WO2018121683A1 - 核反应堆蒸汽发生器竖直接管内壁的超声检查系统 - Google Patents

核反应堆蒸汽发生器竖直接管内壁的超声检查系统 Download PDF

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Publication number
WO2018121683A1
WO2018121683A1 PCT/CN2017/119491 CN2017119491W WO2018121683A1 WO 2018121683 A1 WO2018121683 A1 WO 2018121683A1 CN 2017119491 W CN2017119491 W CN 2017119491W WO 2018121683 A1 WO2018121683 A1 WO 2018121683A1
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WIPO (PCT)
Prior art keywords
rod
inspection device
tray
ultrasonic inspection
upper support
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PCT/CN2017/119491
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English (en)
French (fr)
Inventor
朱性利
周礼峰
罗玉文
邱进杰
乐磊
陈姝
张志义
蔡家藩
刘畅
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核动力运行研究所
中核武汉核电运行技术股份有限公司
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Publication of WO2018121683A1 publication Critical patent/WO2018121683A1/zh

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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
    • 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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  • the invention belongs to the technical field of ultrasonic inspection of the inner wall of a steam generator, and particularly relates to an ultrasonic inspection system for the inner wall of the vertical tube of the nuclear reactor steam generator.
  • the AP1000 nuclear reactor is the third-generation nuclear power unit introduced from Westinghouse in the United States. According to the relevant requirements of the ASME specification, the steam generator outlet of the unit and the main pump are connected to the weld as the main circuit. China's nuclear safety regulatory authorities have also put forward the requirements for in-service inspection of the joint weld, and have been included in the in-service inspection program of Sanmen and Haiyang. It is foreseeable that all AP1000 nuclear reactors in the future will need to be inspected for this project.
  • the ultrasonic inspection of the welder of the nuclear power generator's steam generator has chosen the approach from the outer wall of the weld.
  • the welding joint between the AP1000 steam generator and the main pump is a thick-walled weld. Due to the limitations of the ultrasonic inspection method itself, it is necessary to carry out inspection from the inner wall of the joint weld, and the inspection range is 1/3 of the inner wall of the weld.
  • the lower head of the AP1000 steam generator is a hemisphere with a diameter of about 4500 mm.
  • the inner partition divides the lower head into a cold end water chamber and a hot end water chamber, and the outlet pipe is a vertical straight tube.
  • the only channel of the cold water chamber is the water chamber manhole.
  • the diameter of the manhole is only 457.2mm, and the inner diameter of the joint weld is 657.4mm.
  • the manhole is stored at an angle of 45°, and the structural characteristics of the lower head water chamber bring great difficulty to the accessibility of the inspection device.
  • the steam generator and the main pump area are high-environment radiation areas, and there is a risk of contamination in the body; there is a radiation hot spot in the steam generator water chamber, which has a direct impact on the health of the installer.
  • the object of the present invention is to provide an ultrasonic inspection system for the inner wall of a vertical reactor tube of a nuclear reactor steam generator, which can be moved according to a predetermined trajectory, and the ultrasonic inspection device is sent into the joint to be inspected, and the ultrasonic inspection device is positioned in the nozzle by its own motion. Installation, and ultrasonic inspection of the vertical wall of the vertical pipe, so that the installation personnel can install and operate the inspection equipment outside the water to realize the ultrasonic inspection of the weld seam of the AP1000 steam generator outlet pipe and the main pump connection weld from the inner wall of the weld.
  • an ultrasonic inspection system for the inner wall of a vertical reactor tube of a nuclear reactor steam generator comprising a carrier platform, an ultrasonic inspection device and a quick connection mechanism, the carrier platform being fixed in the manhole of the cold end water chamber of the steam generator And the ultrasonic inspection device realizes quick connection and disengagement through the quick connection mechanism; wherein the carrying platform can drive the ultrasonic inspection device to rise and fall in the steam generator outlet pipe, and realize ultrasonic examination of the inner wall of the weld joint connecting the outlet pipe and the main pump .
  • the carrying platform comprises a platform bracket, a first rod, a second rod and a turntable, wherein the first rod is installed on the turntable, and the first rod can be moved in the direction of the vertical turntable; the turntable is fixed by the platform bracket
  • the steam generator is in the cold hole water chamber manhole; the first rod is rotated by the rotation of the mandrel in the turntable; the second rod is fixedly connected to the upper end of the first rod by the rotating joint.
  • the platform bracket is a disc structure, and a pair of positioning plates are vertically mounted on the disc structure; the positioning plate is provided with a pin chute and a pin jack, and the turntable passes through the pin and the pin chute in the positioning plate As well as the pin jack, the turntable is fixed to the platform bracket.
  • the axis of the pin chute in the positioning plate and the line connecting the axis of the first pin jack are parallel to the plane of the disc structure in the platform bracket, the axis of the pin chute and the second pin jack therein
  • the connection of the axis is at an angle of 45° to the plane in which the disc structure in the platform support is located.
  • the turntable is composed of a turntable seat, a turntable mandrel and a worm-worm meshing structure.
  • the turntable seat is connected with the platform bracket through a pin on the positioning plate of the platform bracket, and the turntable mandrel is connected with the turntable seat through the bearing, and is in the worm gear
  • the rotation of the turntable mandrel relative to the turntable is realized under driving.
  • the second pole position sleeve structure is connected to the upper end of the first rod by a rotary joint, and the angle between the second rod and the first rod is adjusted by a rotary joint in a range of 0 to 100°;
  • the motor, the sliding screw and the guide rail are arranged inside, and the second rod sleeve with a diameter of 40-60 mm can be expanded and contracted in the range of 1.4 m to 2 m.
  • the second rod end is connected to the ultrasonic inspection device by a quick connection mechanism, wherein the quick connection structure comprises a quick joint, a rotating shaft and a rotating joint, and the second rod end is connected with the rotating shaft through a rotating joint, and the rotating shaft is The other end is connected to the quick connector, and is connected to the ultrasonic inspection device through the quick connector, so that the angle between the second rod and the rotating shaft is adjusted by the rotating joint in the range of 0 to 100 degrees.
