阅读说明：本技术 一种一体化反应堆压力容器超声波相控阵检查系统 (Integrated reactor pressure vessel ultrasonic phased array inspection system ) 是由 柴玉琨 李书良 阳雷 王哲 任俊波 洪茂成 于 2021-09-24 设计创作，主要内容包括：本发明公开了一种一体化反应堆压力容器超声波相控阵检查系统,包括内壁检查系统和外壁检查系统,内壁检查系统固定在所述压力容器的入口处,且所述内壁检查系统设置在所述压力容器内部；外壁检查系统固定在所述压力容器的侧壁外侧面；本发明能够在堆芯段筒体与底封头焊缝外部被钢屏蔽层所遮挡处,在压力容器内部通过内壁检查系统在压力容器内部对焊缝进行超声波检测,在支撑段筒体与筒体法兰焊缝内部被蒸汽发生器遮挡处,在压力容器外部通过外壁检查系统从外壁对该焊缝进行检查,从而实现了对一体化反应堆压力容器的检查。(The invention discloses an integrated reactor pressure vessel ultrasonic phased array inspection system, which comprises an inner wall inspection system and an outer wall inspection system, wherein the inner wall inspection system is fixed at an inlet of a pressure vessel and is arranged in the pressure vessel; the outer wall inspection system is fixed on the outer side surface of the side wall of the pressure container; the invention can carry out ultrasonic detection on the welding line inside the pressure vessel through the inner wall inspection system at the position where the welding line between the reactor core section cylinder and the bottom head is shielded by the steel shielding layer, and can inspect the welding line from the outer wall through the outer wall inspection system at the position where the welding line between the support section cylinder and the cylinder flange is shielded by the steam generator, thereby realizing the inspection of the integrated reactor pressure vessel.)

1. An integrated reactor pressure vessel ultrasonic phased array inspection system, comprising:

an inner wall inspection system fixed at an entrance of the pressure vessel, the inner wall inspection system disposed inside the pressure vessel;

an outer wall inspection system fixed to an outer side surface of a side wall of the pressure vessel;

the interior wall inspection system includes:

an inner wall fixing assembly connected with an inlet flange of the pressure vessel;

the upper end of the main upright post is fixedly connected with the inner wall fixing component, and the lower end of the main upright post is arranged in the pressure container;

the multi-degree-of-freedom assembly is fixedly connected with the lower end of the main upright post;

an inner wall inspection assembly connected to the free end of the multiple degree of freedom assembly;

the outer wall inspection system includes:

the outer wall fixing assembly is connected with the outer side face of the side wall of the pressure container;

the circumferential motion assembly is horizontally arranged on the outer side of the pressure container and is fixedly connected with the outer wall fixing assembly;

an outer wall inspection assembly coupled to the moving end of the circumferential motion assembly.

2. The integrated reactor pressure vessel ultrasonic phased array inspection system of claim 1, wherein the inner wall securing assembly comprises:

the inner side surface of the supporting leg butt joint panel is fixedly connected with the outer side surface of the main upright post;

the upper end of the supporting leg main beam is fixedly connected with the outer side surface of the supporting leg butt joint panel;

the lower end of the positioning rod is arranged in a flange hole of an inlet flange of the pressure container;

a cylindrical support shoe horizontally disposed, and the cylindrical support shoe comprises:

the fixed section is connected with the lower end of the main beam of the support leg;

the positioning section is internally provided with a through hole coaxial with the positioning rod, and the positioning section is sleeved on the positioning rod.

3. The integrated reactor pressure vessel ultrasonic phased array inspection system of claim 2, wherein the diameter of the through hole of the cylindrical support shoe is larger than the diameter of the positioning rod;

the cylindrical support boot further comprises:

the telescopic cylinder of centering of a plurality of synchronous motion, its stiff end with cylinder support boots fixed connection, the telescopic cylinder's of centering flexible end is located in the through-hole, just the flexible direction of the telescopic end of centering flexible cylinder with the diameter coincidence of through-hole.

4. The integrated reactor pressure vessel ultrasonic phased array inspection system of claim 2, wherein the inner wall securing assembly further comprises:

the upper end of the supporting leg auxiliary beam is fixedly connected with the lower end of the supporting leg main beam, and the lower end of the supporting leg auxiliary beam is rotatably connected with the fixed section of the cylindrical supporting boot through a bolt;

the positioning section of the cylindrical support boot can be rotated along the central axis of the support leg auxiliary beam, the support leg auxiliary beam is vertically arranged, and the central axis of the support leg main beam and the central axis of the main stand column form an acute angle.

