CN101916597B - Automatic detection device and positioning method for weld joint at safe end of nuclear reactor pressure vessel - Google Patents
Automatic detection device and positioning method for weld joint at safe end of nuclear reactor pressure vessel Download PDFInfo
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- CN101916597B CN101916597B CN2010102568016A CN201010256801A CN101916597B CN 101916597 B CN101916597 B CN 101916597B CN 2010102568016 A CN2010102568016 A CN 2010102568016A CN 201010256801 A CN201010256801 A CN 201010256801A CN 101916597 B CN101916597 B CN 101916597B
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- 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
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- 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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Abstract
The invention relates to automatic detection equipment and a positioning method for a weld joint at safe end of nuclear reactor pressure vessel. The automatic detection equipment comprises a bracket body, a scanning device and a positioning mechanism, wherein the positioning mechanism comprises a supersonic distance measurement sensor for detecting the distance between the front end of an end face strut and the wall of a cylinder, a horizontal inclinometer user for detecting the inclination angle of the detection equipment in X-axis direction, an axial approach switch for fixing the initial position of the scanning device in Y-axis direction and a circumferential approach switch for fixing the initial position of a supersonic probe frame in X-axis direction. After the rough positioning and the accurate positioning in axial direction and circumferential direction, scanning work can be performed. By the invention, the problem that scanning feedback data is not in correspondence with scanning positions, caused by probably existed axial or circumferential offset and the zero position offset of the supersonic probe frame in a pipe nozzle, can be overcome, thereby ensuring the readability of detection results. The whole process is controlled automatically and operated very conveniently; and thus, the invention has grater promotion and application values.
Description
Technical field
The present invention relates to the checkout equipment field of nuclear power plant reactor pressure vessel, particularly to pressure vessel water delivering orifice and water inlet ozzle position checkout facility and localization method at labour/preservice inspection.
Background technology
Nuclear reactor pressure container is one of of paramount importance parts of nuclear power station, is used for fixing, supports and contain reactor core and all in-pile components, is nuclear power plant's unique non-exchange large component in the whole phase in longevity.The quality of nuclear reactor pressure container is to guarantee that Nuclear Power System is normal, the key of safe operation.Nuclear reactor pressure container shown in Figure 16; Its main body is a cylinder 101; Cylinder 101 tops are connected with semisphere upper cover (not shown), flange 102 through bolt assembly, and cylinder 101 bottoms are welded with semisphere low head 103, and spaced radial is welded with a plurality of water inlet ozzles 104 and water outlet ozzle 105 on the cylinder cylindrical shell; On water inlet ozzle 104 and water outlet ozzle 105, be welded with a safe end 106 respectively, safe end 106 welds with trunk line 107 mutually.Quality for the definite kernel reactor pressure vessel; In the inspection specification and outline of nuclear power plant and nuclear power unit; Each weld seam on the pressure vessel and other position have been proposed the Compulsory Feature of Non-Destructive Testing, and specified respectively and before putting into operation with after moving the certain hour interval, pressure vessel is implemented the preceding and inservice inspection of labour.Result with inservice inspection before the labour provides extremely important foundation for the state of analyzing pressure vessel.
Weld seam detection to each ozzle place of nuclear reactor pressure container comprises: the weld seam detection (being designated 1002 positions among Figure 16) of the weld seam detection of ozzle outer end and safe end junction (as being designated 1001 positions among Figure 16), safe end and trunk line junction, ozzle and cylindrical shell attachment weld detect (being designated 1003 position among the figure).Wherein trunk line and safe end junction are metal solder of the same race; And ozzle outer end and safe end junction are the dissimilar metal welding.Because pore, rosin joint, incomplete fusion or defective such as lack of penetration take place easily for the welding of foreign material, these defectives are the hidden danger that security incident takes place, and therefore need emphasis inspection.
