CN108320819A - A kind of nuclear power station coaming plate bolt check device - Google Patents
A kind of nuclear power station coaming plate bolt check device Download PDFInfo
- Publication number
- CN108320819A CN108320819A CN201711287083.7A CN201711287083A CN108320819A CN 108320819 A CN108320819 A CN 108320819A CN 201711287083 A CN201711287083 A CN 201711287083A CN 108320819 A CN108320819 A CN 108320819A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic probe
- nuclear power
- power station
- coaming plate
- check device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/01—Inspection of the inner surfaces of vessels
-
- 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 discloses a kind of nuclear power station coaming plate bolt check devices comprising remote control system, underwater operation platform and the cable being connected between the remote control system and underwater operation platform, the underwater operation platform include：Buoyancy compartment, the camera holder set on buoyancy compartment side and ultrasonic probe tool rack, multiple vertical spin paddle propellers and multiple horizontal propeller propellers, the rotation axis in multiple vertical spin paddle propellers at least there are two the vertical spin paddle propeller are obliquely installed in splayed.Vertical spin paddle propeller uses splay layout, and when two propellers equidirectional with speed operating can realize that the raising and lowering of underwater operation platform may be implemented lateral translational movement, improve the flexibility of underwater operation platform only there are one when propeller action.
Description
Technical field
The present invention relates to nuclear power testing equipment field, more particularly to a kind of nuclear power station coaming plate bolt check device.
Background technology
Nuclear power station baffle assembly is the important composition component of reactor core, for going along with sb. to guard him nuclear fuel assembly, building ring
Border is complicated, including high temperature, high pressure, strong neutron irradiation and vibration, and after longtime running, the coaming plate bolt as fastener is also easy to produce
Irradiate stress corrosion cracking (SCC) IASCC.Damaged coaming plate bolt can lead to the loosening that coaming plate connects, and reduce the whole rigid of baffle assembly
Degree, under the percussion of primary Ioops coolant, harm can be generated to nuclear fuel assembly by loosening baffle assembly.80 years 20th century
Generation, the states such as the U.S., France, Finland are found that the breakage of coaming plate bolt and corrosion phenomenon in its in-Service Inspection of Nuclear Power Station.It is in-service
During inspection, in order to shield the radiation of baffle assembly, baffle assembly need to be positioned in dedicated pond, and having in pond can cover
The deionized water of baffle assembly.
Nuclear power station coaming plate bolt check device mainly has SURPEEM-ROSA V robots and the U.S. west of French EDF exploitations
The MIDAS VI underwater robots of room company exploitation.SUPREEM-ROSA V robots use rack-like structures, first will when use
Robot is installed to above coaming plate, constitutes a fixed platform, and more free manipulators of lower end installation can carry ultrasound
Probe is implemented to check to coaming plate bolt.The major defect of SURPEEM-ROSA V has：Equipment using when need to be set at the scene
Standby assembly, the process need to occupy the row crane system in nuclear island；The equipment flexibility and universal poor, replacement nuclear power station machine
When set type, need to be adjusted the structure of equipment.MIDAS VI underwater robots are a microminiature submarines, in cylinder
Dynamical system, ultrasonic probe and auxiliary system are installed on the buoyancy compartment of shape, ultrasonic spy is realized by operating underwater robot
Inspection of the head to coaming plate bolt.The major defect of MIDAS VI has：The equipment ultrasonic probe can not carry out the fine motion adjustment of position,
It is unfavorable for the contraposition of ultrasonic probe and coaming plate bolt；It is poor that columnar buoyancy compartment resists the ability to swing；Equipment is in water
Under cannot carry out transverse motion.
A kind of microminiature operation underwater robot of nuclear power plant of BJ University of Aeronautics ＆ Astronautics's exploitation is a kind of for nuclear reaction
The operating platform in heap pond is mainly used for nuclear power plant reactor pond, Spent Fuel Pool and reactor core during overhaul
Inspection, repair and foreign matter search, salvage.The major defect of Beijing Institute of Aeronautics microminiature underwater robot has：The equipment body structure
Using polymer architecture, when long-term under nuclear power environment after be also easy to produce radiation embrittlement fracture；Equipment cannot carry out cross under water
Shifting movement.
