CN111383785B - Circular motion dolly of pressure vessel inspection usefulness - Google Patents
Circular motion dolly of pressure vessel inspection usefulness Download PDFInfo
- Publication number
- CN111383785B CN111383785B CN201811619661.7A CN201811619661A CN111383785B CN 111383785 B CN111383785 B CN 111383785B CN 201811619661 A CN201811619661 A CN 201811619661A CN 111383785 B CN111383785 B CN 111383785B
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- limiting
- assembly
- guide rail
- circular motion
- elastic
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- 230000033001 locomotion Effects 0.000 title claims abstract description 72
- 238000007689 inspection Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000005096 rolling process Methods 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 238000011900 installation process Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 6
- 238000003466 welding Methods 0.000 abstract description 4
- 230000002285 radioactive effect Effects 0.000 abstract description 2
- 239000000306 component Substances 0.000 description 22
- 238000000034 method Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 239000006185 dispersion Substances 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000002826 coolant Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/013—Inspection vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The device belongs to the field of nuclear power station detection, and particularly relates to a circular motion trolley for pressure vessel inspection. The high temperature gas cooled reactor cylinder assembly is formed by combining multiple sections of welding, ultrasonic detection is required to be carried out on welding seams at the sections, and in order to improve the accuracy and the reliability of detection data and reduce the irradiation of radioactive rays on a human body, the circular motion trolley for pressure vessel inspection is specially developed. The whole circular motion trolley is fan-shaped; the mechanical limiting assembly and the rigid wheel supporting assembly are fixedly arranged on the outer edge arc of the lower surface of the circular motion trolley panel; the coding assembly and the circumference driving motor are all arranged on the lower surface of the circumference scanning trolley panel; the elastic wheel supporting components are uniformly and symmetrically distributed along an arc in the lower surface; the position sensing assembly and the elastic limiting assembly are arranged on the lower surface of the circular motion trolley panel; the hoisting assembly pair is arranged on the upper surface of the circular motion trolley. The device realizes the self-positioning technology of the trolley with multipoint installation, quick installation and circular motion.
Description
Technical Field
The device belongs to the field of nuclear power station detection, and particularly relates to a circular motion trolley for pressure vessel inspection.
Background
In the middle of the nuclear reactor year of a nuclear power station, china has developed research and development of a high-temperature gas-cooled experimental reactor. The nuclear power plant pressure vessel is one of the core components of the nuclear reactor coolant pressure boundary, and consists of a cylinder assembly, a top cover assembly, a bottom head and a flange sealing structure.
The high temperature gas cooled reactor cylinder assembly is formed by combining a plurality of sections of welding, and the welding seam at the position is required to be subjected to ultrasonic detection according to the related detection standard requirements, so that the circular motion trolley for pressure vessel inspection is specially developed for improving the accuracy and reliability of detection data and reducing the irradiation of radioactive rays on a human body.
Disclosure of Invention
1. The purpose is as follows:
in order to carry out ultrasonic automatic detection on the cylinder section of the pressure vessel of the high-temperature gas cooled reactor, special detection equipment is required to be developed according to the size of the pressure vessel, the characteristics of the equipment and the surrounding working environment to realize the pre-service and in-service detection of the pressure vessel, and the circular motion trolley is arranged on a guide rail for detecting the pressure vessel.
2. The technical scheme is as follows:
A circular motion trolley for inspection of pressure vessels, comprising: mechanical limiting assembly, rigid wheel supporting assembly, elastic limiting assembly, position sensing assembly, coding assembly and circumference driving motor. The displacement detection assembly and the winch assembly pair are fixedly arranged on the circular motion trolley; the hoisting assembly pair is connected with the outer wall scanner through a steel wire rope A and a steel wire rope B; the outer wall scanner is closely attached to the outer surface of the pressure vessel; the circular motion trolley is integrally arranged on the circular guide rail, and can only rotate along the circular guide rail under the simultaneous actions of the rolling support assembly, the mechanical limiting assembly and the elastic limiting assembly; the circumferential guide rail is fixedly arranged at the top of the concrete;
the whole circular motion trolley is fan-shaped; the mechanical limiting assembly and the rigid wheel supporting assembly are fixedly arranged on an outer edge arc of the lower surface of the circular motion trolley panel and symmetrically distributed on the left side and the right side;
the coding component is arranged at the outermost end of the radius of the right end of the circular motion trolley; the circumference driving motor is arranged at the center position along the arc in the lower surface of the circumference scanning trolley panel; the elastic wheel supporting components are uniformly and symmetrically distributed along an arc in the lower surface; the position sensing assembly and the elastic limiting assembly are arranged on the lower surface of the circular motion trolley panel; the hoisting assembly pair is arranged on the upper surface of the circular motion trolley.