According to RCCM standard (Design and construction Rules for Mechanical components of PWR Nuclear islands; " design of pressurized-water reactor nuclear power plant nuclear island plant equipment and construction rule ") and RSEM standard (In-Service Inspection Rules for Mechanical components of PWR Nuclear islands; " inservice inspection of pressurized-water reactor nuclear power plant nuclear island plant equipment rule ") requirement, the Non-Destructive Testing to nuclear reactor pressure container mainly contains ultrasonic detecting technology, video detection technology and ray detection technology usually.Wherein, The pressure vessel nozzle weld seam is carried out the equipment of ultrasound detection; Like U.S. Pat 3780571 and the disclosed technical scheme of US4149932; Be characterized in checkout facility being positioned on the flange face of pressure vessel by three large-scale supporting legs, the lower end is stretched out a very big head tree mechanism of stroke the checking tool frame is delivered to the ozzle position.The advantage of this kind equipment is that the location is convenient to checking tool and is navigated to position to be checked fast easily between coordinate system and the pressure vessel coordinate system of equipment self; But it exist equipment volume huge, take in the nuclear island that resource (hanging like place and ring) is serious, installation and significant disadvantages such as grow post-set time.In addition, when this kind equipment is carried out inspection work in pressure vessel, generally do not allow miscellaneous equipment to walk abreast and carry out inspection work, be unfavorable for the global optimization of pressure vessel supervision time window.
Simultaneously, because zone to be detected is a cylindrical basically zone, ultrasonic probe is to stretch to ozzle inside to check; Scanning data to ultrasonic probe fed back should be tackled with its scanning position mutually, and existing equipment, it is fixed on has certain randomness in the ozzle; Axially, all there is certain deviation in circumferential position with ideal state; This deviation possibly exceed the error range that inspection allows, thereby makes the reliability of check result can not get guaranteeing, with producing certain potential safety hazard.
Summary of the invention
The present invention seeks to provide for the deficiency that overcomes prior art a kind of can accurately be fixed in the ozzle and accurately obtain checkout facility and the localization method thereof of ultrasonic probe frame with respect to ozzle coordinate system initial position.
For achieving the above object, the technical scheme that the present invention adopts is: a kind of safe end welding line of nuclear reactor pressure vessel robotization checkout facility comprises
Rack body, described rack body comprise the front end supporting module that is used to stretch in the pressure vessel nozzle, have many butts face pole is used to be positioned at rear end supporting module on the pressure container cylinder wall, is connected the guide assembly between front end supporting module and the rear end supporting module;
Scanning equipment; The ultrasonic probe frame that it comprises the shaft collar that is slidably disposed on the guide assembly, and the rotate rolling disc that be connected coaxial with shaft collar, be installed on the rolling disc and circumferentially distribute along rolling disc, described ultrasonic probe frame have and shrink and stretch two states;
It also comprises the ultrasonic range finder sensor that is used to detect distance between end face pole front end and barrel wall that is installed on the relative two butt face poles, be installed in be used between rear end supporting module and the guide assembly to detect checkout facility with respect to the level inclination meter at pressure vessel nozzle coordinate system X-direction pitch angle, be installed in be used on the guide assembly confirming scanning equipment with respect to rack body along the axial initial position of pressure vessel nozzle coordinate system Y axially near switch and be installed in be used on the scanning equipment confirming the ultrasonic probe frame with respect to rack body along pressure vessel nozzle coordinate system directions X initial position circumferentially near switch; Described pressure vessel nozzle coordinate system X axle is defined as the circumferential direction around the ozzle center line, and the Y axle is defined as the axial direction, the Z axle that are parallel to the ozzle center line and is defined as the radial direction perpendicular to the ozzle inside surface.
In optimize the mode of implementing according to technique scheme, described circumferentially near switch, its switch base and switch probe are installed separately on the shaft collar and rolling disc of said scanning equipment.
Further; Described front end supporting module and rear end supporting module are provided with a buoyant mass respectively; And described buoyant mass makes entire equipment be in the state that buoyancy and gravity balance each other under water, and described checkout facility pushes in the examine ozzle through auxiliary operating lever.
This equipment also comprise removably be connected a plurality of on the guide assembly can be along the flexible supporting leg of ozzle Z-direction.Described a plurality of supporting leg be in perpendicular two peripheries of ozzle center line on, and a plurality of supporting leg is in these two periphery spaced at equal angles around.
The present invention also provides a kind of localization method of safe end welding line of nuclear reactor pressure vessel robotization checkout facility, and it comprises the steps:
(a), axial coarse positioning: equipment is slowly sent into ozzle to be measured; Make described testing fixture front end supporting module get in the ozzle; The end face pole of rear end supporting module is relative with the cylinder inboard wall of nuclear reactor pressure container; The relative position of adjustment end face pole and cylinder inboard wall makes the reading of last two ultrasonic range finder sensors of end face pole less than 10mm, and is more or less the same between the two in 2mm;
(b), coarse positioning radially: control front end supporting module and movable supporting leg are in four supporting leg cylinders of down either side, and it is stretched out fully, accomplish the radially coarse positioning of checkout facility in ozzle;
(c), circumferential coarse positioning:, make level inclination meter reading between-3 °～3 ° along ozzle axis sense of rotation adjustment rack body;
(d), equipment is fixed: control front end supporting module and movable supporting leg are in two supporting leg cylinders of top, and itself and ozzle inwall are offseted, and accomplish checkout facility fixing in ozzle;
(e), axially initial position is accurately located: drive scanning equipment and on guide assembly, slide, when axially sending trigger pip near switch, then the position at scanning equipment place is the axial null position of Y;
(f), circumferentially initial position is accurately located: the rolling disc that drives scanning equipment rotates around shaft collar; When circumferentially sending trigger pip near switch; Then the position of rolling disc relative fixed dish is the X axis null position, after equipment carries out above-mentioned location, can carry out scanning work.