  • the first rod is a cylindrical rod-like structure having a length of 1.6 to 2 m and a diameter of 50 to 70 mm.
  • the first rod is mounted on the inside of the turntable mandrel through a guide rail, and the first shaft passes through the built-in motor.
  • the sliding screw and the sliding screw nut are fixed on the turntable mandrel through the first rod body, so that the first rod moves in the direction of the vertical turntable; the first rod and the turntable core shaft are fixedly connected by the linear guide and the slider, A rotational movement of the first rod with the rotation of the turntable mandrel.
  • the ultrasonic inspection apparatus includes an inspection device swinging member, an upper support mechanism member, a tray turntable member, and an inspection device frame, wherein the inspection device swinging member connected to the quick connect mechanism is connected to the inspection device frame and is inspected An upper support mechanism member and a tray turntable member are respectively disposed on the device frame, and the swinging member of the inspection device is used to swing the ultrasonic inspection device relative to the carrying platform.
  • the oscillating member of the inspection device comprises a oscillating frame rod, a swinging mandrel, a oscillating motor assembly, an inspection device holding ring and a oscillating nut seat, wherein the oscillating frame is provided with a swinging mandrel, and an end of the oscillating mandrel is provided with an inspection device
  • the swing motor assembly mounted on the swing frame comprises a motor, a screw nut and a crank slider, and the nut in the motor drive screw nut runs straight, the screw nut and the screw nut
  • the swinging nut seat is connected by a pin, and the movement of the screw nut realizes the swinging of the swinging mandrel relative to the swinging frame through the crank slider;
  • the swinging frame is fixedly connected with the carrying platform by the quick connecting mechanism, and the inspection device is hung and the inspection device frame Relatively fixed, the oscillation of the ultrasonic inspection device relative to
  • the inspection device frame includes an upper support telescopic rod and an inspection device rack rod, wherein one end of the upper support telescopic rod is fixedly connected with the inspection device hoop in the inspection swinging member, and the other end is supported by the upper support in the upper support mechanism member.
  • the base is connected to the inspection device rack rod;
  • the upper support mechanism component comprises an upper support base, an upper support expansion slide, an upper support link and an upper support shoe, wherein the upper support base is fixedly mounted on the inspection device frame On the rod, and inside the upper support base, a slider matched with the guide rails of the upper support telescopic rod is mounted, and the worm gear and the rack and pinion drive are driven by the motor to realize the upper support telescopic rod on the upper support base and the inspection
  • the telescopic expansion of the device rack rod; the three upper support shoes are connected to the upper support base through three upper support links, and the upper support link of the parallel link structure is connected to the upper support telescopic rod through the connecting rod
  • the support slides the slide table, and the synchronous support parallel expansion of the upper support shoes is realized by the support of the upper slide sliding table along the upper support telescopic rod.
  • the angle of opening of the three supporting links varies from 0 to 90 degrees, and when the supporting link is completely retracted, the diameter of the envelope circle of the three upper supporting shoes is slightly smaller than the groove of the "Plum blossom" diameter.
  • the upper support opening slide is provided with a locking tongue which cooperates with a locking hole on the upper supporting telescopic rod. After the upper supporting telescopic rod is extended to a suitable position, the locking tongue is inserted into the locking hole, so that the upper support is opened.
  • the slide table moves synchronously with the upper support telescopic rod.
  • the tray turret component is disposed on the inspection device rack bar in the inspection device frame, and drives the screw rotation and the pallet turret by using an axial scanning driving mechanism on the upper support base in the upper support mechanism component
  • the nuts on the components work together to lift the pallet turret components.
  • the tray turret component comprises a tray opening frame, a tray opening mandrel, a circumferential scanning mechanism, a tray opening driving mechanism, a tray opening mechanism and a probe tray
  • the tray opening frame is a frame structure, which passes The tray opening mandrel is fixed on the inspection device rack rod, so that the tray opening driving mechanism mounted on the tray opening frame and the tray opening mechanism are rotated around the tray opening mandrel by the circumferential scanning mechanism; wherein, the circumference The scanning mechanism includes a motor driving pinion mounted on the open frame of the tray, and is rotated by the large gear mounted on the mandrel of the tray turret to realize the circumferential rotation of the tray open frame; the probe tray passes The tray opening mechanism is connected to the tray opening frame, and is driven by a tray opening drive mechanism mounted on the tray opening frame to open the probe tray.
  • the tray opening drive mechanism comprises a drive mechanism nut and a drive mechanism rocker, and the motor drive screw in the tray open drive mechanism drives the drive mechanism nut to move up and down, and the drive mechanism nut is connected with the drive mechanism rocker, thereby driving The driving mechanism rocker swings;
  • the tray opening mechanism comprises a stretching mechanism driving rod, a stretching mechanism intermediate rod and an opening mechanism connecting rod, wherein the probe tray is connected with the tray opening frame by the opening mechanism connecting rod, and is opened One end of the mechanism driving rod is connected to the opening mechanism connecting rod through the opening mechanism intermediate rod, and the other end of the opening mechanism driving rod is connected with the driving mechanism rocking rod, thereby driving the opening mechanism connecting rod by the swinging of the opening mechanism driving rod Swing to achieve the opening of the probe tray.
  • the invention has the remarkable effects of: an ultrasonic inspection system for the inner wall of the vertical straight tube of the nuclear reactor steam generator according to the present invention, the carrier platform can quickly install the carrier platform and the ultrasonic inspection device outside the cold end water of the steam generator; The ultrasonic inspection device can be sent to each of the tested nozzles; the ultrasonic inspection device can realize the positioning and installation in the tested socket through the movement of multiple mechanisms, and can realize the circumferential and axial ultrasonic scanning.