The elastic wheel support assembly comprises: the device comprises an elastic element, an elastic wheel supporting assembly adaptor, a guide piece, a moving piece, a roller, a rolling bearing and a rolling shaft; the elastic wheel supporting assembly adapting piece is a fixed piece, and the moving piece can move along the guide piece under the guide action of the guide piece; the elastic element is embedded above the roller, the roller is in a hollow circular ring, the rolling shaft passes through the roller, a rolling bearing is arranged between the roller and the rolling shaft, and the end plug radius at two ends of the rolling shaft is larger than the inner diameter of the circular ring of the roller.
The elastic limiting component comprises: the device comprises a quick pin, a sliding block, a limiting piece, a limiting roller, a limiting bearing, a limiting pin shaft, a limiting elastic element, a rear limit and a screw; the elastic limiting assembly and the mechanical limiting assembly are in two states, namely a non-limiting state and a limiting state; when the sliding block is in a non-limiting state, the sliding block moves to a rear limit along the guide rail C, two through holes in the sliding block are coaxial with two through holes at the rear limit position of the guide rail, and a quick pin is inserted into the coaxial through holes; the nut of the screw is pressed on the limiting elastic component, the screw is screwed when the limiting elastic component is not limited, and the limiting elastic component is in a compressed state; the limiting roller is in clearance with the limiting surface of the circumferential guide rail in the installation process; the sliding block is fixedly connected with the limiting piece; the limiting pin shaft penetrates through the limiting roller, and a limiting bearing is arranged between the limiting pin shaft and the limiting roller. A rolling bearing is arranged between the roller and the rolling shaft.
When the elastic limiting assembly is in a limiting state, the sliding block moves to the limiting position of the guide rail along the guide rail C; the two through holes in the slide block are coaxial with the two through holes in the limit position of the guide rail C, and the quick pin is inserted into the coaxial through holes of the guide rail C and the slide block; the screw is loosened, so that the limiting elastic component is in a working state, and the limiting roller is ensured to be in contact with the limiting surface of the circumferential guide rail.
The mechanical limiting component comprises a quick pin and a sliding block; the slide block slides on the guide rail C, two through holes in the slide block are coaxial with two through holes at the rear limit position of the guide rail, and the quick pin is inserted into the coaxial through holes.
The coding component and the position sensing component mutually confirm the position, and when the position sensing component moves to the position of the pre-installed sensing component on the circumferential guide rail, the position sensing component and the pre-installed sensing component mutually sense.
3. Effects of
1 Multipoint support technique: the function is completed by the elastic wheel supporting component and the rigid wheel supporting component, the multipoint support is ensured in the movement process, the load is dispersed, and the operation is stable;
2 quick installation technology: the function is completed by a plurality of elastic limiting components and mechanical limiting components;
3 self-positioning technology of circular motion trolley: this function is achieved by the encoding component and the position sensing component.