Further, in the step (e), described axially accurately location also comprises the step that the mean value that utilizes last two the ultrasonic range finder sensor readings of end face pole and the axial null position of described Y are proofreaied and correct.
In the step (f), described circumferentially accurately location also comprises the step that the reading that utilizes the level inclination meter and described X axis null position are proofreaied and correct.
Because the utilization of technique scheme; The present invention compared with prior art has advantage: welding inspection equipment of the present invention; Through ultrasonic range finder sensor, level inclination meter and null position being set near switch; On the one hand whether stationary positioned is monitored adjustment in ozzle to equipment, on the other hand the ultrasonic probe frame is accurately located with respect to the initial position of ozzle coordinate system, thereby has overcome the deviation of axial or circumferential deviation that equipment possibly exist and ultrasonic probe frame null position and the scanning feedback data problem not corresponding with the scanning position that cause in ozzle; Guaranteed the reliability of check result; Whole process automation control, it is extremely convenient to operate, and has bigger application value.
Description of drawings
Accompanying drawing 1 is a kind of supersonic inspection device perspective view that technical scheme is implemented according to the present invention;
Accompanying drawing 2 is the front view of supersonic inspection device shown in the accompanying drawing 1;
Accompanying drawing 3 is the rear view that supersonic inspection device shown in the accompanying drawing 1 gets into ozzle;
Accompanying drawing 4 is positioned at the constitutional diagram (omitting with the ozzle axial line is the opposite side of axis of symmetry) in the ozzle for supersonic inspection device shown in the accompanying drawing 1;
Accompanying drawing 5 is the structural perspective of supersonic inspection device movable supporting leg of the present invention;
Accompanying drawing 6 is the structural perspective of a guide assembly of supersonic inspection device of the present invention;
Accompanying drawing 7 is the front view (probe holder does not show above that) of supersonic inspection device probe scanning module of the present invention;
Accompanying drawing 8 is an A-A direction cut-open view in the accompanying drawing 7;
Accompanying drawing 9 is for being equipped with the probe scanning module front view of probe holder;
Accompanying drawing 10 is probe holder perspective view of the present invention;
Accompanying drawing 12 is in the contraction state front view for probe holder;
Accompanying drawing 13 is a probe holder motion principle sketch;
Accompanying drawing 14 is an ozzle coordinate system synoptic diagram;
Accompanying drawing 15 is ozzle coordinate system definition figure;
Accompanying drawing 16 is existing construction of pressure vessel cut-open view;
Wherein: 1, front end supporting module; 11, buoyant mass; 12, cylinder assembly; 13, fixed support plate;
2, rear end supporting module; 21, buoyant mass; 22, end face pole; 23, control lever web member; 24, suspension ring; 25, ultrasonic range finder sensor; 26, level inclination meter; 20, control lever;
3, guide assembly; 31, slide rail; 311, aluminium section bar; 312, V-type rail; 32, front end-plate; 33, end plate; 34, axial actuating mechanism; 341, motor; 342, feed screw nut combination; 343, slide block; 35, axially near switch;
4, scanning equipment; 41, shaft collar; 42, rolling disc; 43, probe holder; 431, ultrasonic probe; 432, retainer; 433, first order structure of linear motion; 4331, fixed pedestal; 4332, movable base plate; 4333, drive cylinder; 4334, universal ball; 4335, plunger; 4336, balance stem; 4337, lower connecting plate;
434, second level structure of linear motion; 4341, interlock piece; 4342, sliding bar; 4343, constant force spring seat; 4344, constant force spring; 4345, push back handle;
44, circumferential driving mechanism; 441, circumferential motor; 442, gear; 443, gear guide; 444, pulley; 45, circumferentially near switch;
5, movable supporting leg; 51, supporting seat; 52, cylinder; 53, head gasket;
Embodiment
Below in conjunction with accompanying drawing, specify the supersonic inspection device particular content of enforcement preferred for this invention for example:
Because supersonic inspection device of the present invention stretches in the pressure vessel nozzle and detects; At first the view direction of equipment is carried out a definition at this; In the hope of more clearly demonstrating its architectural feature, we are called front end with the end that equipment at first gets into ozzle, like Fig. 1, right side shown in Figure 2; The other end that equipment is positioned on the pressure container cylinder inwall at last is called the rear end, like Fig. 1, left side shown in Figure 2.
