Summary of the invention
The present invention seeks to provide in order to overcome the deficiencies in the prior art a kind of can with sphere to be detected close-coupled and realize the probe scanning device of the reactor pressure vessel checking machine of comprehensive scanning mutually.
For achieving the above object, the technical solution used in the present invention is: a kind of probe scanning device of reactor pressure vessel checking machine, it is used for the spherical area at reactor pressure vessel cylindrical shell and low head girth joint place is carried out scanning, it comprises and is used to stretch to the inspection arm that described pressure vessel is inner and can rotate in a circumferential direction along described cylindrical shell and low head, with at least one probe assembly of checking that the arm front end is connected, each described probe assembly comprises and being used for and the probe mechanism for the treatment of that the scanning spherical area is coupled and is provided with, be used on the spherical radius direction, providing the spring buffer stand of snap-in force for probe mechanism, the outrigger that connects described spring buffer stand and probe mechanism, described probe mechanism comprises at least one ultrasonic probe body, be used to limit the probe fixed mount of ultrasonic probe body position, described outrigger comprises and checks the perpendicular and horizontal part that be fixedly connected with the spring buffer stand of arm axial line, be fixedly connected with horizontal part and stretch to the rake of sphere obliquely, described rake is connected with described probe fixed mount phase pivot.
In the mode according to enforcement that technique scheme is optimized, the horizontal part of described outrigger and the angle between the rake are 120~150 degree.
Described probe assembly comprises a plurality of, and a plurality of described probe assembly is arranged side by side.
The probe holder of each probe assembly comprises that frame is located at the probe support framework in the corresponding ultrasonic probe body outside, the wall support frame that rotates and be connected by the 3rd rotating shaft with the probe support framework, described probe support framework comprises the inside casing that relative both sides with the ultrasonic probe body rotate and connect by first rotating shaft respectively, the housing that relative both sides with inside casing rotate and connect by second rotating shaft respectively, the axial line of the axial line of described first rotating shaft and second rotating shaft is perpendicular, described second rotating shaft parallels with the axial line of the 3rd rotating shaft, in described the 3rd rotating shaft, also be arranged with torsion spring, one end of described torsion spring links to each other with the wall support frame, the other end links to each other with described housing, described first rotating shaft, second rotating shaft and torsion spring provide rotary freedom for described ultrasonic probe body on sphere so that ultrasonic probe body and sphere close-coupled to be measured.
Described rotary freedom comprises that described ultrasonic probe body presses to the Three Degree Of Freedom of spherical radius direction along second rotating shaft at first degree of freedom that upward deflects in sphere week, described inside casing along first rotating shaft under second degree of freedom of cambered surface upper deflecting, the effect of described housing at torsion spring.
Because the utilization of technique scheme, the present invention compared with prior art has following advantage: its outrigger of probe scanning device of the present invention adopts horizontal part and rake to constitute, prevented that probe mechanism from running into penetration piece, guaranteed comprehensive scanning in examine zone, simultaneously, the ultrasonic probe body can close-coupled, has guaranteed the continuity of scanning, guarantees scanning result's reliability and accuracy.
Description of drawings
Accompanying drawing 1 is the reactor pressure vessel structural representation;
Accompanying drawing 2 is scanning equipment working state schematic representation of the present invention;
Accompanying drawing 3 is an A place enlarged diagram in the accompanying drawing 2;
Accompanying drawing 4 is a plurality of probe assembly arrangement mode of the present invention synoptic diagram
Accompanying drawing 5 is the single probe assembly perspective view of the present invention (original state);
Accompanying drawing 6 is the single probe assembly perspective view of the present invention (duty);
Accompanying drawing 7 is the single probe assembly side view of the present invention;
Accompanying drawing 8 is probe assembly front-end probe mechanism structural representation of the present invention;
Wherein: 10, check arm; 20, probe assembly; 201, spring buffer stand; 2011, connecting rod; 2012, spring; 2013, slide block; 202, probe mechanism; 203, outrigger; 2031, horizontal part; 2032, rake; 204, bracing frame;
1, ultrasonic probe body; 2, probe support framework; 21, inside casing; 211, first rotating shaft; 22, housing; 221, second rotating shaft; 222, alar part; 3, wall support frame; 31, the 3rd rotating shaft; 4, torsion spring; 5, the 4th rotating shaft;
100, cylindrical tube; 200, low head; 300, weld seam; 400, penetration piece;
Embodiment
Below in conjunction with accompanying drawing, describe particular content of the present invention in detail for example:
Fig. 2 and Fig. 3 show the structure and the duty of inspection machine front-end probe scanning equipment, because reactor pressure vessel is a tun, its bottom is positioned at 20m under water, there is big nuclear radiation in pressure vessel simultaneously, the people can not be near operation, therefore, in order to realize that probe scanning device is stretched to container bottom, set up large-scale inspection machine (not shown) in the outside of container, the core of inspection machine is to control the position and the receiving transducer feedack of probe scanning device, the exterior mechanical structure of inspection machine and control system thereof are not main points of the present invention, and the framework that it can adopt existing inspection machine repeats no more its structure at this.