Drawings
Ultrasonic automatic inspection equipment for high-temperature gas cooled reactor pressure vessel of FIG. 1
Figure 2 circular motion trolley
FIG. 3 spring wheel support assembly
Figure 4 rigid wheel support assembly
FIG. 5 elastic limit assembly
FIG. 6 mechanical stop assembly
FIG. 7 is a schematic illustration of rail and trolley installation
In the drawings, concrete 1, outer wall scanner 2, pressure vessel 4, circular motion trolley 5, winch assembly pair 6, displacement detection assembly 7, wire A, wire B, 9, circumferential guide rail 10, mechanical stop assembly 11, rigid wheel support assembly 12, elastic stop assembly 13, position sensing assembly 14, coding assembly 15, circumferential drive motor 16, elastic wheel support assembly 17, elastic element 18, adapter 19, guide 20, moving element 21, roller 22, sliding bearing 23, rolling shaft 24, quick pin 25, guide rail C, 26, slide block 27, stop element 28, stop roller 29, stop bearing 30, stop pin 31, stop elastic element 32, rear stop 33 and screw.
Detailed Description
The scanning equipment is arranged above a concrete platform around a pressure vessel, a circumferential guide rail is firstly arranged on the upper surface of the concrete platform, a circular motion trolley is firstly arranged above the circumferential guide rail to be fixed, then an outer wall scanner is hung to the butt joint range of a steel wire rope A and a steel wire rope B to finish the butt joint of the steel wire rope, a winch assembly pair is utilized to forward and reverse rotation to control the lifting of the outer wall scanner, meanwhile, the circular motion trolley can drive the whole equipment to move along the whole circle of the circumferential guide rail, and the winch assembly pair can drive the outer wall scanner to integrally lift. After the circular motion trolley and the winch assembly pair are used for conveying the outer wall scanner to an inspection position, the front jacking kinematic pair and the rear jacking kinematic pair work simultaneously, the electromagnetic chuck is conveyed to the outer surface of the pressure vessel, and after the electromagnetic chuck works, the positioning and fixing of the outer wall scanner are completed.
In the installation process of the circular motion trolley, firstly, the circular motion trolley is leveled by a crane and then is hung on a specified circular guide rail, the circular motion trolley is driven by elastic friction transmission, so that the transmission wheel is always attached to the upper plane of the guide rail, the support wheels of the circular motion trolley are of two types, namely an elastic wheel support assembly and a rigid wheel support assembly, the elastic wheel support assembly is contacted with the rigid wheel support assembly, and when the elastic wheel support assembly is pressed to the same height as the rigid wheel support assembly by self gravity, the multipoint contact in the transmission process is ensured, and the load is dispersed; when the circular motion trolley is stably installed on the circular guide rail, the circular motion trolley is fixed above the circular guide rail by utilizing the elastic limiting assembly and the mechanical limiting assembly.
The pressure vessel has large diameter and long radial dimension, the condenser pipe is fixed on the inner wall of the concrete platform, the ultrasonic automatic inspection mode of the pressure vessel can only be implemented from the outer surface of the pressure vessel, and the structures of the pressure vessel and the concrete platform are shown in figure 1. In the inspection process, the scanning equipment is arranged above a concrete platform around a pressure vessel, a circumferential guide rail is firstly arranged on the upper surface of the concrete platform, a circumferential motion trolley is firstly arranged above the circumferential guide rail and is fixed, then an outer wall scanner is hung to the butt joint range of a steel wire rope A and a steel wire rope B, the butt joint of the steel wire rope is completed, the hoisting assembly pair is utilized to forward and reverse rotation to control the lifting of the outer wall scanner, meanwhile, the circumferential motion trolley can drive the whole equipment to move along the circumferential guide rail in a whole circle, and the hoisting assembly pair can drive the outer wall scanner to integrally lift. After the circular motion trolley and the winch assembly pair are used for conveying the outer wall scanner to an inspection position, the front jacking kinematic pair and the rear jacking kinematic pair work simultaneously, the electromagnetic chuck is conveyed to the outer surface of the pressure vessel, and after the electromagnetic chuck works, the positioning and fixing of the outer wall scanner are completed.
In the installation process of the circular motion trolley, the circular motion trolley is firstly leveled by a crane and then is hung on a specified circular guide rail, the circular motion trolley is driven by elastic friction transmission, so that the transmission wheel is always attached to the upper plane of the guide rail, the support wheels of the circular motion trolley are of two types, namely an elastic wheel support assembly and a rigid wheel support assembly, the elastic wheel support assembly is contacted with the rigid wheel support assembly, and the elastic wheel support assembly is pressed to the same height as the rigid wheel support assembly by self gravity, so that the multipoint contact, load dispersion and stable motion in the transmission process are ensured; when the circular motion trolley is stably installed on the circular guide rail, the circular motion trolley is fixed above the circular guide rail by utilizing the elastic limiting assembly and the mechanical limiting assembly.