Fig. 1 to Fig. 4 shows the supersonic inspection device according to enforcement preferred for this invention, its mainly by front end supporting module 1, rear end supporting module 2, be detachably connected on guide assembly 3 between front end supporting module 1 and the rear end supporting module 2, be arranged on the guide assembly 3 scanning equipment 4 and movable supporting leg 5 is formed.Wherein, The rack body of front end supporting module 1, rear end supporting module 2 and guide assembly 3 constitution equipments; Front end supporting module 1 mainly plays the effect of guiding and radial location in ozzle; Rear end supporting module 2 is mainly used in the location of realization equipment on the pressure container cylinder inwall; Guide assembly 3 mainly plays the support of scanning equipment 4 and drives scanning equipment 4 above that along the ozzle axial linear movement, the scanning work of scanning equipment 4 weld seam between realizing ozzle and safe end and trunk line under axial linear drives and the circumferential rotating drive.Have relative independence between above-mentioned each module, each module gross weight is no more than 100kg, and the length of guide assembly 3 also is no more than 2 meters; So need not any hoisting device just can get into nuclear island; In the limited space of nuclear island, it can be assembled easily, need not to take the existing ring of nuclear island and hangs resource.To introduce the concrete structure of each functional module below:
Front end supporting module 1 mainly comprises buoyant mass 11, three cylinder assemblies 12, fixed support plate 13; Buoyant mass 11 is positioned at foremost, and it is the circle that has breach, and its diameter is less than the ozzle internal diameter; Three cylinder assemblies 12 are the hexagonal angle degree and are installed on the fixed support plate 13; Back up pad 13 parallels setting with buoyant mass 11, and both centers point-blank can be fixedly connected through joint pin between back up pad 13 and the buoyant mass 11.Described three cylinder assemblies 12 get into before the ozzle before assembling or not fully; Piston rod in the cylinder is in contraction state; Each cylinder assembly 12 is contained between buoyant mass 11 and the fixed support plate 12, and after getting into ozzle fully, control cylinder assembly 12 makes cylinder piston rod extend along the ozzle radial direction; Front end and ozzle inwall until each cylinder assembly 12 offset, and be as shown in Figure 4.
Rear end supporting module 2 mainly by a buoyant mass 21, be fixed on the buoyant mass 21 and four end face poles 22 along the circumferential direction being evenly distributed on buoyant mass 21 outsides are formed; Two opposing end faces pole 22 leading sections are equipped with ultrasonic range finder sensor 25 therein; Referring to Fig. 2, this ultrasonic range finder sensor 25 is used to detect the distance of end face pole 22 front ends and pressure container cylinder inwall.Inboard center in buoyant mass 21 also is equipped with level inclination meter 26, and referring to Fig. 3, described level inclination meter 26 is used for detecting in real time the pitch angle of supersonic inspection device along the pressure vessel nozzle X-direction.Simultaneously, whole checkout facility is pushed the control lever web member 23 of ozzle and is arranged on the suspension ring 24 that buoyant mass 21 centers are used to lift by crane whole checkout facility thereby on rear end supporting module 2, also be provided with to be used for being connected with control lever 20, as shown in Figure 2.
Need to prove; Because pressure vessel is among the deep water; And internal tank also is full of has water; Get into abreast in the ozzle in order to convert into again after making checkout facility of the present invention to drop in the container by vertical direction easily, among the present invention, the buoyant mass 11 of front end supporting module 1 and suffered the equating with the gravity of entire equipment in pressure vessel of the buoyant mass 21 of rear end supporting module 2 to buoyancy; Thereby make entire equipment be in the zero-g state, guaranteed that control lever 20 can push equipment in the ozzle to be detected easily.
Among the present invention, on guide assembly 3, be equipped with one axially near switch 35, referring to Fig. 2, this axially is used for confirming the initial position of ultrasonic scan module 4 on guide assembly 3 near switch 35.