  • FIG. 1 is a schematic structural view of an ultrasonic inspection system for an inner wall of a vertical reactor tube of a nuclear reactor steam generator according to the present invention
  • Figure 2 is a schematic structural view of the carrier platform of Figure 1;
  • FIG. 3 is a schematic view showing the structure of the platform bracket of Figure 2;
  • Figure 4 is a schematic structural view of the positioning plate of Figure 3;
  • FIG. 5 is a schematic structural view of the ultrasonic inspection apparatus of Figure 1;
  • Figure 6 is a schematic structural view of the swinging member of the inspection device of Figure 5;
  • Figure 7 is a schematic structural view of the upper support mechanism of Figure 5;
  • Figure 8 is a structural schematic view of the tray turntable member of Figure 5;
  • Figure 9 is a schematic structural view of the tray opening mechanism of Figure 5.
  • an ultrasonic inspection system for the inner wall of the vertical reactor tube of the nuclear reactor steam generator comprises a carrier platform 1, an ultrasonic inspection device 2 and a quick connection mechanism 3, and the carrier platform 1 is fixed at the cold water chamber of the steam generator. And the rapid connection and disengagement with the ultrasonic inspection device 2 through the quick connection mechanism 3;
  • the axis of the pin chute 11 and the line of the first pin insertion hole axis thereof are parallel to the plane of the disc structure in the platform bracket 4, the axis of the pin chute 11
  • the line connecting the axis of the second pin jack is at an angle of 45° with the plane of the disc structure in the platform bracket 4; the turntable 8 is inserted into the pin chute 11 and a pin jack 10 through the pin, and the turntable 8 is
  • the platform bracket 4 is fixed, and when the carrier platform 1 is adjusted in overall posture, the carrier platform 1 can be rotated by 45 degrees around the pin chute by changing the pin jack 10; the turntable 8 is rotated.
  • the pedestal 38, the turret mandrel 39 and the worm gear meshing structure 40 are formed, and the turret seat passes through the flat
  • the pin on the positioning plate 9 of the bracket 4 is connected with the platform bracket 4, and the turntable mandrel is connected with the turntable base through the bearing, and the rotation of the turntable mandrel relative to the turntable base is driven by the worm gear and the worm gear;
  • the first rod 5 is a cylinder
  • the rod-shaped structure has a length of 1.6 to 2 m and a diameter of 50 to 70 mm.
  • the first rod 5 is mounted on the inside of the turntable mandrel by a guide rail, and the first shaft 5 has a built-in motor and a sliding screw 41, and a sliding wire 41.
  • the lever nut 42 is fixed on the turntable mandrel through the first rod body, so that the first rod 5 realizes the movement of the first rod 5 in the direction of the vertical turntable 8 through the screw nut structure;
  • the second rod 6 is a sleeve rod structure, The upper end of the first rod 5 is connected by a rotary joint, and the angle between the second rod 6 and the first rod 5 is adjusted by a rotary joint in a range of 0 to 100°;
  • the second rod 6 is internally provided with a motor and a sliding screw And the guide rail, the second rod 6 sleeve with a diameter of 40-60 mm can be expanded and contracted in the range of 1.4 m to 2 m;
  • the second rod 6 end is connected with the ultrasonic inspection device 2 through the quick connection mechanism 3, wherein the quick connection structure 3 Including quick connector 7, rotating shaft and turning off The second rod 6 end is connected to the rotating shaft through the rotating joint, the other end of the rotating shaft is connected with the quick joint 7, and is connected to the ultras
  • the ultrasonic inspection apparatus 2 includes an inspection apparatus swinging member 12, an upper support mechanism member 13, a tray turntable member 14, and an inspection device frame, wherein the inspection device swinging member 12 connected to the quick connection mechanism 3 is provided. Connected to the inspection device frame, and mounted on the inspection device frame with the upper support mechanism member 13 and the tray turntable member 14, respectively, and the swinging of the ultrasonic inspection device 2 relative to the carrier platform 1 by the inspection device swinging member 12;
  • the inspection device swinging member 12 includes a swinging frame lever 15, a swinging mandrel 16, a swinging motor assembly 17, an inspection device retaining ring 18, and a swing nut holder 19, wherein the swinging frame 15 is internally provided with a swinging mandrel 16, a swinging mandrel An inspection device retaining ring 18 is mounted at one end, and a swing nut holder 19 is mounted at the other end of the swinging mandrel 16; the swing motor assembly 17 mounted on the swing frame 15 includes a motor, a screw nut and a crank slider, and the motor drives the lead screw The nut in the nut runs in a straight line, and the screw nut and the swing nut seat 19 are connected by a pin.
  • the movement of the screw nut realizes the swinging of the swinging mandrel 16 relative to the swing frame 15 through the crank slider; the swing frame 15 passes through the quick connecting mechanism. 3 is fixedly connected to the carrying platform 1 , and the inspection device holding ring 18 is relatively fixed to the inspection device frame, so that the swinging of the ultrasonic inspection device 2 relative to the carrying platform 1 is achieved by the swinging of the swinging mandrel 16 relative to the swinging frame 15;
  • the inspection device frame includes an upper support telescopic rod 22 and an inspection device rack rod 21, wherein one end of the upper support telescopic rod 22 is fixedly coupled to the inspection device retaining ring 18, and the other end passes through the upper support base 20 in the upper support mechanism member 13.
  • the upper support mechanism member 13 includes an upper support base 20, an upper support open slide 23, an upper support link 24, and an upper support shoe 25, wherein the upper support base 20 is fixedly mounted On the inspection device frame rod 21, and inside the upper support base 20, a slider matched with the guide rails of the upper support telescopic rod 22 is mounted, and the turbine worm and the rack and pinion drive are driven by the motor to realize the upper support expansion and contraction.
  • the rod 22 is telescoped in the upper support base 20 and the inspection device frame rod 21; the three upper support shoes 25 are connected to the upper support base 20 via three upper support links 24, and the upper support structure of the parallel link structure
  • the rod 24 is supported by the upper support sliding slide 23 mounted on the upper support telescopic rod 22, and the synchronous support parallel movement of the upper support shoe is realized by the upper support expansion slide 23 moving along the upper support telescopic rod 22, And the angle of opening is from 0 to 90 Within the range of degrees; when the upper support shoe link is extended to 90 degrees, the diameter of the envelope circle of the three upper support shoes 25 is slightly smaller than the diameter of the groove of the "Plum blossom"; the upper support slide slide 23 is installed.