5. The ultrasonic phased array inspection system for the integrated reactor pressure vessel as claimed in claim 1, wherein the main column is of a telescopic rod structure, the fixed end of the main column is fixedly connected with the pressure vessel through the inner wall fixing component, the telescopic end of the main column is fixedly connected with the multi-degree-of-freedom component, and the multi-degree-of-freedom component comprises:

the fixed end of the main arm rotating disc is fixedly connected with the telescopic end of the main upright post, and the central axis of the main arm rotating disc is superposed with the central axis of the main upright post;

the first telescopic arm is horizontally arranged, and the fixed end of the first telescopic arm is fixedly connected with the rotating end of the main arm rotating disc;

the fixed end of the first rotating disc is fixedly connected with the telescopic end of the first telescopic arm, and the central axis of the first rotating disc is perpendicular to the central axis of the first telescopic arm;

the second telescopic arm is horizontally arranged, and the fixed end of the second telescopic arm is fixedly connected with the rotating end of the main arm rotating disc;

the fixed end of the second rotating disc is fixedly connected with the telescopic end of the second telescopic arm, and the central axis of the second rotating disc is superposed with the central axis of the second telescopic arm;

the fixed end of the swing connecting rod is fixedly connected with the telescopic end of the second telescopic arm;

the fixed end of the third telescopic arm is fixedly connected with the swinging end of the swinging connecting rod;

and the fixed end of the third rotating disc is fixedly connected with the telescopic end of the third telescopic arm, and the central axis of the third rotating disc is superposed with the central axis of the third telescopic arm.

6. The integrated reactor pressure vessel ultrasonic phased array inspection system of claim 5, wherein the inner wall inspection assembly comprises a plurality of internal ultrasonic probes fixedly connected to a rotating end of the first rotating disk, a rotating end of the second rotating disk, and a rotating end of the third rotating disk, respectively.

7. The ultrasonic phased array inspection system for the integrated reactor pressure vessel as claimed in claim 6, wherein the detection direction of the internal ultrasonic probe connected with the first rotating disk is parallel to the central axis of the first rotating disk, the detection direction of the internal ultrasonic probe connected with the second rotating disk is parallel to the central axis of the second rotating disk, the detection direction of the internal ultrasonic probe connected with the third rotating disk is parallel to the central axis of the third rotating disk, and the detection directions of the plurality of internal ultrasonic probes are all towards the inner side wall of the pressure vessel.

8. The integrated reactor pressure vessel ultrasonic phased array inspection system of claim 1, wherein the outer wall securement assembly comprises:

the first vertical rod is vertically arranged on the outer side of the pressure container;

the second vertical rod is parallel to the first vertical rod and is vertically arranged on the outer side of the pressure container;

the fixed suckers are adsorbed on the outer side wall of the pressure container and are fixedly connected with the first vertical rod and the second vertical rod;

the circumferential motion assembly is horizontally arranged, and two ends of the circumferential motion assembly are fixedly connected with the lower end of the first vertical rod and the lower end of the second vertical rod respectively.

9. The integrated reactor pressure vessel ultrasonic phased array inspection system of claim 8, wherein the circumferential motion assembly comprises:

the two ends of the arc-shaped guide rail are fixedly connected with the lower end of the first vertical rod and the lower end of the second vertical rod respectively, and the central line of the arc-shaped guide rail is superposed with the central axis of the pressure container;

and the movement module is arranged on the arc-shaped guide rail and can horizontally slide along the arc-shaped guide rail.

10. The integrated reactor pressure vessel ultrasonic phased array inspection system of claim 9, wherein the outer wall inspection assembly comprises:

the fourth telescopic arm is vertically arranged, and the fixed end of the fourth telescopic arm is fixedly connected with the motion module;

and the external ultrasonic probe is fixedly connected with the telescopic end of the fourth telescopic arm, and the detection direction of the external ultrasonic probe is vertical to the pressure container and is arranged inwards.

Technical Field

The invention relates to the field of in-service inspection of reactors, in particular to an integrated reactor pressure vessel ultrasonic phased array inspection system.

Background

When the integrated reactor pressure vessel is in-service inspection, the circumferential weld of the cylinder body needs to be subjected to ultrasonic inspection. Because the direct current steam generator is arranged in the pressure vessel and can not be detached, the upper space in the pressure vessel becomes small (the diameter of an inlet is less than phi 2000mm), and the ultrasonic phased array inspection system of the pressure vessel must be suitable for the structure with the small top and the big bottom.

The interior of a welding seam of a support section cylinder and a cylinder flange is shielded by a steam generator, and the inspection equipment used for inspecting the conventional distributed reactor pressure vessel is only suitable for the pressure vessel with the internal space size far larger than that of the integrated reactor pressure vessel and is not suitable for the structure that the steam generator is arranged in the pressure vessel.