Scanning equipment 4 comprise shaft collar 41 that the slide block 343 with said guide assembly 3 is fixedly connected, with shaft collar 41 coaxial settings and the rolling disc 42 that is rotationally connected and a plurality of probe holders 43 of circumferentially distributing along rolling disc 42; Wherein, Between rolling disc 42 and shaft collar 41, also be provided with circumferential driving mechanism 44; Like Fig. 7 and shown in Figure 8; This circumferential driving mechanism 44 comprises the circumferential motor 441 of sealing and fixing on shaft collar 41, the gear 442 that is connected with circumferential motor 441 output terminals, is formed on the gear guide 443 that is meshed with gear 442 all rolling disc 42 in, along six pulleys 444 of shaft collar 41 inner periphery stationary distribution; Six pulleys 444 form the ring-shaped guide rail kinematic pairs with gear guide 443 on the rolling disc 42, circumferentially the gear guide 443 formative gear kinematic pairs on the gear 442 that is connected of motor 441 output terminals and the rolling disc 42.
Shown in Figure 9 is the front view that the scanning equipment 4 of a plurality of probe holders 43 is arranged along rolling disc 42 circle distribution; Each probe holder 43 structure such as Figure 10 are to shown in Figure 12; It comprises ultrasonic probe 431, be connected with ultrasonic probe 431 and with ultrasonic probe 431 between have the retainer 432 of two rotary motion pairs, the two-stage structure of linear motion that can radially make the straight line contractile motion along rolling disc 42 that is connected with retainer 432; First order structure of linear motion 433 comprises the fixed pedestal 4331 that is fixed on the rolling disc 42, is provided with the movable base plate 4332 of universal ball 4334 in above the fixed pedestal 4331 and its upper end, is connected the double acting driving cylinder 4333 between fixed pedestal 4331 and the movable base plate 4332; Movable base plate 4332 is called first order rectilinear motion with respect to the rectilinear motion of fixed pedestal 4331, drives by driving cylinder 4333; Described second level structure of linear motion 434 comprises and is positioned at movable base plate 4332 belows and the interlock piece 4341 that is fixedly connected with movable base plate 4332, is slidably disposed on the sliding bar 4342 on the interlock piece 4341; Described retainer 432 rotates with sliding bar 4342 upper ends and is connected, and described retainer 432 rectilinear motion with respect to movable base plate 4332 under the drive of sliding bar 4342 is called second level rectilinear motion.The motion principle of whole probe holder 43 can be reduced to shown in figure 13.
Under the effect of above-mentioned two-stage structure of linear motion; Described probe holder 43 has contraction and stretches two states; When probe holder 43 was in contraction state, like Fig. 9 and shown in Figure 12, described movable base plate 4332 was drawn close with fixed pedestal 4331 mutually; And movable base plate 4332 is positioned at the circumference of rolling disc 42, and the projection that described ultrasonic probe 431 makes progress in rolling disc 42 footpaths is lower than the projection that movable base plate 432 makes progress in rolling disc 42 footpaths; When described probe holder 43 is in extended configuration; Like Figure 10 and shown in Figure 11; Described movable base plate 4332 is away from fixed pedestal 4331 and protrude the periphery at rolling disc 42, and described ultrasonic probe 431 is higher than the projection of movable base plate 432 on rolling disc 42 extend radially lines in the projection on the rolling disc 42 extend radially lines.
In the present embodiment; First order structure of linear motion 433 also further comprises the bulb plunger 4335 that is arranged on fixed pedestal 4331 upper ends, be located in the fixed pedestal 4331 slidably and balance stem 4336 that upper end and movable base plate 4332 are fixedly connected, and balance stem 4336 lower ends and are set in the lower connecting plate 4337 that drives on cylinder 4333 cylinder bodies and are fixedly connected.Second level structure of linear motion 434 further comprise constant force spring 4344 that the constant force spring seat 4343 that is fixedly connected with sliding bar 4342 lower ends, an end winding other end and interlock piece 4341 in constant force spring seat 4343 be fixedly connected, middle and movable base plate 4332 rotate be connected an end and sliding bar 4342 mutually chute be connected that the other end and described bulb plunger 4335 face mutually push back handle 4345.When probe holder 43 is in extended configuration; Shown in figure 11, balance stem 4336 is risen to a height synchronously by movable base plate 4332, pushes back handle 4345 and is in free state; Constant force spring seat 4343 is drawn close with interlock piece 4341 mutually; Via the driving of constant force spring 4344, sliding bar 4342 is upwards released, and ultrasonic probe is in the position that is higher than movable base plate 4332; When probe holder 43 by extended configuration in the contraction state transfer process, the piston rod that drives cylinder 4333 shrinks, movable base plate 4332 is drawn close to fixed pedestal 4331; Bulb plunger 4335 on fixed pedestal 4331 contacts with pushing back handle 4345, along with the further contraction of cylinder, and the end that plunger 4335 will push back handle 4345 jack-up that makes progress; The other end that pushes back handle 4345 turning axle between wherein rotates, thereby plunger 4335, pushes back between handle 4345 and the sliding bar 4342 and form leverage, according to lever principle; Sliding bar 4342 will move downward; Thereby overcome the acting force of constant force spring 4344, promote constant force spring seat 4343 and move downward, be under movable base plate 4332 surface levels until ultrasonic probe 431; Shown in figure 12, promptly realize the conversion of probe holder 43 from the extended configuration to the contraction state.