  • the tray turret component 14 is mounted on the inspection device frame bar 21 with the guide rails and drives the screw shaft to rotate with the nut on the tray turret component by means of an axial scanning drive mechanism mounted on the upper support base 20.
  • the lifting and lowering of the tray turret component is realized, thereby achieving the purpose of axial scanning;
  • the pallet turret component comprises a tray opening frame 27, a tray opening mandrel 28, a circumferential scanning mechanism 29, a tray opening driving mechanism 30, and a tray
  • the opening drive mechanism 26 and the tray opening mechanism 31 rotate about the tray opening mandrel 28 by the circumferential scanning mechanism 29; wherein the circumferential scanning mechanism 29 includes a motor driven pinion mounted on the tray opening frame 27.
  • the probe tray 32 is opened by the tray opening mechanism and the tray
  • the frame 27 is connected and driven by a tray opening drive mechanism 30 mounted on the tray opening frame 27 to open the probe tray 32.
  • the tray opening drive mechanism 30 includes a drive mechanism nut 33 and a drive mechanism
  • the rod 34, the motor in the tray opening drive mechanism 30 drives the lead screw to drive the drive mechanism nut 33 to move up and down, and the drive mechanism nut 33 is connected with the drive mechanism rocker 34, thereby driving the drive mechanism rocker 34 to swing;
  • the tray opening mechanism 31 includes an opening mechanism driving lever 35, an opening mechanism intermediate lever 36, and a swinging mechanism link 37, wherein the probe tray 32 is connected to the tray opening frame 27 through the opening mechanism link 37, and the mechanism driving lever is opened.
  • the probe tray 32 is a combination of a plurality of ultrasonic detecting probes arranged symmetrically at 180 degrees, and ultrasonic testing is performed after the ultrasonic testing device is in place.

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  • 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

一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，包括运载平台（1）、超声检查装置（2）以及快速连接机构（3），运载平台（1）固定在蒸汽发生器冷端水室人孔中，并与超声检查装置（2）通过快速连接机构（3）实现快速连接和脱离，运载平台（1）可带动超声检查装置（2）在蒸汽发生器出水接管中升降、摆动，实现对出水接管与主泵连接焊缝内壁的超声检查。运载平台（1）可在蒸汽发生器冷端水室外快速安装运载平台（1）和超声检查装置（2）；借助运载平台（1）可将超声检查装置（2）送至各被检接管内；超声检查装置（2）通过自身多个机构运动可实现被检接管内定位、安装，并可实现周向、轴向超声扫查。

Description

核反应堆蒸汽发生器竖直接管内壁的超声检查系统 技术领域
本发明属于蒸汽发生器接管内壁超声检查技术领域，具体涉及一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统。
背景技术
AP1000核反应堆是我国从美国西屋引进的第三代核电机组，根据ASME规范的相关要求，该机组的蒸汽发生器出水接管与主泵连接焊缝作为主回路的设备连接焊缝，属于法规必检内容，我国核安全监管部门也相应提出了该连接焊缝的在役检查要求，并已纳入到三门、海阳的在役检查大纲。可以预知，未来所有的AP1000核反应堆均需执行该项目的检查。
