CN113314241A - Inside inspection equipment of reactor pressure vessel main pipe mouth - Google Patents
Inside inspection equipment of reactor pressure vessel main pipe mouth Download PDFInfo
- Publication number
- CN113314241A CN113314241A CN202110575489.5A CN202110575489A CN113314241A CN 113314241 A CN113314241 A CN 113314241A CN 202110575489 A CN202110575489 A CN 202110575489A CN 113314241 A CN113314241 A CN 113314241A
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- inspection
- pressure vessel
- reactor pressure
- main pipe
- module
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- 238000007689 inspection Methods 0.000 title claims abstract description 71
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000007547 defect Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 3
- 230000009189 diving Effects 0.000 abstract 6
- 230000006698 induction Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
-
- 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
-
- 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
-
- 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
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The invention relates to an internal inspection device of a main pipeline nozzle of a reactor pressure vessel, which comprises a diving inspection mechanism, a positioning mechanism and a control module for controlling the diving inspection mechanism and the positioning mechanism to act, wherein the diving inspection mechanism comprises a frame, an inspection module for inspecting internal defects of the nozzle, a buoyancy module for providing buoyancy, a power module for providing diving motion power and a searchlighting module for searchlighting underwater environment, and the positioning mechanism comprises a position detection component for carrying out induction detection on the position of the diving inspection mechanism and a fixing component for fixing the position of the diving inspection mechanism; the internal inspection equipment of the main pipeline nozzle of the reactor pressure vessel saves the overhaul period and occupies less nuclear island resources; the equipment can accurately position the inspection area, the positioning precision is 0.1mm, the inspection efficiency is high, the inspection accuracy is high, and the occurrence of reactor safety accidents is avoided.
Description
Technical Field
The invention relates to an internal inspection device for a nozzle of a main pipeline of a reactor pressure vessel.
Background
The nuclear reactor pressure vessel is one of the most important components of a nuclear power plant, is used for fixing, supporting and containing a reactor core and all internals, and is the only large component which cannot be replaced in the whole service life of the nuclear power plant. The quality of the nuclear reactor pressure vessel is the key to ensure the normal and safe operation of the nuclear power system. In order to determine the quality of the pressure vessel of the nuclear reactor, and in the inspection specifications and outlines of a nuclear power plant and a nuclear power plant, the mandatory requirements of nondestructive inspection are put forward on all welding seams and other parts on the pressure vessel, and the pressure vessel is specified to be inspected before service and after service respectively before being put into operation and after being operated for a certain time interval; at present, the regional inspection of crossing face that reactor pressure vessel trunk line mouth of pipe and pressure vessel were taken over is mainly through tying up the camera on the stock, then the artifical manually operation body of rod, thereby it inspects to the mouth of pipe inside to drive the camera motion, and this kind of mode is very inconvenient not only in the operation, and efficiency is also very low, and owing to the position of unable accurate control camera, leads to the inspection result not accurate enough moreover, easily causes the incident of nuclear power plant to take place.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the internal inspection equipment for the main pipeline nozzle of the reactor pressure vessel.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an inside check out test set of reactor pressure vessel trunk line mouth, check out test set includes dive inspection mechanism, positioning mechanism, the control module of control dive inspection mechanism and positioning mechanism action, dive inspection mechanism includes the frame, an inspection module for examining the inside defect of mouth, a buoyancy module for providing buoyancy, a power module for providing dive motion power, the searchlighting module of searchlighting the environment under water, positioning mechanism includes the position detection subassembly that detects is responded to dive inspection mechanism's position, carry out the fixed subassembly of rigidity to dive inspection mechanism.
Preferably, the frame comprises a central support shaft, a sleeve fixedly connected with one end of the central support shaft, and a support frame assembly fixedly connected with the other end of the central support shaft.
Preferably, the inspection module comprises a pan-tilt camera, a linear motion mechanism for moving the pan-tilt camera along the extension direction of the central support shaft rod, and a rotation mechanism for driving the pan-tilt camera to rotate around the circumferential direction.
Preferably, the detection assembly and the fixing assembly are respectively located at two corresponding sides in the extending direction of the central supporting shaft rod, and the pan-tilt camera is located between the detection assembly and the fixing assembly.