In the present embodiment, each probe holder 43 is provided with two ultrasonic probes 431, so corresponding each ultrasonic probe 431 is respectively arranged with the second level straight-line motion mechanism 434 that is connected with movable base plate 4332, on rolling disc 42, is divided into six described probe holders 43 of cloth.
In order to confirm each ultrasonic probe at the initial position that makes progress in week, among the present invention, also be equipped with on the scanning module 4 circumferentially near switch 45, referring to Fig. 7, this switch base near switch 45 is arranged on the shaft collar 41, and the switch probe is installed on the rolling disc 42.
The supersonic inspection device of present embodiment; As shown in Figure 4; On near each slide rail 31 of rear end supporting module 2, also vertically and removably be connected with the movable supporting leg 5 that is used to circumferentially locate; The structure of each movable supporting leg 5 is as shown in Figure 5, it comprises the supporting seat 51 that is connected through screw with slide rail 31, be fixedly installed on the supporting seat 51 and double-acting cylinder 52 that the flexible direction of its piston rod and slide rail 31 are axially perpendicular, with the piston rod of cylinder 52 on the head gasket 53 of the polyurethane material that is fixedly connected.Three described movable supporting legs 5 are 120 degree and distribute on same periphery.
Above-mentioned each construction module to checkout facility of the present invention has carried out detailed explanation, will how in ozzle, to carry out accurate localization to checkout facility of the present invention below and introduce:
Before introducing localization method, at first define the coordinate system of pressure vessel nozzle, so that the expression of localization method of the present invention is clearer; Shown in figure 15; We are benchmark with the center line of ozzle, are that ozzle axially is defined as Y direction with the direction that parallels with the ozzle center line, circumferentially to be defined as X-direction around the ozzle center line; Direction with perpendicular to the ozzle inside surface is defined as Z-direction; Definition to above-mentioned three each zero points of change in coordinate axis direction and positive dirction is shown in figure 16, is about to the null position that the ozzle upper end is defined as the X axle, is positive dirction in a clockwise direction; The null position of Y axle is defined on the central axis of reactor pressure vessel, and the direction of in ozzle, extending away from container is a positive dirction; The null position of Z axle is defined on the ozzle center line, is positive dirction with the direction of pointing to the ozzle inside surface perpendicular to this center line.
Concrete localization method is following:
(1), gets into ozzle to be measured: give the air pressure of the logical 5bar of driving cylinder 4333 shrinkage directions of ultrasonic probe frame, make all ultrasonic probe framves be in contraction state.Drive the air pressure of the logical 5bar of cylinder shrinkage direction for all supporting legs, make all supporting legs be in contraction state.Control lever 20 is through being fixedly connected with said control lever web member 23; Checkout facility is slowly sent into ozzle to be measured; The front end of described checkout facility is got in the ozzle, make the end face pole 22 that is positioned on the terminal rear end supporting module 2 of checkout facility relative with the cylinder inboard wall of nuclear reactor pressure container;
(2), axial (Y direction) coarse positioning: slowly adjust control lever and with checkout facility as far as possible toward the ozzle medial movement, make two ultrasonic range finder sensor 25 readings on the end face pole 22 less than 10mm, and be more or less the same between the two in 2mm;
(3), (Z-direction) coarse positioning radially: lead to the air pressure of 5bar for the cylinder that is positioned at down either side of the cylinder that is positioned at down either side and the movable supporting leg 5 of front end supporting module 1,4 following supporting legs are stretched out;
(4), circumferential (X-direction) coarse positioning: slightly adjust control lever along ozzle axis sense of rotation, make the level inclination meter reading that is fixed on the guide rail between-3 °～3 °;
(5), equipment is fixed: give the air pressure that is positioned at the logical 5bar of cylinder of top on the cylinder that is positioned at the top and the front end supporting module of movable supporting leg 5; 2 last supporting legs are stretched out; At this moment, the automatic and ozzle central axes of equipment center axis is accomplished the Z-direction location.4 following supporting legs and 2 last supporting legs hold out against at the ozzle inwall, thus the stationary positioned of completion equipment in ozzle, and remove control lever this moment in nuclear reactor pressure container;