截止目前，核电机组的蒸汽发生器接管焊缝的超声检查，均选择从焊缝外壁的接近方式。而AP1000蒸汽发生器与主泵连接焊缝为厚壁焊缝，受超声检验方法本身的局限性，需从连接焊缝内壁实施检查，且检验范围为焊缝内壁1/3壁厚。
AP1000蒸汽发生器下封头是一个直径约4500mm的半球体，内部隔板将下封头分为冷端水室、热端水室，其出水接管为竖直接管。蒸汽发生器出水接管与主泵的连接焊缝从内部实施超声检验时，冷端水室唯一渠道是水室人孔，人孔直径仅457.2mm，而连接焊缝的内径657.4mm，且接管与人孔存45°夹角，下封头水室结构特征给检查装置的可达性带来极大困难。
在役检查时，蒸汽发生器和主泵区域为高环境辐射区，并有体内沾污风险；蒸汽发生器水室内存在辐射热点，对安装人员身体健康造成直接影响。
发明内容
本发明的目的在于提供一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其可以按照预定轨迹运动，将超声检查装置送至被检接管内，超声检查装置依靠自身运动在接管内定位、安装，并进行竖直接管内壁超声检查，从而实现安装人员在水室外安装、操作检查设备实现对类似AP1000蒸汽发生器出水接管与主泵连接焊缝从焊缝内壁进行超声检验的目的。
本发明的技术方案如下：一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，该系统包括运载平台、超声检查装置以及快速连接机构，运载平台固 定在蒸汽发生器冷端水室人孔中，并与超声检查装置通过快速连接机构实现快速连接和脱离；其中，运载平台可带动超声检查装置在蒸汽发生器出水接管中升降、摆动，实现对出水管与主泵连接焊缝内壁的超声检查。
所述的运载平台包括平台支架、第一杆、第二杆以及转台，其中，第一杆贯穿安装在转台上，并可实现第一杆沿垂直转台的方向进行运动；转台通过平台支架固定在蒸汽发生器冷端水室人孔中；第一杆通过转台中芯轴的转动而转动；第二杆通过转动关节与第一杆上端固定连接。
所述的平台支架为圆盘结构，并在该圆盘结构上垂直安装有一对定位板；所述定位板上开有销钉滑槽以及销钉插孔，转台通过销钉与定位板中的销钉滑槽以及销钉插孔，将转台固定在平台支架上。
所述的定位板中销钉滑槽的轴心与其中第一销钉插孔轴心的连线平行于平台支架中圆盘结构所在的平面，销钉滑槽的轴心与其中第二个销钉插孔轴心的连线与平台支架中圆盘结构所在的平面呈45°夹角。
所述的转台由转台座、转台芯轴和涡轮蜗杆啮合结构组成，转台座通过平台支架上定位板上的销钉与平台支架连接定位，转台芯轴则与转台座通过轴承连接，并在蜗轮蜗杆驱动下实现转台芯轴相对于转台座的转动。
所述的平台支架为三分之一圆盘结构，其上一对定位板的间距为L＝a+0.5mm，其中，a为转台的宽度。
所述的第二杆位套杆结构，其与第一杆上端通过转动关节连接，且第二杆和第一杆之间的夹角通过转动关节在0～100°范围内调节；第二杆内部设有电机、滑动丝杆和导轨，可实现直径为40～60mm的第二杆套杆在1.4m～2m范围内伸缩。
所述的第二杆末端通过快速连接机构与超声检查装置相连接，其中，快速连接结构包括快连接头、转动轴以及转动关节，第二杆末端通过转动关节与转动轴相连接，转动轴的另一端与快速接头相连接，并通过快速接头与超声检查装置相连接，使第二杆与转动轴的夹角通过转动关节在0～100°范围内调节。
所述第一杆为圆柱棒状结构，其长度为1.6～2m，直径为50～70mm，第一杆通过导轨安装于转台芯轴内部，随转台芯轴同时转动，第一杆通过内设的电机、滑动丝杠，滑动丝杠螺母穿过第一杆杆体固定在转台芯轴上，实现第一杆沿垂直转台的方向进行运动；第一杆与转台芯轴通过直线导轨和滑块固定连接，使 第一杆随着转台芯轴的转动而的旋转运动。
所述的超声检查装置包括检查装置摆动部件、上支撑机构部件、托盘转台部件以及检查装置机架，其中，与快速连接机构相连接的检查装置摆动部件与检查装置机架相连接，并在检查装置机架上分别设有上支撑机构部件和托盘转台部件，并利用检查装置摆动部件实现超声检查装置相对于运载平台的摆动。
所述的检查装置摆动部件包括摆动机架杆、摆动芯轴、摆动电机组件、检查装置抱环以及摆动螺母座，其中，摆动机架内部设有摆动芯轴，摆动芯轴一端设有检查装置抱环，摆动芯轴另一端设有摆动螺母座；安装在摆动机架上的摆动电机组件包括电机、丝杠螺母以及曲柄滑块，电机驱动丝杠螺母中的螺母直线运行，丝杆螺母与摆动螺母座通过销钉连接，丝杠螺母的运动通过曲柄滑块实现摆动芯轴相对于摆动机架的摆动；摆动机架通过快速连接机构与运载平台固定连接，检查装置抱环与检查装置机架相对固定，从而通过摆动芯轴相对于摆动机架的摆动，实现超声检查装置相对于运载平台的摆动。
所述的检查装置机架包括上支撑伸缩杆以及检查装置机架杆，其中，上支撑伸缩杆一端与检查摆动部件中的检查装置抱环固定连接，另一端通过上支撑机构部件中的上支撑基座与检查装置机架杆相连接；上支撑机构部件包括上支撑基座、上支撑张开滑台、上支撑连杆以及上支撑靴，其中，上支撑基座固定安装在检查装置机架杆上，并在上支撑基座内部安装有与上支撑伸缩杆两侧导轨相配合的滑块，并通过电机驱动涡轮蜗杆、齿轮齿条传动，实现上支撑伸缩杆在上支撑基座及检查装置机架杆内的伸缩；三个上支撑靴通过三个上支撑连杆与上支撑基座相连接，平行连杆结构的上支撑连杆通过连杆与安装在上支撑伸缩杆上的上支撑张开滑台，通过上支撑张开滑台沿上支撑伸缩杆的移动，实现上支撑靴的同步平行张开。
所述的三个支撑连杆张开的角度在0～90度范围内变化，且支撑连杆完全收起时，三个上支撑靴的包络圆直径略小于接管“梅花瓣”凹槽处直径。
所述的上支撑张开滑台上设有锁舌，其与上支撑伸缩杆上的锁孔相配合，在上支撑伸缩杆伸缩至合适位置后，锁舌插入锁孔，使上支撑张开滑台与上支撑伸缩杆同步运动。
所述的托盘转台部件设置于检查装置机架中的检查装置机架杆上，并利用上支撑机构部件中的上支撑基座上的轴向扫查驱动机构，驱动丝杠转动，与托 盘转台部件上的螺母共同作用，实现托盘转台部件的升降。
所述的托盘转台部件包括托盘张开机架、托盘张开芯轴、周向扫查机构、托盘张开驱动机构、托盘张开机构以及探头托盘，其中，托盘张开机架为框架结构，其通过托盘张开芯轴固定在检查装置机架杆上，使安装在托盘张开机架上的托盘张开驱动机构以及托盘张开机构在周向扫查机构的作用下绕托盘张开芯轴转动；其中，周向扫查机构包括安装在托盘张开机架上的电机驱动小齿轮转动，并通过安装在托盘转台芯轴上的大齿轮啮合转动，从而实现托盘张开机架的周向转动；探头托盘通过托盘张开机构与托盘张开机架相连接，并通过安装在托盘张开机架上的托盘张开驱动机构进行驱动，使探头托盘张开。