Preferably, the fixing assembly comprises three telescopic legs and a driving mechanism, wherein the three telescopic legs are uniformly distributed in the circumferential direction, and the driving mechanism drives the three telescopic legs to do telescopic motion.
Preferably, actuating mechanism is including locating the inside cylinder of sleeve, locating in the sleeve and along the driving medium of the extending direction activity setting of central support axostylus axostyle, the cylinder promotes driving medium rectilinear motion and then makes the telescopic leg concertina movement.
Preferably, the detection assembly comprises a plurality of proximity switches distributed along the circumferential direction.
Preferably, the buoyancy module comprises a first buoyancy compartment and a second buoyancy compartment located on respective sides in the direction of extension of the central support shaft.
Preferably, the power module includes an upper propeller and a lower propeller which are arranged on the supporting frame assembly and are positioned at the left side and the right side, and a front propeller and a rear propeller which are arranged on the supporting frame assembly and are positioned at the left side and the right side.
Preferably, the searchlighting module comprises a first illuminating lamp, a first camera, a second illuminating lamp and a second camera, and the first illuminating lamp, the first camera, the second illuminating lamp and the second camera are respectively located at two corresponding sides in the extending direction of the central supporting shaft rod.
Due to the implementation of the technical scheme, compared with the prior art, the invention has the following advantages:
the invention relates to an internal inspection device of a main pipeline nozzle of a reactor pressure vessel, which can freely move in a reactor water pool, wherein an inspection module is carried by the device to drill into the internal of the pressure vessel nozzle during the inspection period of a nuclear power plant, the position of the nozzle is inspected by a video, and when the device is used for inspecting the nozzle area, a reloading vehicle on the reactor water pool is not required to be occupied, and the operation can be performed in a crossed way with the operation in other reactor water pools. The overhaul period is saved, and the nuclear island resources are less occupied; the equipment can accurately position the inspection area, the positioning precision is 0.1mm, the inspection efficiency is high, the inspection accuracy is high, and the occurrence of reactor safety accidents is avoided.
Drawings
FIG. 1 is a schematic perspective view (from the rear) of an inspection apparatus according to the present invention;
FIG. 2 is a schematic perspective view (from the front) of the inspection apparatus of the present invention;
FIG. 3 is a perspective view of the fixing assembly of the present invention;
FIG. 4 is a schematic perspective view of the frame and the rotating sleeve of the present invention;
FIG. 5 is a schematic perspective view of the rotating mechanism and a portion of the frame assembly of the present invention;
wherein: 10. a pan-tilt camera; 11. a guide bar; 12. a screw rod; 120. a drive assembly; 13. rotating the sleeve; 14. a drive post; 15. a drive motor; 100. a central support shaft; 101. a sleeve; 102. a support frame assembly; 103. a release; 21. a first buoyancy compartment; 22. a second buoyancy compartment; 31. a first camera; 32. a first illumination lamp; 33. a second camera; 34. a second illumination lamp; 40. a cylinder; 41. a telescopic leg; 42. a transmission member; 420. a transmission groove; 51. an upper propeller and a lower propeller; 52. a front propeller and a rear propeller; 60. a proximity switch.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1 to 5, an inside inspection equipment of reactor pressure vessel trunk line nozzle, inspection equipment includes dive inspection mechanism, positioning mechanism, the control module of control dive inspection mechanism and positioning mechanism action, dive inspection mechanism includes the frame, an inspection module for examining the inside defect of nozzle, a buoyancy module for providing buoyancy, a power module for providing underwater motion power, searchlight module of searchlight environment under water, positioning mechanism includes the position detection subassembly that detects is responded to dive inspection mechanism's position, carry out the fixed subassembly of rigidity to dive inspection mechanism.
Specifically, the frame includes a central support shaft 100, a sleeve 101 fixedly connected to one end of the central support shaft 100, and a support frame assembly 102 fixedly connected to the other end of the central support shaft 100.
In this example, the inspection module includes a pan-tilt camera 10 (which may also carry different inspection probes for performing other inspections on the nozzle area of the reactor pressure vessel, for example, ultrasonic inspections on the nozzle area by carrying an ultrasonic probe), a linear motion mechanism for moving the pan-tilt camera 10 along the extending direction of the central support shaft 100, and a rotation mechanism for driving the pan-tilt camera 10 to rotate around the circumferential direction.