Disclosure of Invention

The invention aims to solve the technical problems that the volume of an integrated reactor pressure vessel is small, the diameter of an inlet is small, and the traditional inspection equipment cannot be used for inspecting a welding seam after a steam generator is installed.

The invention is realized by the following technical scheme:

an integrated reactor pressure vessel ultrasonic phased array inspection system, comprising:

an inner wall inspection system fixed at an entrance of the pressure vessel, the inner wall inspection system disposed inside the pressure vessel;

an outer wall inspection system fixed to an outer side surface of a side wall of the pressure vessel;

the interior wall inspection system includes:

an inner wall fixing assembly connected with an inlet flange of the pressure vessel;

the upper end of the main upright post is fixedly connected with the inner wall fixing component, and the lower end of the main upright post is arranged in the pressure container;

the multi-degree-of-freedom assembly is fixedly connected with the lower end of the main upright post;

an inner wall inspection assembly connected to the free end of the multiple degree of freedom assembly;

the outer wall inspection system includes:

the outer wall fixing assembly is connected with the outer side face of the side wall of the pressure container;

the circumferential motion assembly is horizontally arranged on the outer side of the pressure container and is fixedly connected with the outer wall fixing assembly;

an outer wall inspection assembly coupled to the moving end of the circumferential motion assembly.

Specifically, the inner wall fixing assembly includes:

the inner side surface of the supporting leg butt joint panel is fixedly connected with the outer side surface of the main upright post;

the upper end of the supporting leg main beam is fixedly connected with the outer side surface of the supporting leg butt joint panel;

the lower end of the positioning rod is arranged in a flange hole of an inlet flange of the pressure container;

a cylindrical support shoe horizontally disposed, and the cylindrical support shoe comprises:

the fixed section is connected with the lower end of the main beam of the support leg;

the positioning section is internally provided with a through hole coaxial with the positioning rod, and the positioning section is sleeved on the positioning rod.

Specifically, the diameter of the through hole of the cylindrical support shoe is larger than the diameter of the positioning rod;

the cylindrical support boot further comprises:

the telescopic cylinder of centering of a plurality of synchronous motion, its stiff end with cylinder support boots fixed connection, the telescopic cylinder's of centering flexible end is located in the through-hole, just the flexible direction of the telescopic end of centering flexible cylinder with the diameter coincidence of through-hole.

Further, the inner wall fixing assembly further comprises:

the upper end of the supporting leg auxiliary beam is fixedly connected with the lower end of the supporting leg main beam, and the lower end of the supporting leg auxiliary beam is rotatably connected with the fixed section of the cylindrical supporting boot through a bolt;

the positioning section of the cylindrical support boot can be rotated along the central axis of the support leg auxiliary beam, the support leg auxiliary beam is vertically arranged, and the central axis of the support leg main beam and the central axis of the main stand column form an acute angle.

Specifically, the head tree is telescopic rod structure, the stiff end of head tree passes through inner wall fixed subassembly with pressure vessel fixed connection, the flexible end of head tree with multi freedom subassembly fixed connection, the multi freedom subassembly includes:

the fixed end of the main arm rotating disc is fixedly connected with the telescopic end of the main upright post, and the central axis of the main arm rotating disc is superposed with the central axis of the main upright post;

the first telescopic arm is horizontally arranged, and the fixed end of the first telescopic arm is fixedly connected with the rotating end of the main arm rotating disc;

the fixed end of the first rotating disc is fixedly connected with the telescopic end of the first telescopic arm, and the central axis of the first rotating disc is perpendicular to the central axis of the first telescopic arm;

the second telescopic arm is horizontally arranged, and the fixed end of the second telescopic arm is fixedly connected with the rotating end of the main arm rotating disc;

the fixed end of the second rotating disc is fixedly connected with the telescopic end of the second telescopic arm, and the central axis of the second rotating disc is superposed with the central axis of the second telescopic arm;

the fixed end of the swing connecting rod is fixedly connected with the telescopic end of the second telescopic arm;

the fixed end of the third telescopic arm is fixedly connected with the swinging end of the swinging connecting rod;

and the fixed end of the third rotating disc is fixedly connected with the telescopic end of the third telescopic arm, and the central axis of the third rotating disc is superposed with the central axis of the third telescopic arm.

Specifically, the inner wall inspection assembly comprises a plurality of internal ultrasonic probes, and the plurality of internal ultrasonic probes are fixedly connected with the rotating end of the first rotating disk, the rotating end of the second rotating disk and the rotating end of the third rotating disk respectively.