To the probe scanning device structure that the present invention relates to be introduced below: referring to Fig. 2 and Fig. 3, probe scanning device is mainly formed by checking arm 10 and being positioned at a plurality of probe assemblies that are arranged side by side 20 of checking arm 10 front ends, pass through a bracing frame 204 phase support and connection between a plurality of probe assemblies 20, as shown in Figure 4, in the present embodiment, the number of probe assembly 20 is eight, each probe assembly 20 is provided with two ultrasonic probe bodies 1, and the formation to single probe assembly 20 describes below:
Extremely shown in Figure 7 as Fig. 5, each probe assembly 20 is by spring buffer stand 201, probe mechanism 202 and be connected spring buffer stand 201 and probe mechanism 202 between outrigger 203 form, wherein, spring buffer stand 201 is by paralleling the many connecting rods 2011 of setting with checking arm 10 axial lines, be set at least one on the described connecting rod 2011 spring 2012 and with check that arm 10 is fixedly connected and the slide block 2013 that is slidably disposed on the connecting rod 2011 is formed, at least one end and the spring 2012 of slide block 2013 are inconsistent, when checking that arm 10 drives slide blocks 2013 and radially reciprocatingly slides, described spring 2012 discharge and be compressed between conversion.Particularly, shown in Figure 5 is single probe assembly 20 original states, and at this moment, slide block 2013 is in the top of connecting rod 2011, and spring 2012 is in minimal compression; Shown in Figure 6 is single probe assembly duty, promptly under the propelling of checking arm 10, slide block slides to the middle lower end of connecting rod 2011 for 2013 times, spring 2012 is in most compressed state, thereby 2012 pairs of front-end probe mechanisms of spring 202 produce certain elastic force, and this elastic force has determined the compress degree of probe body on sphere.
Outrigger 203 is by with the perpendicular and fixedly connected horizontal part 2031 of each connecting rod 2011 and tilt the rake 2032 that is connected with horizontal part 2031 and form, angle between rake 2032 and the horizontal part 2031 can be set between 120 degree~150 degree, concrete setting need be taken all factors into consideration according to the position of penetration piece in the number of probe assembly 20 and the pressure vessel, in the present embodiment, angle between rake 2032 and the horizontal part 2031 is 135 degree, in working order down, as shown in Figure 3, rake 2032 tilts to the sphere direction.In order to make outrigger 203 and 202 stable connections of probe mechanism that in the present embodiment, rake 2032 is that promptly whole outrigger roughly is " Y " shape by parallel two bifurcateds of drawing of horizontal part 2031 front ends.
Be positioned at foremost probe mechanism 202 mainly by ultrasonic probe body 1, frame is located at the probe support framework 2 in ultrasonic probe body 1 outside, form by the 3rd rotating shaft 31 wall support frame 3 that is connected that rotates with probe support framework 2, as shown in Figure 8, wherein, probe support framework 2 is again by the inside casing 21 that rotates and connect by first rotating shaft 211 respectively with ultrasonic probe body 1 relative both sides, form by second rotating shaft 221 housing 22 that connects that rotates respectively with inside casing 21 relative both sides, the axial line of the axial line of described first rotating shaft 211 and second rotating shaft 221 is perpendicular, second rotating shaft 221 parallels with the axial line of the 3rd rotating shaft 31, and first rotating shaft 211 adopts screw to realize.Also be arranged with torsion spring 4 in the 3rd rotating shaft 31, an end of torsion spring 4 links to each other with wall support frame 3, and the other end links to each other with housing 22.In the present embodiment, wall support frame 3 is " worker " font support, and described housing 22 has alar part 222, the three rotating shafts 31 that embed wall support frame 3 both sides and is connected between the alar part 222 of the both sides of wall support frame 3 and housing 22.In the present embodiment, the symmetria bilateralis of wall support frame 3 be provided with above-mentioned two ultrasonic probe bodies 1 and probe support framework 2.