The rotating mechanism comprises a rotating sleeve 13 sleeved on the periphery of the central supporting shaft rod 100, a transmission column 14 fixedly connected with the rotating sleeve 13, and a driving motor 15 for providing power for the rotation of the transmission column 14 (the output shaft of the driving motor 15 is meshed with one end part of the transmission column 14 through a gear, which is not shown in the figure), the linear motion mechanism comprises a lead screw 12 parallel to the rotating sleeve 13, a driving assembly 120 for driving the lead screw 12 to rotate, and a guide rod 11 parallel to the lead screw 12, wherein a base body of the pan-tilt camera 10 is connected with the lead screw through a nut of the lead screw 12, and when the lead screw 12 rotates, the pan-tilt camera 10 is driven to move linearly.
Further, the detection assembly (the detection assembly includes a plurality of proximity switches 60 distributed along the circumferential direction) and the fixing assembly are respectively located at two corresponding sides in the extending direction of the central support shaft 100, and the pan-tilt camera 10 is located between the detection assembly and the fixing assembly, the detection assembly is located at the side of the support frame assembly 102, and the fixing assembly is located at the side of the sleeve 101. In this embodiment, the fixing assembly includes three telescopic legs 41 uniformly distributed in the circumferential direction, and a driving mechanism for driving the three telescopic legs 41 to perform telescopic motion. The driving mechanism comprises an air cylinder 40 arranged inside the sleeve 101, and a transmission piece 42 arranged in the sleeve 101 and movably arranged along the extending direction of the central supporting shaft rod 100, three transmission parts in one-to-one correspondence with the three telescopic legs 41 are arranged on the transmission piece 42, oblique transmission grooves 420 are formed in the three transmission parts, and when the air cylinder 40 pushes the transmission piece 42 to move linearly, the telescopic legs 41 can synchronously do telescopic movement through the guiding effect of the oblique transmission grooves 420. Proximity switch 60 is when sensing reactor pressure vessel main pipe mouth border, through proximity switch 60 feedback's signal, and known equipment bores into preset position, then control module controlgear stop motion to flexible leg 41 is outwards stretched out, until supporting on the mouth inner peripheral surface, thereby whole equipment is fixed, has just also carried out accurate location to the inspection area, positioning accuracy 0.1mm, the accurate inspection of making a video recording is carried out to the cloud platform camera 10 of being convenient for next.
Further, the buoyancy module comprises a first buoyancy compartment 21 and a second buoyancy compartment 22 (through which the device gravity is balanced with buoyancy) on respective sides in the extension direction of the central support shaft 100. The power module includes upper and lower propellers 51 provided on the support frame assembly 102 and located at the left and right sides, and front and rear propellers 52 provided on the support frame assembly 102 and located at the left and right sides. The up-and-down propellers 51 can float or submerge the apparatus, while the front-and-rear propellers 52 can achieve front-and-rear movement and steering movement of the apparatus.
Further, the searchlight module includes a first illuminating lamp 32, a first camera 31, a second illuminating lamp 34, and a second camera 33, and the first illuminating lamp 32, the first camera 31, the second illuminating lamp 34, and the second camera 33 are respectively located at two corresponding sides in the extending direction of the central support shaft 100. The searchlighting module can enable an operator to observe the front and back directions under a bright condition, so that the movement of the operating equipment is facilitated and the equipment is prevented from colliding.
In addition, a release 103 for hoisting is fixed on the supporting frame assembly 102, when the device is used, the device is hoisted integrally, the device is hoisted into a reactor water pool through a hoisting belt, and then the release 103 is released. In addition, the control module is provided with an interface component which comprises an underwater power supply interface, an underwater air source interface, an underwater optical fiber interface and an underwater video model interface, and the interface component and the onshore control box complete the mutual transmission of power supply, video and control signals, so that the control equipment can complete various functions underwater.