Preferably, the detection direction of the internal ultrasonic probe connected to the first rotating disk is parallel to the central axis of the first rotating disk, the detection direction of the internal ultrasonic probe connected to the second rotating disk is parallel to the central axis of the second rotating disk, the detection direction of the internal ultrasonic probe connected to the third rotating disk is parallel to the central axis of the third rotating disk, and the detection directions of the multiple internal ultrasonic probes face the inner side wall of the pressure vessel.

Specifically, the outer wall fixing assembly includes:

the first vertical rod is vertically arranged on the outer side of the pressure container;

the second vertical rod is parallel to the first vertical rod and is vertically arranged on the outer side of the pressure container;

the fixed suckers are adsorbed on the outer side wall of the pressure container and are fixedly connected with the first vertical rod and the second vertical rod;

the circumferential motion assembly is horizontally arranged, and two ends of the circumferential motion assembly are fixedly connected with the lower end of the first vertical rod and the lower end of the second vertical rod respectively.

Specifically, the circumferential motion assembly includes:

the two ends of the arc-shaped guide rail are fixedly connected with the lower end of the first vertical rod and the lower end of the second vertical rod respectively, and the central line of the arc-shaped guide rail is superposed with the central axis of the pressure container;

and the movement module is arranged on the arc-shaped guide rail and can horizontally slide along the arc-shaped guide rail.

Specifically, the outer wall inspection assembly includes:

the fourth telescopic arm is vertically arranged, and the fixed end of the fourth telescopic arm is fixedly connected with the motion module;

and the external ultrasonic probe is fixedly connected with the telescopic end of the fourth telescopic arm, and the detection direction of the external ultrasonic probe is vertical to the pressure container and is arranged inwards.

Compared with the prior art, the invention has the following advantages and beneficial effects:

the invention can carry out ultrasonic detection on the welding line inside the pressure vessel through the inner wall inspection system at the position where the welding line between the reactor core section cylinder and the bottom head is shielded by the steel shielding layer, and can inspect the welding line from the outer wall through the outer wall inspection system at the position where the welding line between the support section cylinder and the cylinder flange is shielded by the steam generator, thereby realizing the inspection of the integrated reactor pressure vessel.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a schematic structural diagram of an inspection system for an inner wall of an integrated ultrasonic phased array inspection system for a reactor pressure vessel according to the present invention.

FIG. 2 is a schematic view of a multiple degree of freedom assembly according to the present invention.

Fig. 3 is a schematic structural view of an internal fixation assembly according to the present invention.

Fig. 4 is a schematic structural view of an outer wall inspection system according to the present invention.

Reference numerals: 1-a main upright post, 2-a main arm rotating disc, 3-a first telescopic arm, 4-a second telescopic arm, 5-a first rotating disc, 6-a second rotating disc, 7-a swinging connecting rod, 8-a third telescopic arm, 9-a third rotating disc and 10-an internal ultrasonic probe;

20-inner wall fixing components, 21-support leg butt joint panels, 22-support leg main beams, 23-support leg auxiliary beams and 24-cylindrical support boots;

41-a first vertical rod, 42-a second vertical rod, 43-a fixed sucker, 44-an arc-shaped guide rail, 45-a motion module, 46-a fourth telescopic arm and 47-an external ultrasonic probe.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the invention.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

In the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Example one

An integrated reactor pressure vessel ultrasonic phased array inspection system comprises an inner wall inspection system and an outer wall inspection system.

The inner wall inspection system is fixed at the entrance of the pressure vessel, and the inner wall inspection system is disposed inside the pressure vessel.

The inner wall inspection system includes a mechanical system, a control system, a video monitoring system, a software system and other auxiliary systems, which are not described in the present embodiment, and those skilled in the art can control the inner wall inspection system according to their knowledge.

The inner wall inspection system can perform ultrasonic inspection on the positions of the cylinder ring welding, the flange surface, the bottom head, the nozzle welding seam and the like from the inside of the reactor pressure vessel.

The outer wall inspection system is fixed on the outer side surface of the side wall of the pressure container;

the outer wall inspection system further includes a mechanical system, a control system, a software system, and other auxiliary systems, and similarly, the control system is not described in detail in this embodiment, and those skilled in the art can control the outer wall inspection system according to the prior art.

The outer wall inspection system is capable of performing ultrasonic inspection of the barrel girth weld from outside the reactor pressure vessel.

Next, a mechanical system of the inner wall inspection system, which is driven by the control system to perform the inspection function inside the pressure vessel, will be described, and the inner wall inspection system in this embodiment includes an inner wall fixing unit 20, a main column 1, a multi-degree-of-freedom unit, and an inner wall inspection unit.