Invention content
The object of the present invention is to provide a kind of up and down that can realize underwater operation platform, it is horizontally diverted, sidesway etc.
Movement, movement is flexible, improves the nuclear power station coaming plate bolt check device of ultrasonic probe and the efficiency of coaming plate bolt contraposition.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：A kind of nuclear power station coaming plate bolt check device,
It includes remote control system, underwater operation platform and is connected between the remote control system and underwater operation platform
Cable, the underwater operation platform includes：Buoyancy compartment, camera holder and ultrasonic probe tool set on buoyancy compartment side
Frame, multiple vertical spin paddle propellers and multiple horizontal propeller propellers, in multiple vertical spin paddle propellers at least
The rotation axis of two vertical spin paddle propellers is obliquely installed in splayed.
Optimization, perforative mounting hole is offered in the middle part of the buoyancy compartment, the vertical spin paddle propeller is installed respectively
In in the mounting hole.
Optimization, there are two be respectively arranged in below the buoyancy compartment for the horizontal propeller propeller.
Optimization, the check device further includes the bottom plate being connected by supporting rack with the buoyancy compartment, the bottom plate
For the Turbogrid plates of hollow out, the ultrasonic probe tool rack is installed on the bottom plate.
Optimization, the ultrasonic probe tool rack includes ultrasonic probe, extension board, the rail being installed on the extension board
Road, the electric machine support being slidably connected on the track, the traversing motor of the ultrasonic probe being installed on the electric machine support and
Ultrasonic probe electric rotating machine, the driving gear being connected with the traversing motor of the ultrasonic probe and with the extension board is mutually fixed connects
The rack for connecing and being meshed with the driving gear, the ultrasonic probe are installed on the ultrasonic probe electric rotating machine.
Optimization, the track has two and a parallel setting, and the electric machine support includes and the track mutually company of sliding
The transverse part connect and the longitudinal portion perpendicular with the transverse part, set that there are two mounting hole, the ultrasounds in the longitudinal direction portion
It pops one's head in traversing motor and ultrasonic probe electric rotating machine is respectively arranged in two mounting holes and the ultrasonic probe is traversing
The output shaft of motor and ultrasonic probe electric rotating machine is parallel.
Optimization, the camera holder includes the rotating bracket being mutually fixedly connected with the buoyancy compartment and the rotation
Holder rotate connection tilt mount, be rotationally connected on the tilt mount camera fixed plate, respectively drive it is described
Tilt mount and the rotary electric machine of camera fixed plate rotation, the camera that is installed in the camera fixed plate and multiple
Be installed on the headlamp in the camera fixed plate and being distributed in around the camera, the camera fixed plate relative to
The shaft of the tilt mount rotation and the tilt mount are perpendicular relative to the shaft rotated in rotating bracket.
Optimization, the remote control system includes control unit and the underwater control being installed in the buoyancy compartment on the bank
Portion, the underwater control portion include the underwater control unit being electrically connected with the control unit on the bank, sensor unit and more
A control signal output, the control unit on the bank include that control unit and the control unit on the bank are electrically connected on the bank
Ultrasound Instrument component, underwater operation platform courses panel, ultrasonic probe tool rack control panel, display module and monitor.
Optimization, the cable is neutral buoyancy cable.
The beneficial effects of the present invention are：
1. buoyancy compartment is welded using sheet metal part, the high-level radiation under nuclear power use environment can be resisted；
2. bottom plate can protect shock of the bottom of pond to underwater operation platform, when underwater operation platform removes pond, this is reduced
Deionized water entrained by body reduces the risk that core deionized water enters outside pond；
3. vertical spin paddle propeller uses splay layout, when two propellers equidirectional with speed operating, can be realized
The raising and lowering of underwater operation platform may be implemented lateral translational movement, improve underwater operation only there are one when propeller action
The flexibility of platform；
4. camera holder improves field range and the operation spirit of camera using the configuration structure of " pitching+rotation "
Activity；
5. using the ultrasonic probe frame of two-freedom, coarse positioning, ultrasonic probe tool rack are carried out by underwater operation platform
It is accurately positioned, improves the location efficiency of ultrasonic probe；
6. the underwater gravity of neutral buoyancy cable is approximately equal to natural buoyancy, it is in suspended state, underwater operation in water
When platform moves, the disturbance to underwater operation platform can be reduced.