所述的托盘张开驱动机构包括驱动机构螺母以及驱动机构摇杆，托盘张开驱动机构中的电机驱动丝杠，带动驱动机构螺母上下移动，驱动机构螺母与驱动机构摇杆相连接，进而带动驱动机构摇杆摆动；托盘张开机构包括张开机构驱动杆、张开机构中间杆以及张开机构连杆，其中，探头托盘通过张开机构连杆与托盘张开机架相连接，张开机构驱动杆一端通过张开机构中间杆与张开机构连杆相连接，张开机构驱动杆另一端与驱动机构摇杆相连接，从而通过张开机构驱动杆的摆动带动张开机构连杆的摆动，从而实现探头托盘的张开。
本发明的显著效果在于：本发明所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，运载平台可在蒸汽发生器冷端水室外快速安装运载平台和超声检查装置；借助运载平台可将超声检查装置送至各被检接管内；超声检查装置通过自身多个机构运动可实现被检接管内定位、安装，并可实现周向、轴向超声扫查。
附图说明
图1为本发明所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统结构示意图；
图2为图1中运载平台结构示意图；
图3为图2中平台支架结构示意图；
图4为图3中定位板结构示意图；
图5为图1中超声检查装置结构示意图；
图6为图5中检查装置摆动部件结构示意图；
图7为图5中上支撑机构部件结构示意图；
图8为图5中托盘转台部件结构示意图；
图9为图5中托盘张开相关机构结构示意图；
图中：1、运载平台；2、超声检查装置；3、快速连接机构；4、平台支架；5、第一杆；6、第二杆；7、快连接头；8、转台；9、定位板；10、销钉插孔；11、销钉滑槽；12、检查装置摆动部件；13、上支撑机构部件；14、托盘转台部件；15、摆动机架杆；16、摆动芯轴；17、摆动电机组件；18、检查装置抱环；19、摆动螺母座；20、上支撑基座；21、检查装置机架杆；22、上支撑伸缩杆；23、上支撑张开滑台；24、上支撑连杆；25、上支撑靴；26、轴向扫查驱动机构；27、托盘张开机架；28、托盘张开芯轴；29、周向扫查机构；30、托盘张开驱动机构；31、托盘张开机构；32、探头托盘；33、驱动机构螺母；34、驱动机构摇杆；35、张开机构驱动杆；36、张开机构中间杆；37、张开机构连杆。
具体实施方式
下面结合附图及具体实施例对本发明作进一步详细说明。
如图1所示，一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，包括运载平台1、超声检查装置2以及快速连接机构3，运载平台1固定在蒸汽发生器冷端水室人孔中，并与超声检查装置2通过快速连接机构3实现快速连接和脱离；
如图2～4所述，运载平台1包括平台支架4、第一杆5、第二杆6以及转台8，其中，平台支架4为三分之一圆盘结构，并在该圆盘结构上垂直安装一对定位板9，且两块定位板9在圆盘结构上的间距为L＝a+0.5mm，其中，a为转台8的宽度；每个定位板9包括其上端的销钉滑槽11以及两个销钉插孔10，其中，销钉滑槽11的轴心与其中第一销钉插孔轴心的连线平行于平台支架4中圆盘结构所在的平面，销钉滑槽11的轴心与其中第二个销钉插孔轴心的连线与平台支架4中圆盘结构所在的平面呈45°夹角；转台8通过销钉插入销钉滑槽11以及一个销钉插孔10，将转台8与平台支架4相固定，并在运载平台1整体调整姿态时，通过变换销钉插孔10即可实现运载平台1除平台支架4外，整体以销钉滑槽为中心转动45度角度；转台8由转台座38、转台芯轴39和涡轮蜗杆啮合结构40组成，转台座通过平台支架4上定位板9上的销钉与平台支架4连接定位，转台芯轴则与转台座通过轴承连接，并在蜗轮蜗杆驱动下实现转台芯轴相 对于转台座的转动；第一杆5为圆柱棒状结构，其长度为1.6～2m，直径为50～70mm，第一杆5通过导轨安装于转台芯轴内部，随转台芯轴同时转动，第一杆5内置电机和滑动丝杠41，滑动丝杠螺母42穿过第一杆杆体固定在转台芯轴上，实现第一杆5通过丝杠螺母结构实现第一杆5沿垂直转台8的方向进行运动；第二杆6为套杆结构，其与第一杆5上端通过转动关节连接，且第二杆6和第一杆5之间的夹角通过转动关节在0～100°范围内调节；第二杆6内部设有电机、滑动丝杆和导轨，可实现直径为40～60mm的第二杆6套杆在1.4m～2m范围内伸缩；第二杆6末端通过快速连接机构3与超声检查装置2相连接，其中，快速连接结构3包括快连接头7、转动轴以及转动关节，第二杆6末端通过转动关节与转动轴相连接，转动轴的另一端与快速接头7相连接，并通过快速接头7与超声检查装置2相连接，使第二杆6与转动轴的夹角通过转动关节在0～100°范围内调节；
如图5～9所示，超声检查装置2包括检查装置摆动部件12、上支撑机构部件13、托盘转台部件14以及检查装置机架，其中，与快速连接机构3相连接的检查装置摆动部件12与检查装置机架相连接，并在检查装置机架上分别安装有上支撑机构部件13和托盘转台部件14，并利用检查装置摆动部件12实现超声检查装置2相对于运载平台1的摆动；
检查装置摆动部件12包括摆动机架杆15、摆动芯轴16、摆动电机组件17、检查装置抱环18以及摆动螺母座19，其中，摆动机架15内部安装有摆动芯轴16，摆动芯轴16一端安装有检查装置抱环18，摆动芯轴16另一端安装有摆动螺母座19；安装在摆动机架15上的摆动电机组件17包括电机、丝杠螺母以及曲柄滑块，电机驱动丝杠螺母中的螺母直线运行，丝杆螺母与摆动螺母座19通过销钉连接，丝杠螺母的运动通过曲柄滑块实现摆动芯轴16相对于摆动机架15的摆动；摆动机架15通过快速连接机构3与运载平台1固定连接，检查装置抱环18与检查装置机架相对固定，从而通过摆动芯轴16相对于摆动机架15的摆动，实现超声检查装置2相对于运载平台1的摆动；