The inner wall fixture assembly 20 is connected to the inlet flange of the pressure vessel and functions to secure the inner wall inspection assembly within the pressure vessel and provide support to the entire inner wall inspection assembly.

The upper end of the main upright post 1 is fixedly connected with the inner wall fixing component 20, and the lower end of the main upright post is arranged in the pressure vessel;

the main upright post 1 is vertically arranged, the main upright post 1 is of a telescopic rod structure, the fixed end of the main upright post 1 is fixedly connected with a pressure container through an inner wall fixing component 20, the telescopic end of the main upright post 1 is fixedly connected with a multi-degree-of-freedom component, the inner wall inspection component is inserted into the pressure container, the main upright post 1 in the embodiment adopts a 5-layer nested structure, and the maximum stroke is not lower than 10 m.

The multi-degree-of-freedom assembly is fixedly connected with the lower end of the main upright post 1, the inner wall inspection assembly is connected with the free end of the multi-degree-of-freedom assembly, the multi-degree-of-freedom assembly comprises 9 degrees of freedom, and the multi-degree-of-freedom assembly has the main functions of realizing the movement of each degree of freedom of the inner wall inspection assembly and realizing the ultrasonic detection of each position of the inner side surface of the pressure container.

Next, a mechanical system of the outer wall inspection system, which is driven by the control system to perform the inspection function outside the pressure vessel, will be described.

The outer wall fixing component is connected with the outer side face of the side wall of the pressure container; the function of the outer wall inspection assembly is to fix the outer wall inspection assembly on the outer wall of the pressure vessel and fix the position of the whole outer wall inspection assembly.

The circumferential motion assembly is horizontally arranged on the outer side of the pressure container and fixedly connected with the outer wall fixing assembly, the outer wall inspection assembly is connected with a motion end of the circumferential motion assembly, and the circumferential motion assembly drives the outer wall inspection assembly to move circumferentially on the outer side surface of the pressure container, so that the weld joint is inspected.

Example two

The embodiment provides a specific structure of the inner wall fixing assembly 20, which comprises a support leg butt joint panel 21, a support leg main beam 22, a support leg auxiliary beam 23, a positioning rod and a cylindrical support shoe 24.

The inner side surfaces of the supporting leg butt joint panels 21 are fixedly connected with the outer side surface of the main upright post 1.

The upper end of supporting leg girder 22 and the lateral surface fixed connection of supporting leg butt joint panel 21, the upper end of supporting leg auxiliary girder 23 and the lower extreme fixed connection of supporting leg girder 22, the vertical setting of supporting leg auxiliary girder 23, the axis of supporting leg girder 22 is acute angle contained angle with the axis of head tree 1.

The support leg main beam 22 and the support leg auxiliary beam 23 form a folding rod structure, and are convenient to be connected with an inlet flange of the pressure vessel.

The lower extreme of locating lever is installed in the flange hole of pressure vessel's entry flange, and before carrying out the installation of inner wall fixed subassembly 20, install the locating lever in the flange hole of pressure vessel entry flange earlier, and the quantity of locating lever equals with the quantity of supporting leg.

The cylindrical support shoe 24 in this embodiment is horizontally disposed, and the cylindrical support shoe 24 includes a fixing section and a positioning section.

The fixed section is connected with the lower extreme of supporting leg auxiliary beam 23, and the inside through-hole that is coaxial with the locating lever that is provided with of location section, and location section suit is on the locating lever.

That is, the cylindrical support shoes 24 are plate-shaped structures, and the positioning sections of the cylindrical support shoes 24 are sleeved on the positioning rods, so that the positions of the support legs are fixed.

The lower end of the supporting leg auxiliary beam 23 is rotatably connected with the fixed section of the cylindrical supporting shoe 24 through a bolt, and the positioning section of the cylindrical supporting shoe 24 can rotate along the central axis of the supporting leg auxiliary beam 23.

If cylindrical support boots 24 and supporting leg auxiliary beam 23 fixed connection, then its suitability can reduce, can only install on the entry flange of fixed size, with cylindrical support boots 24 and supporting leg auxiliary beam 23 rotatable coupling in this embodiment, then can change the distance between the through-hole of cylindrical support boots 24 and the axis of main column 1 through changing the contained angle of cylindrical support boots 24 and supporting leg auxiliary beam 23 to can make its entry flange that can adapt to different sizes.