Description of the drawings
Fig. 1 nuclear power station baffle assemblies place schematic diagram；
Fig. 2 nuclear power station coaming plate bolts check schematic diagram；
Fig. 3 underwater operation platform structure schematic diagrames；
(it is vertical spin that the arrow line of vertical spin paddle propeller is passed through in figure to Fig. 4 underwater operation platform structures schematic diagram
The pivot center of paddle propeller)；
Fig. 5 ultrasonic probe tool frame structure schematic diagrames；
Fig. 6 camera cradle head structure schematic diagrames；
Fig. 7 underwater control units constitute figure；
Control system constitutes figure to Fig. 8 on the bank.
Specific implementation mode
Embodiment shown in below in conjunction with the accompanying drawings is described in detail below the present invention：
As shown in Figure 1, crab bolt check device is used to check the nuclear power station baffle assembly 5 placed in pond 4, baffle assembly
Plate 6, coaming plate bolt 7, lower Turbogrid plates 8 are surrounded, as shown in Fig. 2, crab bolt check device includes remote control system, underwater operation
Platform 1 and the neutral buoyancy cable 2 being connected between the remote control system and underwater operation platform 1.
As shown in Figure 3,4, the underwater operation platform 1 includes：Buoyancy compartment 11, the camera cloud set on 11 side of buoyancy compartment
Platform 12 and ultrasonic probe tool rack 13, multiple vertical spin paddle propellers 14, multiple horizontal propeller propellers 15, with it is described
The bottom plate 17 that buoyancy compartment 11 is connected by supporting rack 16 and the monitoring head 18 being installed between horizontal propeller propeller 15.
The bottom plate 17 is the Turbogrid plates of hollow out, and the ultrasonic probe tool rack 13 is installed on the bottom plate 17.
There are two the vertical spin paddle propellers 14, and the middle part of the buoyancy compartment 11 offers perforative mounting hole, two
The vertical spin paddle propeller 14 is respectively arranged in the mounting hole and the two rotation axis is obliquely installed in splayed.Institute
Stating horizontal propeller propeller 15, there are two be respectively arranged in 11 lower section of the buoyancy compartment.
As shown in figure 5, the ultrasonic probe tool rack 13 includes ultrasonic probe 131, extension board 132, is installed on described prolong
It stretches the track 133 on plate 132, the electric machine support 134 being slidably connected on the track 133, be installed on the electric machine support 134
On the traversing motor 135 of ultrasonic probe and ultrasonic probe electric rotating machine 136, be connected with the traversing motor of the ultrasonic probe 135
The driving gear 137 connect and the rack 138 for being fixedly connected with 132 phase of the extension board and being meshed with the driving gear 137,
The extension board 132 is fixedly connected with 17 phase of bottom plate, and the ultrasonic probe 131 is installed on the ultrasonic probe electric rotating machine 136
On.It includes being slidably connected with 133 phase of the track that the track 133, which has two and parallel setting, the electric machine support 134,
Transverse part and the longitudinal portion perpendicular with the transverse part, set that there are two mounting hole, the ultrasonic probes in the longitudinal direction portion
Traversing motor 135 and ultrasonic probe electric rotating machine 136 are respectively arranged in two mounting holes and the ultrasonic probe is horizontal
The output shaft for moving motor 135 and ultrasonic probe electric rotating machine 136 is parallel.