The specific technical points are as follows:
1. Multipoint support technology: the elastic wheel supporting assembly adaptor 18 shown in fig. 3 is a fixed part, the moving part 20 can move along the guiding part 19 under the guiding action of the guiding part 19, the round motion trolley is stressed upwards due to the gravity action of the moving part 19 in the installation process, the elastic element 17 is compressed at the moment, the distance between the adaptor 18 and the moving part 20 can be reduced until the rigid wheel supporting assembly is contacted with the upper plane of the guide rail, the elastic element 17 is in the maximum compression stroke, the structure is shown in fig. 2 and 3 and 4, the elastic wheel supporting assemblies 16 and the rigid wheel supporting assemblies 11 are uniformly distributed, the elastic wheel supporting assemblies and the rigid wheel supporting assemblies are simultaneously arranged to facilitate the load dispersion, the contact area is large, the load of each supporting member is uniform, the stability in the motion process is ensured, the inner four groups shown in the figure are the rigid wheel supporting assemblies, the outer four groups are the elastic wheel supporting assemblies, the rolling bearing 22 is designed between the rolling wheel 21 and the rolling shaft 23 in the motion process, and the round motion trolley is rotated along the rolling shaft 23 by the rolling bearing 21 in the motion process, the friction resistance is reduced, and the stable and reliable operation of the round motion trolley is ensured.
2. Quick installation technology: the circular motion trolley adopts friction transmission along a circular guide rail to switch the mechanical limit assembly 10 and the elastic limit assembly 12 to a non-limit state, namely, a sliding block 26 in the mechanical limit assembly and the elastic limit assembly moves to a rear limit 32 along a guide rail C25, at the moment, two through holes in the sliding block 26 are coaxial with two through holes at the rear limit position in the guide rail C25, and a quick pin 24 is inserted into the coaxial through holes, so that the state is a non-working state; simultaneously, screw 33 is screwed down in the elastic limiting assembly, so that limiting elastic assembly 31 is in a compressed state, and a gap between limiting roller 28 and the limiting surface of the circumferential guide rail in the installation process is ensured, namely, when the circular motion trolley falls to the position above the circumferential guide rail, sliding block 26 can slide easily along guide rail C25. In this state, the circularly moving carriage is in the mounted state. When the circular motion trolley is lifted above the circular guide rail after being leveled, when the rigid wheel supporting assembly 11 and the elastic wheel supporting assembly 16 are tangential to the circular guide rail, the mechanical limiting assembly and the elastic limiting assembly are switched to a limiting state, namely, the sliding block 26 in the mechanical limiting assembly and the elastic limiting assembly moves to the limiting position of the guide rail along the guide rail C25, at the moment, two through holes in the sliding block 26 are coaxial with two through holes in the limiting position of the guide rail C25, a quick pin is inserted into the coaxial through holes of the guide rail C and the sliding block, the sliding block is limited to move above the guide rail C, and the screw 33 is screwed and loosened, so that the limiting elastic assembly 31 is in a working state, and the limiting roller 28 is ensured to be in contact with the limiting surface of the circular guide rail, thereby realizing quick installation and limiting. The mechanical limiting assembly and the elastic limiting assembly are combined by the guide rail C, the sliding block and the quick pin to realize quick switching, and after the mechanical limiting assembly and the elastic limiting assembly are installed in place, the elastic limiting unit is loosened, so that the limiting idler wheels are hung on the lower plane of the circumferential guide rail, and are kept in elastic contact, and the circumferential movement trolley is prevented from being separated from the rail in the moving process.