检查装置机架包括上支撑伸缩杆22以及检查装置机架杆21，其中，上支撑伸缩杆22一端与检查装置抱环18固定连接，另一端通过上支撑机构部件13中的上支撑基座20与检查装置机架杆21相连接；上支撑机构部件13包括上支撑基座20、上支撑张开滑台23、上支撑连杆24以及上支撑靴25，其中，上支撑 基座20固定安装在检查装置机架杆21上，并在上支撑基座20内部安装有与上支撑伸缩杆22两侧导轨相配合的滑块，并通过电机驱动涡轮蜗杆、齿轮齿条传动，实现上支撑伸缩杆22在上支撑基座20及检查装置机架杆21内的伸缩；三个上支撑靴25通过三个上支撑连杆24与上支撑基座20相连接，平行连杆结构的上支撑连杆24通过连杆与安装在上支撑伸缩杆22上的上支撑张开滑台23，通过上支撑张开滑台23沿上支撑伸缩杆22的移动，实现上支撑靴的同步平行张开，且张开的角度在0～90度范围内变化；当上支撑靴连杆张至90度后，三个上支撑靴25的包络圆直径略小于接管“梅花瓣”凹槽处直径；在上支撑张开滑台23上安装有锁舌，其与上支撑伸缩杆22上的锁孔相配合，在上支撑伸缩杆22伸缩至合适位置后，锁舌插入锁孔，使上支撑张开滑台23与上支撑伸缩杆22同步运动；
托盘转台部件14安装在带有导轨的检查装置机架杆21上，并利用安装在上支撑基座20上的轴向扫查驱动机构，驱动丝杠转动，与托盘转台部件上的螺母共同作用，实现托盘转台部件的升降，从而实现轴向扫查的目的；其中，托盘转台部件包括托盘张开机架27、托盘张开芯轴28、周向扫查机构29、托盘张开驱动机构30、托盘张开机构31以及探头托盘32，其中，托盘张开机架27为框架结构，其通过托盘张开芯轴28固定在检查装置机架杆21上，使安装在托盘张开机架27上的托盘张开驱动机构26以及托盘张开机构31在周向扫查机构29的作用下绕托盘张开芯轴28转动；其中，周向扫查机构29包括安装在托盘张开机架27上的电机驱动小齿轮转动，并通过安装在托盘转台芯轴28上的大齿轮啮合转动，从而实现托盘张开机架27的周向转动；探头托盘32通过托盘张开机构与托盘张开机架27相连接，并通过安装在托盘张开机架27上的托盘张开驱动机构30进行驱动，使探头托盘32张开；其中，托盘张开驱动机构30包括驱动机构螺母33以及驱动机构摇杆34，托盘张开驱动机构30中的电机驱动丝杠，带动驱动机构螺母33上下移动，驱动机构螺母33与驱动机构摇杆34相连接，进而带动驱动机构摇杆34摆动；托盘张开机构31包括张开机构驱动杆35、张开机构中间杆36以及张开机构连杆37，其中，探头托盘32通过张开机构连杆37与托盘张开机架27相连接，张开机构驱动杆35一端通过张开机构中间杆36与张开机构连杆37相连接，张开机构驱动杆35另一端与驱动机构摇杆34相连接，从而通过张开机构驱动杆35的摆动带动张开机构连杆37的摆动， 从而实现探头托盘32的张开。探头托盘32位多个超声检测探头的组合体，呈180度对称布置，在超声检查装置到位后，实施超声检测。

Claims (17)

  1. 一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：该系统包括运载平台(1)、超声检查装置(2)以及快速连接机构(3)，运载平台(1)固定在蒸汽发生器冷端水室人孔中，并与超声检查装置(2)通过快速连接机构(3)实现快速连接和脱离；其中，运载平台(1)可带动超声检查装置在蒸汽发生器出水接管中升降、摆动，实现对出水管与主泵连接焊缝内壁的超声检查。
  2. 根据权利要求1所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的运载平台(1)包括平台支架(4)、第一杆(5)、第二杆(6)以及转台(8)，其中，第一杆(5)贯穿安装在转台(8)上，并可实现第一杆(5)沿垂直转台(8)的方向进行运动；转台(8)通过平台支架(4)固定在蒸汽发生器冷端水室人孔中；第一杆(5)通过转台(8)中芯轴的转动而转动；第二杆(6)通过转动关节与第一杆(5)上端固定连接。
  3. 根据权利要求2所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的平台支架(4)为圆盘结构，并在该圆盘结构上垂直安装有一对定位板(9)；所述定位板(9)上开有销钉滑槽(11)以及销钉插孔(10)，转台(8)通过销钉与定位板(9)中的销钉滑槽(11)以及销钉插孔(10)，将转台(8)固定在平台支架(4)上。
  4. 根据权利要求3所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的定位板(9)中销钉滑槽(11)的轴心与其中第一销钉插孔轴心的连线平行于平台支架(4)中圆盘结构所在的平面，销钉滑槽(11)的轴心与其中第二个销钉插孔轴心的连线与平台支架(4)中圆盘结构所在的平面呈45°夹角。
  5. 根据权利要求3所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的转台(8)包括转台座(38)、转台芯轴(39)和涡轮蜗杆啮合结构(40)，转台座通过平台支架(4)上定位板(9)上的销钉与平台支架(4)连接定位，转台芯轴(39)则与转台座(38)通过轴承连接，并在蜗轮蜗杆驱动下实现转台芯轴相对于转台座的转动。
  6. 根据权利要求2或3所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的平台支架(4)为三分之一圆盘结构，其上一对定位板(9)的间距为L＝a+0.5mm，其中，a为转台(8)的宽度。
  7. 根据权利要求2所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的第二杆(6)位套杆结构，其与第一杆(5)上端通过转动关节连接，且第二杆(6)和第一杆(5)之间的夹角通过转动关节在0～100°范围内调节；第二杆(6)内部设有电机、滑动丝杆和导轨，可实现直径为40～60mm的第二杆(6)套杆在1.4m～2m范围内伸缩。
  8. 根据权利要求2所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的第二杆(6)末端通过快速连接机构(3)与超声检查装置(2)相连接，其中，快速连接结构(3)包括快连接头(7)、转动轴以及转动关节，第二杆(6)末端通过转动关节与转动轴相连接，转动轴的另一端与快速接头(7)相连接，并通过快速接头(7)与超声检查装置(2)相连接，使第二杆(6)与转动轴的夹角通过转动关节在0～100°范围内调节。