In addition, the supporting leg can also adopt circular, boot type and bootie type design, can adapt to the installation and the fixed on the different diameter screw holes of different diameter flange faces, and the boot type supporting leg adopts the design of stepping down in order to avoid the boss on the flange face of integrated reactor

EXAMPLE III

The present embodiment is optimized for the second embodiment, and the number of the support legs in the second embodiment is 4, so that when the original support shoe and the positioning rod are sleeved, the centering may be inaccurate.

To achieve centering, the diameter of the through hole of the cylindrical support shoe 24 in this embodiment is larger than the diameter of the positioning rod;

the cylindrical support shoe 24 further comprises a plurality of centering telescopic cylinders which move synchronously, the fixed ends of the centering telescopic cylinders are fixedly connected with the cylindrical support shoe 24, the telescopic ends of the centering telescopic cylinders are located in the through holes, and the telescopic directions of the telescopic ends of the centering telescopic cylinders coincide with the diameters of the through holes.

Through setting up a plurality of centering telescopic cylinder, after the 24 suit of cylinder support boots on the locating lever, through synchronous flexible of control system control centering telescopic cylinder to the realization removes the axis of locating lever to the position with the axis coincidence of through-hole, has realized centering operation.

Example four

In order to perform ultrasonic detection on each position in the pressure vessel, the multi-degree-of-freedom module provided in this embodiment has 9 degrees of freedom, and includes an up-and-down linear motion shaft provided by 1 main column 1, a circumferential rotational motion shaft provided by 1 main arm rotating disk 2, a telescopic linear motion shaft of 3 telescopic arms (a first telescopic arm 3, a second telescopic arm 4, and a third telescopic arm 8), a rotational motion shaft of 3 rotating disks (a first rotating disk 5, a second rotating disk 6, and a third rotating disk 9) around their own axis, and a swinging motion shaft of 1 swinging connecting rod 7.

Next, a specific structure of the multi-degree-of-freedom assembly is described, and the multi-degree-of-freedom assembly in this embodiment includes a main arm rotating plate 2, a first telescopic arm 3, a second telescopic arm 4, a third telescopic arm 8, a first rotating plate 5, a second rotating plate 6, a third rotating plate 9, and a swing connecting rod 7.

The fixed end of the main arm rotating disk 2 is fixedly connected with the telescopic end of the main upright post 1, and the central axis of the main arm rotating disk 2 is superposed with the central axis of the main upright post 1 and provides a circumferential motion shaft.

First flexible arm 3 level sets up, and the stiff end of first flexible arm 3 and the rotatory end fixed connection of main arm rotary disk 2, and it provides the ascending horizontal motion axle of first flexible arm 3 direction.

The fixed end of the first rotating disk 5 is fixedly connected with the telescopic end of the first telescopic arm 3, and the central axis of the first rotating disk 5 is perpendicular to the central axis of the first telescopic arm 3; which provides a shaft for the rotational movement of the first rotating disk 5 about its own axis.

The flexible arm 4 level of second sets up, and the stiff end of the flexible arm 4 of second and the rotatory end fixed connection of main arm rotary disk 2, and it provides the flexible arm 4 ascending horizontal motion axle of direction of second.

The stiff end of second rotary disk 6 and the flexible end fixed connection of the flexible arm 4 of second, the axis of second rotary disk 6 and the axis coincidence of the flexible arm 4 of second, it provides the second rotary disk 6 around self axis rotary motion axle.

The fixed end of the swing connecting rod 7 is fixedly connected with the telescopic end of the second telescopic arm 4, which provides a swing motion axis.

The fixed end of the third telescopic arm 8 is fixedly connected with the swing end of the swing connecting rod 7, which provides a telescopic motion shaft in the direction of the third telescopic arm 8.

The fixed end of the third rotating disk 9 is fixedly connected with the telescopic end of the third telescopic arm 8, and the central axis of the third rotating disk 9 is superposed with the central axis of the third telescopic arm 8 and provides a rotation motion shaft of the third rotating disk 9 around the self axis.

The first telescopic arm 3, the second telescopic arm 4 and the third telescopic arm 8 in the embodiment are all designed in a three-layer nested structure, constant-speed and equidistant extension and retraction in the horizontal direction can be realized, the telescopic radius can meet in-service inspection of a pressure container with the inner diameter ranging from phi 1900mm to phi 3400m, the telescopic arm can be pneumatically extended and retracted and also can be driven by a motor to be extended and retracted, and the telescopic arm capable of realizing the telescopic function can be selected according to the prior art in the field.

The first rotating disk 5, the second rotating disk 6 and the third rotating disk 9 in this embodiment may be electric rotating disks, which are used to realize the relative rotation of the fixed end and the rotating end, and those skilled in the art can select and use the rotating disks according to the prior art.