3. The self-positioning technology of the circular motion trolley comprises the following steps: when the circular motion trolley is installed above the circular guide rail, the circular motion trolley rotates along the circular guide rail in a whole circle, the position sensing assembly 13 is installed above the circular motion trolley, the sensing components are pre-installed at the positions, which need to be sensed, of the circular guide rail, the position sensing assembly is utilized to sense the sensing components pre-buried above the circular guide rail, the precise positioning of the specified destination of the circular motion trolley on the circular guide rail in the inspection process can be realized, meanwhile, the circular motion trolley is provided with the terminal coding assembly 14, the terminal coding assembly can work with the position sensing assembly at the same time, the positions can be mutually confirmed, when the circular motion trolley enters the non-position sensing area, the precise positioning can be realized by the terminal coding, and finally, the equipment can move to the specified precise position within the whole circle range. The circumference driving motor in the motion process ensures that the transmission surface is always tightly attached to the upper plane of the circumference guide rail by utilizing the self elastic function of the circumference driving motor.
Claims (3)
1. A circular motion trolley for inspection of pressure vessels, comprising: displacement detection subassembly (6), hoist assembly pair (5), wire rope A (7), wire rope B (8), circumference guide rail (9), its characterized in that: the displacement detection assembly (6) and the hoisting assembly pair (5) are fixedly arranged on the circular motion trolley (4); the hoisting assembly pair (5) is connected with the outer wall scanner (2) through a steel wire rope A (7) and a steel wire rope B (8); the outer wall scanner (2) is closely attached to the outer surface of the pressure vessel (3); the circular motion trolley (4) is integrally arranged on the circular guide rail (9), and under the simultaneous action of the rigid wheel supporting component (11), the mechanical limiting component (10) and the elastic limiting component (12), the circular motion trolley (4) can only rotate along the circular guide rail (9); the circumferential guide rail (9) is fixedly arranged at the top of the concrete (1);
The circular motion trolley (4) comprises: the device comprises a mechanical limiting assembly (10), a rigid wheel supporting assembly (11), an elastic limiting assembly (12), a position sensing assembly (13), a coding assembly (14) and a circumferential driving motor (15); the whole circular motion trolley (4) is in a sector shape; the mechanical limiting assembly (10) and the rigid wheel supporting assembly (11) are fixedly arranged on an outer edge arc of the lower surface of the panel of the circular motion trolley (4) and symmetrically distributed on the left side and the right side;
The coding component (14) is arranged at the outermost end of the radius of the right end of the circular motion trolley (4); the circumference driving motor (15) is arranged at the center position along an arc in the lower surface of the panel of the circumference movement trolley (4); the elastic wheel supporting components (16) are uniformly and symmetrically distributed along an arc in the lower surface; the position sensing assembly (13) and the elastic limiting assembly (12) are arranged on the lower surface of the panel of the circular motion trolley (4); the winch assembly pair (5) is arranged on the upper surface of the circular motion trolley (4);
The elastic limiting assembly (12) comprises: the quick-action type automatic locking device comprises a quick pin (24), a guide rail C (25), a sliding block (26), a limiting piece (27), a limiting roller (28), a limiting bearing (29), a limiting pin shaft (30), a limiting elastic element (31), a rear limit (32) and a screw (33); the elastic limiting component (12) and the mechanical limiting component (10) have two states, namely a non-limiting state and a limiting state; when the sliding block (26) is in a non-limiting state, the sliding block (26) moves to a rear limit (32) along the guide rail C (25), two through holes in the sliding block (26) are coaxial with two through holes at the rear limit (32) of the guide rail, and the quick pin (24) is inserted into the coaxial through holes; the screw (33) in the elastic limiting assembly (12) can compress and relax the limiting elastic element (31), the screw (33) is screwed when the elastic limiting assembly is not limited, and the limiting elastic element (31) is in a compressed state; the limiting roller (28) is in clearance with the limiting surface of the circumferential guide rail in the installation process; the sliding block (26) is fixedly connected with the limiting piece (27); the limiting pin shaft (30) passes through the limiting roller (28), and a limiting bearing (29) is arranged between the limiting pin shaft (30) and the limiting roller (28);
when the elastic limiting assembly (12) is in a limiting state, the sliding block (26) moves to the limiting position of the guide rail along the guide rail C (25); two through holes in the slide block (26) are coaxial with two through holes in the limit position of the guide rail C (25), and a quick pin is inserted into the coaxial through holes of the guide rail C (25) and the slide block; the screw (33) is loosened, so that the limiting elastic element (31) is in a working state, and the limiting roller (28) is ensured to be in contact with the limiting surface of the circumferential guide rail;
The mechanical limiting assembly (10) comprises a quick pin (24), a guide rail C (25) and a sliding block (26); the slide block (26) slides on the guide rail C (25), two through holes in the slide block (26) are coaxial with two through holes at the rear limit (32) of the guide rail, and the quick pin (24) is inserted into the coaxial through holes.