(6), axially (Y direction) accurately locatees: utilize two ultrasonic range finder sensors 25 on the said rear end supporting module 2 and axially carry out axially accurately location near switch 35; Method is following: utilize axial direction electric machine mechanism to drive scanning equipment 4 and move towards Y axle positive dirction; When on the probe scanning module 4 near switch probe near be installed on the guide assembly axially near switch 35 time; Send trigger pip near switch; This position is designated as the preceding null position of correction, utilizes the mean value of two ultrasonic range finder sensor readings on the supporting module of rear end to carry out axial null position correction, for example; Both readings are respectively 3mm and 4mm, then before correction, continue on the basis of null position toward positive dirction motion 3.5mm as axial initial zeros.The axial initial zeros positional precision that this method is confirmed is superior to 0.5mm, thereby for whole testing process very high axial location precision is provided;
(7), circumferentially (Y direction) accurately locatees: utilize described level inclination meter 26 and circumferentially carry out circumferentially accurately location near switch 45; Method is following: utilize circumferential electric machine assembly control rolling disc toward the motion of X axle positive dirction; Switch on being installed in rolling disc probe near be fixed on the shaft collar near switch the time, send trigger pip near switch zero point, with this position be designated as proofread and correct before null position; Utilize the reading of level inclination meter that circumferential null position is proofreaied and correct; For example level inclination meter reading is 1 °, then before correction circumferentially on the basis of null position, after 1 ° of the positive dirction motion as circumferential initial zeros.The circumferential initial zeros positional precision that this method is confirmed is superior to 0.05 °, thereby for whole testing process very high circumferential bearing accuracy is provided;
After equipment carries out above-mentioned location; Can carry out welded seam area scanning work; Detailed process is following: stretch out direction ventilation pressure for the driving cylinder of ultrasonic probe frame, make all ultrasonic probe framves be in extended configuration, the ultrasonic probe and the ozzle inwall that are fixed on the ultrasonic probe frame are fitted.According to the scanning planning execution scanning task that scrutiny program requires, typical scanning mode has two kinds: a kind of detection of being called, promptly circumferentially from 0 ° of scanning to 361 °; Axial stepping 5mm; Then, circumferentially get back to 0 °, axial stepping 5mm from 361 °; So back and forth, up to covering whole examine zone; Another kind is called sizing, promptly axially from the 0mm position to the 426mm position, circumferentially stepping is 0.4 °, axially from the 426mm position to the 0mm position, circumferentially stepping is 0.4 °, so back and forth, up to covering whole examine zone;
Last end operation; Each cylinder of controlling each probe holder, movable supporting leg, front end supporting module shrinks; Through control lever checkout facility is slowly shifted out in ozzle; All in ozzle, shift out until entire equipment, use ring to hang at last or the rear end supporting module of other boom hoisting and equipment on suspension ring be connected so that equipment is hung out in nuclear reactor pressure container.
Claims (9)
1. a safe end welding line of nuclear reactor pressure vessel robotization checkout facility comprises
Rack body, described rack body comprise the front end supporting module that is used to stretch in the pressure vessel nozzle, have many butts face pole is used to be positioned at rear end supporting module on the pressure container cylinder wall, is connected the guide assembly between front end supporting module and the rear end supporting module;
Scanning equipment; The ultrasonic probe frame that it comprises the shaft collar that is slidably disposed on the guide assembly, and the rotate rolling disc that be connected coaxial with shaft collar, be installed on the rolling disc and circumferentially distribute along rolling disc, described ultrasonic probe frame have and shrink and stretch two states;
It is characterized in that: it also comprises the ultrasonic range finder sensor that is used to detect distance between end face pole front end and barrel wall that is installed on the relative two butt face poles, be installed in be used between rear end supporting module and the guide assembly to detect checkout facility with respect to the level inclination meter at pressure vessel nozzle coordinate system X-direction pitch angle, be installed in be used on the guide assembly confirming scanning equipment with respect to rack body along the axial initial position of pressure vessel nozzle coordinate system Y axially near switch and be installed in be used on the scanning equipment confirming the ultrasonic probe frame with respect to rack body along pressure vessel nozzle coordinate system directions X initial position circumferentially near switch; Described pressure vessel nozzle coordinate system X axle is defined as the circumferential direction around the ozzle center line, and the Y axle is defined as the axial direction, the Z axle that are parallel to the ozzle center line and is defined as the radial direction perpendicular to the ozzle inside surface.