As shown in fig. 6, the camera holder 12 include the rotating bracket 121 being fixedly connected with 11 phase of the buoyancy compartment,
It is fixed with the rotate tilt mount 122 connecting, the camera being rotationally connected on the tilt mount 122 of the rotating bracket
Plate 123, is installed on the camera at the rotary electric machine for respectively driving the tilt mount 122 and the rotation of camera fixed plate 123
It camera 124 in fixed plate 123 and multiple are installed in the camera fixed plate 123 and are distributed in the camera
Headlamp 125 around 124, the camera fixed plate 123 are bowed relative to the shaft that the tilt mount 122 rotates with described
It is perpendicular relative to the shaft rotated in rotating bracket 121 to face upward holder 122.
As shown in Figure 7,8, the remote control system includes control unit 31 and being installed in the buoyancy compartment 11 on the bank
Underwater control portion 32, the underwater control portion include underwater control unit, the sensor being electrically connected with the control unit on the bank
Unit and multiple control signal output end, control signal output are horizontal with headlamp 125, rotary electric machine, ultrasonic probe respectively
Move motor, ultrasonic probe electric rotating machine, 15 phase of camera 124, vertical spin paddle propeller 14 and horizontal propeller propeller
Electrical connection.
The control unit on the bank includes the Ultrasound Instrument group that control unit and the control unit on the bank are electrically connected on the bank
Part, 1 control panel of underwater operation platform, 13 control panel of ultrasonic probe tool rack, display module and monitor, the ultrasound
Component includes Ultrasound Instrument and ultrasound acquisition computer, and the display module includes host computer, display and video recorder.
Implement substantially step when coaming plate inspection：
Underwater operation platform is put in nuclear power station baffle assembly to place in pond, control unit is positioned over bank, the two on the bank
It is connected by neutral buoyancy cable.Such as Fig. 7, underwater operation platform courses panel is for operating the underwater fortune of underwater operation platform
It is dynamic, by control vertically and horizontally screw propeller realize decline, float, it is horizontal turn left, horizontal right-hand rotation, sidesway, advance, after
The actions such as move back.It may be implemented to decline when the equidirectional rotation of two vertical spin paddle propeller uniform velocity and float, two horizontal spiral shells
May be implemented to move forward and backward when the rotation equidirectional rotation of paddle propeller uniform velocity, the rotation of only one vertical spin paddle propeller when can
Left and right turn may be implemented when realizing sidesway, the rotation of only one horizontal propeller propeller.Underwater operation platform is moved to
Near coaming plate bolt, the angle of camera holder is adjusted at this time, the surface appearance of coaming plate bolt is observed, by adjusting underwater operation
Platform makes ultrasonic probe be kept close to state with coaming plate bolt.By ultrasound acquisition computer acquisition ultrasonic signal, coaming plate is completed
The inspection of bolt.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by spirit, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of nuclear power station coaming plate bolt check device comprising remote control system, underwater operation platform and be connected to institute
State the cable between remote control system and underwater operation platform, which is characterized in that the underwater operation platform includes：Buoyancy
Cabin, the camera holder set on buoyancy compartment side and ultrasonic probe tool rack, multiple vertical spin paddle propellers and multiple
Horizontal propeller propeller, at least there are two the rotary shafts of the vertical spin paddle propeller in multiple vertical spin paddle propellers
Line is obliquely installed in splayed.
2. nuclear power station coaming plate bolt check device according to claim 1, it is characterised in that：It is opened up in the middle part of the buoyancy compartment
There are perforative mounting hole, the vertical spin paddle propeller to be respectively arranged in the mounting hole.
3. nuclear power station coaming plate bolt check device according to claim 1, it is characterised in that：The horizontal propeller promotes
There are two be respectively arranged in below the buoyancy compartment for device.
4. nuclear power station coaming plate bolt check device according to claim 1, it is characterised in that：The check device further includes
The bottom plate being connected by supporting rack with the buoyancy compartment, the bottom plate are the Turbogrid plates of hollow out, the ultrasonic probe tool rack
It is installed on the bottom plate.
5. nuclear power station coaming plate bolt check device according to claim 1 or 4, it is characterised in that：The ultrasonic probe work
It includes ultrasonic probe, extension board, the track being installed on the extension board, the motor branch being slidably connected on the track to have frame
Frame, the traversing motor of the ultrasonic probe being installed on the electric machine support and ultrasonic probe electric rotating machine and the ultrasonic probe
The driving gear that traversing motor is connected and the rack for being mutually fixedly connected with the extension board and being meshed with the driving gear,
The ultrasonic probe is installed on the ultrasonic probe electric rotating machine.