In summary, the internal inspection equipment of the main pipe nozzle of the reactor pressure vessel can freely move in the reactor water tank, the equipment carries an inspection module to drill into the internal of the pressure vessel nozzle during the inspection period of the nuclear power plant, the pipe nozzle position is inspected visually, and when the equipment is used for inspecting the pipe nozzle area, the equipment does not need to occupy a reloading vehicle on the reactor water tank and can be performed in a way of crossing with the operation in other reactor water tanks. The overhaul period is saved, and the nuclear island resources are less occupied; the equipment can accurately position the inspection area, the positioning precision is 0.1mm, the inspection efficiency is high, the inspection accuracy is high, and the occurrence of reactor safety accidents is avoided.
The present invention has been described in detail in order to enable those skilled in the art to understand the invention and to practice it, and it is not intended to limit the scope of the invention, and all equivalent changes and modifications made according to the spirit of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides an inside inspection equipment of reactor pressure vessel main pipe mouth which characterized in that: check out test set is including dive inspection mechanism, positioning mechanism, control dive inspection mechanism and the control module of positioning mechanism action, dive inspection mechanism includes the frame, is used for examining the inspection module of mouth of pipe internal defect, is used for providing buoyancy module of buoyancy, is used for providing the power module of dive motion power, searchlight module of searchlight environment under water, positioning mechanism includes right dive inspection mechanism's position detection subassembly that the position of place carries out the response detection, right dive inspection mechanism carries out fixed subassembly of rigidity.
2. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 1, wherein: the frame comprises a central supporting shaft rod, a sleeve fixedly connected with one end of the central supporting shaft rod and a supporting frame assembly fixedly connected with the other end of the central supporting shaft rod.
3. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 2, wherein: the inspection module comprises a pan-tilt camera, a linear motion mechanism and a rotating mechanism, wherein the linear motion mechanism enables the pan-tilt camera to move along the extending direction of the central supporting shaft rod, and the rotating mechanism drives the pan-tilt camera to rotate around the circumferential direction.
4. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 3, wherein: the detection component and the fixing component are respectively positioned on two corresponding sides in the extending direction of the central supporting shaft rod, and the pan-tilt camera is positioned between the detection component and the fixing component.
5. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 4, wherein: the fixed assembly comprises three telescopic legs and a driving mechanism, wherein the three telescopic legs are uniformly distributed in the circumferential direction, and the driving mechanism drives the three telescopic legs to do telescopic motion.
6. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 5, wherein: the driving mechanism comprises an air cylinder arranged in the sleeve and a transmission piece movably arranged in the sleeve along the extending direction of the central supporting shaft rod, and the air cylinder pushes the transmission piece to move linearly so as to enable the telescopic legs to move telescopically.
7. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 4, wherein: the detection assembly includes a plurality of proximity switches distributed along a circumferential direction.
8. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 2, wherein: the buoyancy module comprises a first buoyancy compartment and a second buoyancy compartment which are respectively positioned at two corresponding sides in the extending direction of the central support shaft rod.
9. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 2, wherein: the power module comprises an upper propeller, a lower propeller, a front propeller and a rear propeller, wherein the upper propeller and the lower propeller are arranged on the supporting frame assembly and are positioned on the left side and the right side, and the front propeller and the rear propeller are arranged on the supporting frame assembly and are positioned on the left side and the right side.
10. The reactor pressure vessel main pipe nozzle internal inspection apparatus according to claim 2, wherein: the searchlighting module comprises a first illuminating lamp, a first camera, a second illuminating lamp and a second camera, and the first illuminating lamp, the first camera, the second illuminating lamp and the second camera are respectively positioned at two corresponding sides in the extending direction of the central supporting shaft rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110575489.5A CN113314241B (en) | 2021-05-26 | 2021-05-26 | Reactor pressure vessel main pipeline nozzle internal inspection equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110575489.5A CN113314241B (en) | 2021-05-26 | 2021-05-26 | Reactor pressure vessel main pipeline nozzle internal inspection equipment |
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| CN113314241A true CN113314241A (en) | 2021-08-27 |
| CN113314241B CN113314241B (en) | 2024-02-13 |
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| CN202110575489.5A Active CN113314241B (en) | 2021-05-26 | 2021-05-26 | Reactor pressure vessel main pipeline nozzle internal inspection equipment |
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-
2021
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| Publication number | Publication date |
|---|---|
| CN113314241B (en) | 2024-02-13 |
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