device for weld joint detection |
| CN110962117A (en) * | 2019-12-30 | 2020-04-07 | 核动力运行研究所 | Multi-joint underwater foreign matter clamping device for nuclear power plant |
| CN112225368A (en) * | 2020-11-13 | 2021-01-15 | 广东思绿环保科技股份有限公司 | Disconnect-type heavy metal effluent treatment plant |
| CN112743327B (en) * | 2020-12-30 | 2022-03-22 | 核动力运行研究所 | Nuclear power station steam generator primary side high water level closure plate dismouting robot |
| CN113808767A (en) * | 2021-09-18 | 2021-12-17 | 中国核动力研究设计院 | Reactor main pump connecting pipe welding seam inspection device |
| CN117492058B (en) * | 2023-12-29 | 2024-03-22 | 湖南千智机器人科技发展有限公司 | Nuclear detection and cleaning device and method suitable for circular pipeline |
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Also Published As
| Publication number | Publication date |
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| CN108269626A (en) | 2018-07-10 |
| WO2018121683A1 (en) | 2018-07-05 |
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