2. A trolley for inspecting a pressure vessel according to claim 1, wherein: the elastic wheel support assembly (16) comprises: the device comprises an elastic element (17), an elastic wheel supporting assembly adapter (18), a guide piece (19), a moving piece (20), a roller (21), a rolling bearing (22) and a rolling shaft (23); the elastic wheel supporting assembly adapting piece (18) is a fixed piece, and the moving piece (20) can move along the guide piece (19) under the guiding action of the guide piece (19); the elastic element (17) is embedded above the roller (21), the roller (21) is in a hollow circular ring, the rolling shaft (23) passes through the hollow circular ring, a rolling bearing (22) is designed between the roller (21) and the rolling shaft (23), and the end plug radius at two ends of the rolling shaft (23) is larger than the inner diameter of the circular ring of the roller (21).
3. A trolley for inspecting a pressure vessel according to claim 1, wherein: the coding component (14) and the position sensing component (13) mutually confirm the position, and when the position sensing component (13) moves to the position of the pre-installed sensing component on the circumferential guide rail (9), the pre-installed sensing component and the pre-installed sensing component mutually sense.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619661.7A CN111383785B (en) | 2018-12-28 | 2018-12-28 | Circular motion dolly of pressure vessel inspection usefulness |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619661.7A CN111383785B (en) | 2018-12-28 | 2018-12-28 | Circular motion dolly of pressure vessel inspection usefulness |
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| Publication Number | Publication Date |
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| CN111383785A CN111383785A (en) | 2020-07-07 |
| CN111383785B true CN111383785B (en) | 2024-09-10 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211319739U (en) * | 2018-12-28 | 2020-08-21 | 核动力运行研究所 | Circular motion trolley for checking pressure container |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07209261A (en) * | 1994-01-19 | 1995-08-11 | Babcock Hitachi Kk | Inspection apparatus for pressure vessel in atomic reactor |
| JP4585080B2 (en) * | 2000-04-19 | 2010-11-24 | 三菱重工業株式会社 | Nuclear pressure vessel seat surface inspection system |
| CN101916597B (en) * | 2010-08-19 | 2012-08-22 | 中广核检测技术有限公司 | Automatic detection device and positioning method for weld joint at safe end of nuclear reactor pressure vessel |
| CN103165202B (en) * | 2011-12-09 | 2016-04-06 | 岭澳核电有限公司 | Nuclear power plant reactor pressure vessel inspection equipment transport vehicle |
| GB2533735B (en) * | 2013-09-23 | 2020-07-29 | Res Inst Nuclear Power Operation | Apparatus for inspecting a reactor pressure vessel of a nuclear power plant |
| CN105810259B (en) * | 2014-12-30 | 2017-12-22 | 中核武汉核电运行技术股份有限公司 | A kind of HTGR reactor pressure vessel check device |
| CN108257693B (en) * | 2016-12-29 | 2023-09-08 | 核动力运行研究所 | Reactor pressure vessel surface scanning device |
| CN107351093A (en) * | 2017-07-11 | 2017-11-17 | 中国科学院光电技术研究所 | Cleaning and detecting robot for bolt holes of reactor pressure vessel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN211319739U (en) * | 2018-12-28 | 2020-08-21 | 核动力运行研究所 | Circular motion trolley for checking pressure container |
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