Swing connecting rod 7 in this embodiment can realize the angle change between the axis of the flexible arm 8 of third and the axis of head mast 1, can make the flexible arm 8 of third rotate along the lower extreme of head mast 1 through control swing connecting rod 7 to can carry out the welding seam to each position of pressure vessel's bottom and detect.

A concrete structure of the swing link 7 is provided, and the swing link 7 in the present embodiment includes:

and the fixed frame is fixedly connected with the lower end of the main upright post 1.

And the motor is fixedly connected with the fixed frame.

The driving shaft is arranged in parallel with a torque output shaft of the motor and is rotatably connected with the fixed frame, the torque output shaft of the motor is in power connection with the driving shaft through a belt, and a first thread is arranged on the outer side face of the driving shaft.

And the driven shaft is perpendicular to a torque output shaft of the motor, a second thread matched with the first thread is arranged on the outer side surface of the driven shaft, and the first end of the driving shaft is in threaded engagement with the first end of the driven shaft.

The swinging wheel is rotatably connected with the fixed frame, the central axis of the swinging wheel is parallel to the torque output shaft of the motor, the outer side surface of the swinging wheel is provided with a third thread matched with the second thread, and the second end of the driven shaft is in threaded engagement with the outer side surface of the swinging wheel.

And the connecting rod is arranged along the radius direction of the swinging wheel, the first end of the connecting rod is fixedly connected with the swinging wheel, and the second end of the connecting rod is fixedly connected with the third telescopic arm 8.

Therefore, in this embodiment, the driving shaft is driven by the motor to rotate, the driving shaft transmits power to the swinging wheel through the driven shaft, so as to drive the swinging wheel to rotate, the angle of the connecting rod can be changed through the rotation of the swinging wheel, and the swinging of the third telescopic arm 8 can be realized.

EXAMPLE five

Because the inner side wall of the pressure container needs to be detected, the inner wall inspection assembly in the embodiment comprises a plurality of internal ultrasonic probes 10, and the plurality of internal ultrasonic probes 10 are fixedly connected with the rotating end of the first rotating disk 5, the rotating end of the second rotating disk 6 and the rotating end of the third rotating disk 9 respectively.

The detection direction of the internal ultrasonic probe 10 connected with the first rotating disk 5 is parallel to the central axis of the first rotating disk 5, the detection direction of the internal ultrasonic probe 10 connected with the second rotating disk 6 is parallel to the central axis of the second rotating disk 6, the detection direction of the internal ultrasonic probe 10 connected with the third rotating disk 9 is parallel to the central axis of the third rotating disk 9, and the detection directions of the internal ultrasonic probes 10 face the inner side wall of the pressure container.

The internal ultrasonic probe 10 has the capability of performing automatic ultrasonic inspection on a pressure container from the inside, has the capability of conventional ultrasonic and phased array ultrasonic inspection technologies, and can perform inspection on welding seams made of 508III steel (with a stainless steel overlaying layer) and austenitic stainless steel.

The internal ultrasound probe 10 may be selected by one skilled in the art as desired, and the internal ultrasound probe 10 may be implemented using conventional techniques.

EXAMPLE six

The structure of the outer wall fixing component is illustrated in this embodiment, and the outer wall fixing component in this embodiment includes a first vertical rod 41, a second vertical rod 42 and a fixing suction cup 43.

First montant 41 is vertical to be set up in pressure vessel's the outside, and second montant 42 is parallel with first montant 41, and vertical setting is in pressure vessel's the outside, and the circumferential motion subassembly level sets up, and the both ends of circumferential motion subassembly respectively with the lower extreme of first montant 41 and the lower extreme fixed connection of second montant 42.

The first vertical rod 41, the second vertical rod 42 and the circumferential motion assembly form a U-shaped structure, the U-shaped structure is fixed on the outer side surface of the pressure container, and the outer wall inspection assembly is controlled by the control system in a mode of coordinated motion of circumferential motion and axial motion to realize the inspection of the circumferential weld of the outer wall of the cylinder in a grid scanning mode.

Axial positioning precision of an outer wall inspection system: plus or minus 3 mm; circumferential positioning precision of the outer wall subsystem: ± 1.5mm, circumferential scan speed: 0-80 mm/s; and (3) axial positioning precision: +/-1.5 mm and axial scanning speed of 0-80 mm/s.

The fixed suckers 43 are adsorbed on the outer side wall of the pressure container and fixedly connected with the first vertical rod 41 and the second vertical rod 42;

the first vertical rod 41 and the second vertical rod 42 are fixed to the outer side wall of the pressure container by the fixing suction cup 43, and the fixing suction cup 43 in this embodiment may be a vacuum suction cup, that is, the fixing to the pressure container is realized by atmospheric pressure.