Simultaneously, two rakes 2032 of outrigger 203 are connected across the both end sides of wall support frame 3, and are connected with wall support frame 3 by the 4th rotating shaft 5, and the axial line of described the 4th rotating shaft 5 parallels with the axial line of the 3rd rotating shaft 31.
Structure composition to probe scanning device of the present invention is illustrated above, will be introduced its action principle below:
At first, we define the direction of motion of scanning equipment, and in pressure vessel was checked, industry coordinate system sanctified by usage was defined as follows:
A), the direction that rotates in a circumferential direction along cylindrical shell and low head is defined as directions X (overlooking from the vessel port direction);
B), be the Y direction along low head cambered surface direction of motion;
C), be the Z direction along sphere wall thickness direction of motion.
At first we describe the manner of execution of checking arm: under the control of inspection machine control system, check that arm 10 has two rotary freedoms and a linear degree of freedom in fact, when checking that arm 10 stretches to internal tank, the slide block 2013 of at first checking arm 10 control springs buffering stand 201 is toward wall direction motion (radius of sphericity direction), this promptly checks the linear movement degree of freedom (being denoted as Z among Fig. 7) of arm 10, when probe mechanism with after the reactor wall contacts, by observing the compression situation of spring, determine whether probe mechanism contacts or compress with wall; Afterwards, start the rotary freedom of checking on the arm (being denoted as Y3 among Fig. 7), make to check that arm puts the position of the limit toward the below, probe mechanism and penetration piece is nearest at this moment, but need to keep certain safe distance, generally need about 1 inch at least,, make probe mechanism 202 navigate to the position that to check by the control of above-mentioned two degree of freedom.After definite probe mechanism 202 and inspection position fit tightly, arm rotation (another rotary freedom) is checked in control, drive probe mechanism and do the motion that rotates in a circumferential direction, after rotating a circle, check the past again Y negative sense stepping of rotary freedom on the arm, continue opposite spin one all scannings, until rotary freedom institute stepping zone when covering the required inspection area of complete weld seam till.
Navigate to the position of needs inspection at probe mechanism 202 after, control probe mechanism 202 with check that fitting tightly of position is that degree of freedom by being arranged on each probe mechanism realizes, mainly comprise three rotary freedoms on the probe mechanism 202, as shown in Figure 8, the first degree of freedom X realizes by connecting first rotating shaft, 211 places of ultrasonic probe body 1 with inside casing 21, it is used to control the directions X deflection of probe, the setting of this direction degree of freedom is because probe mechanism 202 is equipped with a plurality of ultrasonic probe bodies 1, when sphere is checked, the directions X deflection angle of each body 1 of popping one's head in is inequality, therefore, need finely tune by first rotating shaft 211 separately; The second degree of freedom Y1 realizes by connecting second rotating shaft 221 of inside casing 21 with housing 22, the deflection of control probe Y direction, the close-coupled of guarantee respectively to pop one's head in body and wall; Three Degree Of Freedom Y2 realizes that by torsion spring 4 what it was used to control is the different deflection of single probe mechanism, and has the trend of being close to sphere Z direction.Each above degree of freedom all has certain spacing scope.
Probe scanning device of the present invention is by having the structure setting of above-mentioned degree of freedom, guaranteed the better coupling of probe body and sphere, thereby guarantee the continuity of detection signal, can be because contact is bad or unstable obliterated data, guaranteed the reliability and the accuracy of detection architecture.
The foregoing description only is explanation technical conceive of the present invention and characteristics; its purpose is to allow the personage who is familiar with this technology can understand content of the present invention and enforcement according to this; can not limit protection scope of the present invention with this; all equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.