2. safe end welding line of nuclear reactor pressure vessel robotization checkout facility according to claim 1 is characterized in that: described circumferentially near switch, its switch base and switch probe are installed separately on the shaft collar and rolling disc of said scanning equipment.
3. safe end welding line of nuclear reactor pressure vessel robotization checkout facility according to claim 2 is characterized in that: described circumferential switch base near switch is installed on the shaft collar, and its switch probe is installed on the rolling disc.
4. safe end welding line of nuclear reactor pressure vessel robotization checkout facility according to claim 1; It is characterized in that: described front end supporting module and rear end supporting module are provided with a buoyant mass respectively; And described buoyant mass makes entire equipment be in the state that buoyancy and gravity balance each other under water, and described checkout facility pushes in the examine ozzle through auxiliary operating lever.
5. safe end welding line of nuclear reactor pressure vessel robotization checkout facility according to claim 4 is characterized in that: this equipment also comprise removably be connected a plurality of on the guide assembly can be along the flexible supporting leg of ozzle Z-direction.
6. safe end welding line of nuclear reactor pressure vessel robotization checkout facility according to claim 5; It is characterized in that: described a plurality of supporting legs be in perpendicular two peripheries of ozzle center line on, and a plurality of supporting leg is in these two periphery spaced at equal angles around.
7. the localization method of a safe end welding line of nuclear reactor pressure vessel robotization checkout facility, it is characterized in that: it comprises the steps:
(a), axial coarse positioning: equipment is slowly sent into ozzle to be measured; Make the front end supporting module of checkout facility get in the ozzle; The end face pole of rear end supporting module is relative with the cylinder inboard wall of nuclear reactor pressure container; The relative position of adjustment end face pole and cylinder inboard wall makes the reading of last two ultrasonic range finder sensors of end face pole less than 10mm, and is more or less the same between the two in 2mm;
(b), coarse positioning radially: control front end supporting module and movable supporting leg are in four supporting leg cylinders of down either side, and it is stretched out fully, accomplish the radially coarse positioning of checkout facility in ozzle;
(c), circumferential coarse positioning:, make level inclination meter reading between-3 °～3 ° along ozzle axis sense of rotation adjustment rack body;
(d), equipment is fixed: control front end supporting module and movable supporting leg are in two supporting leg cylinders of top, and itself and ozzle inwall are offseted, and accomplish checkout facility fixing in ozzle;
(e), axially initial position is accurately located: drive scanning equipment and on guide assembly, slide, when axially sending trigger pip near switch, then the position at scanning equipment place is the axial null position of Y;
(f), circumferentially initial position is accurately located: the rolling disc that drives scanning equipment rotates around shaft collar; When circumferentially sending trigger pip near switch; Then the position of rolling disc relative fixed dish is the X axis null position, after equipment carries out above-mentioned location, can carry out scanning work.
8. the localization method of safe end welding line of nuclear reactor pressure vessel robotization checkout facility according to claim 7; It is characterized in that: in the step (e), the accurate location of described axial initial position also comprises the step that the mean value that utilizes last two the ultrasonic range finder sensor readings of end face pole and the axial null position of described Y are proofreaied and correct.
9. according to the localization method of claim 7 or 8 described safe end welding line of nuclear reactor pressure vessel robotization checkout facilities; It is characterized in that: in the step (f), the accurate location of described circumferential initial position also comprises the step that the reading that utilizes the level inclination meter and described X axis null position are proofreaied and correct.
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Address after: Futian District, Shenzhen City Road 518000 Guangdong Province Science & Technology Building 1001, 1506 Patentee after: CGNPC Inspection Technology Co., Ltd. Patentee after: Suzhou Nuclear Power Research Institute Co., Ltd. Patentee after: China General Nuclear Power Corporation Address before: Futian District, Shenzhen City Road 518000 Guangdong Province Science & Technology Building 1001, 1506 Patentee before: CGNPC Inspection Technology Co., Ltd. Patentee before: Suzhou Nuclear Power Research Institute Co., Ltd. Patentee before: China Guangdong Nuclear Power Group Co., Ltd. |