The fixed sucker 43 can be attracted to the outer side wall of the pressure container through magnetic force by a magnetic system, namely, by controlling the on-off of the electromagnet.

The specific fixing method can be selected according to the common knowledge of the skilled person.

EXAMPLE seven

The embodiment provides a specific structure for realizing circumferential motion and axial motion, and the circumferential motion is realized by a circumferential motion assembly which comprises an arc-shaped guide rail 44 and a motion module 45.

The two ends of the arc-shaped guide rail 44 are respectively and fixedly connected with the lower end of the first vertical rod 41 and the lower end of the second vertical rod 42, and the central line of the arc-shaped guide rail 44 is superposed with the central axis of the pressure container; the moving module 45 is disposed on the arc-shaped guide rail 44 and can horizontally slide along the arc-shaped guide rail 44.

The movement module 45 comprises a shell, a rack structure, a motor, a speed reducer and the like, the shell is fixed on the arc-shaped guide rail 44 and can move left and right along the arc-shaped guide rail 44, a rack is arranged on the arc-shaped guide rod, a gear meshed with the rack structure is installed on a torque output shaft of the motor, the motor drives the gear to rotate, and the position of the movement module 45 on the arc-shaped guide rail 44 is changed through meshing of the gear and the rack.

The axial movement is achieved by an outer wall inspection assembly comprising a fourth telescopic arm 46 and an external ultrasound probe 47.

The fourth telescopic arm 46 is vertically arranged, the fixed end of the fourth telescopic arm 46 is fixedly connected with the motion module 45, the external ultrasonic probe 47 is fixedly connected with the telescopic end of the fourth telescopic arm 46, and the detection direction of the external ultrasonic probe 47 is perpendicular to the pressure container and is arranged inwards.

The structure of the fourth telescopic arm 46 is similar to the structure of the first telescopic arm 3, the second telescopic arm 4 and the third telescopic arm 8, that is, the length of the fourth telescopic arm 46 can be controlled by an external control system, so that the position change of the external ultrasonic probe 47 in the axial direction is realized.

The external ultrasonic probe 47 has the capability of performing automatic ultrasonic inspection on the pressure vessel from the outside, has the capability of conventional ultrasonic and phased array ultrasonic inspection technologies, and can perform inspection on welding seams of 508III steel (with a stainless steel overlaying layer) and austenitic stainless steel.

The external ultrasound probe 47 can be selected by those skilled in the art according to the requirements, and the external ultrasound probe 47 adopts the existing technology.

Example eight

The present embodiment provides a specific method of use.

1. Inspection of interior walls

Taking out the inner wall inspection system from the transport container, completing assembly of the inner wall inspection system, inspecting that all parts are connected completely, and inspecting whether bolts are loosened or fall off;

connecting a control and data transmission cable;

the equipment body is arranged on an inlet flange of the pressure container by using a ring crane and is positioned by using a positioning rod;

starting a control system and a data acquisition system, entering a control software interface and a data acquisition software interface, and setting motion parameters and inspection parameters;

the inner wall inspection system unfolds the main upright 1, the first telescopic arm 3, the second telescopic arm 4 and the third telescopic arm 8 at specified positions according to the inner diameter of the pressure vessel;

controlling the internal ultrasonic probe 10 to scan the designated part according to a preset planning path and acquiring scanning data;

after the examination is finished, the internal ultrasonic probe 10 is reset, and the main upright post 1, the first telescopic arm 3, the second telescopic arm 4 and the third telescopic arm 8 are contracted;

dismantling the positioning rod, and lifting out and cleaning the positioning rod by using a ring crane;

and disassembling the inner wall inspection system and then loading the inner wall inspection system into a transportation and storage container.

2. Inspection of external walls

Firstly, the outer wall inspection system is assembled, all parts of the outer wall inspection system are well connected, and whether bolts are loosened or fall off is checked;

connecting a control and data transmission cable and a coupling agent supply system;

after the outer wall inspection system is installed, the circumferential movement assembly is operated to move to a right limiting position, the position is marked as a zero point, and marking is carried out according to the position of the laser marking line and is used as the initial position of the next installation and collection area.

After the outer wall inspection system is installed, the acquisition plan can be edited, and the ultrasonic scanning is started.

And after the inspection of the inspection area is finished, the outer wall inspection system adjusts the circumferential motion assembly to move to a left limit position through the control system.

When the next installation is carried out, the installation position is kept to cover the previous marking line at the left limiting position of the circumferential motion assembly, so that the coverage surface of ultrasonic scanning can have a repeated area in each scanning area.

The above steps are repeated for each region examination.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of description and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.