6. nuclear power station coaming plate bolt check device according to claim 1, it is characterised in that：The track has two and phase
It is arranged in parallel, the electric machine support includes the transverse part being mutually slidably connected with the track and perpendicular with the transverse part
Longitudinal portion is set in the longitudinal direction portion there are two mounting hole, the traversing motor of the ultrasonic probe and ultrasonic probe electric rotating machine point
It is not installed in two mounting holes and the output shaft phase of the traversing motor of the ultrasonic probe and ultrasonic probe electric rotating machine
It is parallel.
7. nuclear power station coaming plate bolt check device according to claim 1, it is characterised in that：The camera holder includes
The rotating bracket that is mutually fixedly connected with the buoyancy compartment, the tilt mount connecting that rotates with the rotating bracket, rotation connection
In on the tilt mount camera fixed plate, respectively drive the tilt mount and camera fixed plate rotation rotation electricity
It machine, the camera being installed in the camera fixed plate and multiple are installed in the camera fixed plate and are distributed in institute
State the headlamp around camera, the shaft and the pitching branch that the camera fixed plate is rotated relative to the tilt mount
Frame is perpendicular relative to the shaft rotated in rotating bracket.
8. nuclear power station coaming plate bolt check device according to claim 1, it is characterised in that：The remote control system packet
Control unit on the bank and the underwater control portion being installed in the buoyancy compartment are included, the underwater control portion includes being controlled on the bank with described
Underwater control unit, sensor unit and the multiple control signal output end that portion is electrically connected, the control unit on the bank include
Control unit, the Ultrasound Instrument component being electrically connected with the control unit on the bank, underwater operation platform courses panel, ultrasound on the bank
Probe tool frame control panel, display module and monitor.
9. nuclear power station coaming plate bolt check device according to claim 1, it is characterised in that：The cable is neutral buoyancy electricity
Cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287083.7A CN108320819A (en) | 2018-02-27 | 2018-02-27 | A kind of nuclear power station coaming plate bolt check device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287083.7A CN108320819A (en) | 2018-02-27 | 2018-02-27 | A kind of nuclear power station coaming plate bolt check device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108320819A true CN108320819A (en) | 2018-07-24 |
Family
ID=62892586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711287083.7A Pending CN108320819A (en) | 2018-02-27 | 2018-02-27 | A kind of nuclear power station coaming plate bolt check device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108320819A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110824020A (en) * | 2019-11-15 | 2020-02-21 | 中广核检测技术有限公司 | Adjustable-posture connecting pipe welding seam ultrasonic and eddy current scanning device and positioning method |
| CN113314241A (en) * | 2021-05-26 | 2021-08-27 | 中广核检测技术有限公司 | Inside inspection equipment of reactor pressure vessel main pipe mouth |
| 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 |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007132769A (en) * | 2005-11-10 | 2007-05-31 | Hitachi Ltd | Underwater inspection device |
| JP2008116421A (en) * | 2006-11-08 | 2008-05-22 | Hitachi Ltd | Underwater inspection apparatus and method |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
| CN203189977U (en) * | 2013-04-27 | 2013-09-11 | 焦浩 | Novel intelligent cradle head with multiple degrees of freedom |
| CN103856757A (en) * | 2012-12-07 | 2014-06-11 | 新昌县冠阳技术开发有限公司 | Novel monitoring system based on touch type cloud deck controller |
| CN105548471A (en) * | 2015-12-10 | 2016-05-04 | 中国石油大学(华东) | Scanning device used for detecting defects on internal and external surfaces of pipeline |