  9. 根据权利要求2所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述第一杆(5)为圆柱棒状结构，其长度为1.6～2m，直径为50～70mm，第一杆(5)通过导轨安装于转台芯轴内部，随转台芯轴同时转动，第一杆(5)通过内设的电机、滑动丝杠(41)，滑动丝杠螺母(42)穿过第一杆杆体固定在转台芯轴上，实现第一杆(5)沿垂直转台(8)的方向进行运动；第一杆(5)与转台芯轴通过直线导轨和滑块固定连接，使第一杆(5)随着转台芯轴的转动而的旋转运动。
  10. 根据权利要求1所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的超声检查装置(2)包括检查装置摆动部件(12)、上支撑机构部件(13)、托盘转台部件(14)以及检查装置机架，其中，与快速连接机构(3)相连接的检查装置摆动部件(12)与检查装置机架相连接，并在检查装置机架上分别设有上支撑机构部件(13)和托盘转台部件(14)，并利用检查装置摆动部件(12)实现超声检查装置(2)相对于运载平台(1)的摆动。
  11. 根据权利要求10所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的检查装置摆动部件(12)包括摆动机架杆(15)、摆动芯轴(16)、摆动电机组件(17)、检查装置抱环(18)以及摆动螺母座(19)，其中，摆动机架(15)内部设有摆动芯轴(16)，摆动芯轴(16)一端设有检查装置抱环(18)，摆动芯轴(16)另一端设有摆动螺母座(19)；安装在摆动机架(15)上的摆动电机组件(17)包括电机、丝杠螺母以及曲柄滑块，电机驱 动丝杠螺母中的螺母直线运行，丝杆螺母与摆动螺母座(19)通过销钉连接，丝杠螺母的运动通过曲柄滑块实现摆动芯轴(16)相对于摆动机架(15)的摆动；摆动机架(15)通过快速连接机构(3)与运载平台(1)固定连接，检查装置抱环(18)与检查装置机架相对固定，从而通过摆动芯轴(16)相对于摆动机架(15)的摆动，实现超声检查装置(2)相对于运载平台(1)的摆动。
  12. 根据权利要求10所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的检查装置机架包括上支撑伸缩杆(22)以及检查装置机架杆(21)，其中，上支撑伸缩杆(22)一端与检查摆动部件(12)中的检查装置抱环(18)固定连接，另一端通过上支撑机构部件(13)中的上支撑基座(20)与检查装置机架杆(21)相连接；上支撑机构部件(13)包括上支撑基座(20)、上支撑张开滑台(23)、上支撑连杆(24)以及上支撑靴(25)，其中，上支撑基座(20)固定安装在检查装置机架杆(21)上，并在上支撑基座(20)内部安装有与上支撑伸缩杆(22)两侧导轨相配合的滑块，并通过电机驱动涡轮蜗杆、齿轮齿条传动，实现上支撑伸缩杆(22)在上支撑基座(20)及检查装置机架杆(21)内的伸缩；三个上支撑靴(25)通过三个上支撑连杆(24)与上支撑基座(20)相连接，平行连杆结构的上支撑连杆(24)通过连杆与安装在上支撑伸缩杆(22)上的上支撑张开滑台(23)，通过上支撑张开滑台(23)沿上支撑伸缩杆(22)的移动，实现上支撑靴的同步平行张开。
  13. 根据权利要求12所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的三个支撑连杆(24)张开的角度在0～90度范围内变化，且支撑连杆(24)完全收起时，三个上支撑靴(25)的包络圆直径略小于接管“梅花瓣”凹槽处直径。
  14. 根据权利要求12所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的上支撑张开滑台(23)上设有锁舌，其与上支撑伸缩杆(22)上的锁孔相配合，在上支撑伸缩杆(22)伸缩至合适位置后，锁舌插入锁孔，使上支撑张开滑台(23)与上支撑伸缩杆(22)同步运动。
  15. 根据权利要求10所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的托盘转台部件(14)设置于检查装置机架中的检查装置机架杆(21)上，并利用上支撑机构部件(13)中的上支撑基座(20)上的轴向扫查驱动机构，驱动丝杠转动，与托盘转台部件(14)上的螺母共同 作用，实现托盘转台部件的升降。
  16. 根据权利要求15所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的托盘转台部件(14)包括托盘张开机架(27)、托盘张开芯轴(28)、周向扫查机构(29)、托盘张开驱动机构(30)、托盘张开机构(31)以及探头托盘(32)，其中，托盘张开机架(27)为框架结构，其通过托盘张开芯轴(28)固定在检查装置机架杆(21)上，使安装在托盘张开机架(27)上的托盘张开驱动机构(26)以及托盘张开机构(31)在周向扫查机构(29)的作用下绕托盘张开芯轴(28)转动；其中，周向扫查机构(29)包括安装在托盘张开机架(27)上的电机驱动小齿轮转动，并通过安装在托盘转台芯轴(28)上的大齿轮啮合转动，从而实现托盘张开机架(27)的周向转动；探头托盘(32)通过托盘张开机构与托盘张开机架(27)相连接，并通过安装在托盘张开机架(27)上的托盘张开驱动机构(30)进行驱动，使探头托盘(32)张开。
  17. 根据权利要求16所述的一种核反应堆蒸汽发生器竖直接管内壁的超声检查系统，其特征在于：所述的托盘张开驱动机构(30)包括驱动机构螺母(33)以及驱动机构摇杆(34)，托盘张开驱动机构(30)中的电机驱动丝杠，带动驱动机构螺母(33)上下移动，驱动机构螺母(33)与驱动机构摇杆(34)相连接，进而带动驱动机构摇杆(34)摆动；托盘张开机构(31)包括张开机构驱动杆(35)、张开机构中间杆(36)以及张开机构连杆(37)，其中，探头托盘(32)通过张开机构连杆(37)与托盘张开机架(27)相连接，张开机构驱动杆(35)一端通过张开机构中间杆(36)与张开机构连杆(37)相连接，张开机构驱动杆(35)另一端与驱动机构摇杆(34)相连接，从而通过张开机构驱动杆(35)的摆动带动张开机构连杆(37)的摆动，从而实现探头托盘(32)的张开。
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