| CN105810264A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Vector control underwater planktonic video inspection device |
-
2018
- 2018-02-27 CN CN201711287083.7A patent/CN108320819A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007132769A (en) * | 2005-11-10 | 2007-05-31 | Hitachi Ltd | Underwater inspection device |
| JP2008116421A (en) * | 2006-11-08 | 2008-05-22 | Hitachi Ltd | Underwater inspection apparatus and method |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
| CN103856757A (en) * | 2012-12-07 | 2014-06-11 | 新昌县冠阳技术开发有限公司 | Novel monitoring system based on touch type cloud deck controller |
| CN203189977U (en) * | 2013-04-27 | 2013-09-11 | 焦浩 | Novel intelligent cradle head with multiple degrees of freedom |
| CN105810264A (en) * | 2014-12-30 | 2016-07-27 | 中核武汉核电运行技术股份有限公司 | Vector control underwater planktonic video inspection device |
| CN105548471A (en) * | 2015-12-10 | 2016-05-04 | 中国石油大学(华东) | Scanning device used for detecting defects on internal and external surfaces of pipeline |
Non-Patent Citations (2)
| Title |
|---|
| BYUNG-HAK CHO .ET AL: "KeproVt：underwater robotic system for visual inspection of nuclear reactor internals", 《NUCLEAR ENGINEERING AND DESIGN》 * |
| M.BOLANDER .ET AL: "Ultrasonic inspection of baffle to former bolts in pressurizer water reactors", 《JRC-NDE 2013 SECTION：REACTOR PRESSURE VESSEL》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110824020A (en) * | 2019-11-15 | 2020-02-21 | 中广核检测技术有限公司 | Adjustable-posture connecting pipe welding seam ultrasonic and eddy current scanning device and positioning method |
| CN113314241A (en) * | 2021-05-26 | 2021-08-27 | 中广核检测技术有限公司 | Inside inspection equipment of reactor pressure vessel main pipe mouth |
| CN113314241B (en) * | 2021-05-26 | 2024-02-13 | 中广核检测技术有限公司 | Reactor pressure vessel main pipeline nozzle internal inspection equipment |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108320819A (en) | A kind of nuclear power station coaming plate bolt check device | |
| US20070189858A1 (en) | Underwater inspecting and repairing system | |
| JP2009530541A (en) | Wind turbine nacelle with integrated maintenance crane to access turbine components | |
| CN101693368A (en) | Large plate installation mechanical arm | |
| JP4112891B2 (en) | In-reactor transfer device | |
| CN110207948B (en) | Large-scale ocean structure rigid body motion and elastic deformation water tank test device | |
| JP2018019586A (en) | Floating power generation plant system without anchor | |
| CN113551871B (en) | Test device for simulating action mechanism of hull plate and ice | |
| CN108375625A (en) | A kind of the jacket Corrosion monitoring equipment and corrosion detecting method of no magnetic interference | |
| CN103969111A (en) | Model mixed loading device | |
| CN104986319A (en) | Vector propelling device, airship and installation method for vector propelling device | |
| JPH0915377A (en) | Device and method for remote in-pile work | |
| CN204010705U (en) | A kind of nuclear power station is the float assembly with sucker under water | |
| CN110824020B (en) | Posture-adjustable joint pipe welding line ultrasonic and vortex scanning device and positioning method | |
| CN106769153A (en) | Ship's crane automatic experiment system | |
| CN208705001U (en) | A kind of monoblock type liftable push-plate type wave simulator | |
| CN116373514A (en) | Caterpillar ROV with dual-mode operation capability | |
| CN215678020U (en) | Wind-powered electricity generation blade rain loses test cabin | |
| CN109659045A (en) | Run through the cavitating water jet surface Hardening Treatment system and method for pipe for nuclear plant pressure vessels | |
| CN109580342A (en) | Clamping device is used in the test of cavitating water jet surface Hardening Treatment | |
| CN211336367U (en) | Underwater robot throwing and recycling device | |
| JPH07110320A (en) | Pressure vessel tester | |
| CN114313153A (en) | Device and method for recovering submarine seismograph in ice area environment | |
| CN113682435A (en) | Novel wave glider of multi-link formula | |
| CN114111778B (en) | Stable platform of photoelectric detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180724 |
|
| RJ01 | Rejection of invention patent application after publication |