• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to an inspection unit 1 for detecting defects in objects (23) in liquid-filled spaces (1, 2). The inspection unit (7) comprises a detection means (8) and a positioning device. The positioning device comprises a flexible hose element (17) having a first part (17a) and a second part (17b) which are located opposite sides of a narrow passage (20a). When the detecting means is to be displaced to a detecting position, a medium with a high pressure is supplied to the second part (17b) of the hose element so that the hose element (17) provides a displacement movement in one direction so that the second part (17b) of the hose element receives an expansion movement relative to the first part (17a) at which the detecting means (8) attached to an end portion of the second part (17b) of the hose element is displaced along a linear path from an initial position to a detecting position of the object. (Fig. 3)
    公开号:SE1250208A1
    申请号:SE1250208
    申请日:2012-03-05
    公开日:2013-09-06
    发明作者:Martin Sandberg
    申请人:Wesdyne Sweden Ab；
    IPC主号:
    专利说明:

    a camera or an ultrasound probe. The positioning work of the detection means is usually controlled by an operator standing on a service bridge that extends over the reactor basin. The positioning work of the detection means is complicated.
    Elongate rigid handling rods are often used to position the detecting member relative to a surface in an inspection area. It requires a great deal of professional skill on the part of the operator to move the detection means to the desired positions in a relatively fast manner. Once the detection means has been positioned in an inspection area, it is important that the detection means is kept in a completely fixed position. However, there is always a risk that movements and vibrations from, for example, handling rods and the bridge transmit to the detection means. In such cases, the inspection work may be less accurate.
    SUMMARY OF THE INVENTION An object of the present invention is to provide a relatively simple inspection device which has the capacity to move a detection means in narrow passages while being able to perform a high quality inspection process in a liquid-filled space.
    This object is achieved by the initially mentioned inspection unit which is characterized in that the positioning device comprises a flexible hose element having a closed internal space, a dividing unit forming a passage for the hose element which divides the hose element into a first part and a second part while separating the interior spaces of the first part and the second part of the hose element from each other, fastening means for attaching the detection means to an end portion of the second part of the hose element and flow means adapted to supply a pressurized medium to the interior space of the second part of the hose element at times when the inspection unit is in an inspection position relative to an object so that the hose element provides a displacement movement through said passage in a direction so that the second part of the hose element receives an expansion movement relative to the first part at which the detecting means is displaced along a linear path from an initial position to a detection position of the object. In, for example, water-filled reactor tanks, it is crowded and it can thus be difficult to move a detection member which is attached to an inspection unit to a good detection position in relation to an object to be inspected. According to the present invention, the inspection unit can initially be moved to an inspection position which can be fairly easy to reach. the inspection mode may be located at a relatively long distance from the object.
    When the inspection unit has reached the inspection position, the medium is supplied to the second part of the hose element at a high pressure. Said flow means supplying the medium may comprise valve means which connect the second part of the hose element to a media source where the medium has a high pressure. When the medium is supplied to the second part of the hose element, a displacing movement of the hose element is provided. A part of the first part of the hose element is transferred via the passage to the second part of the hose element. The second part of the hose element thus expands at the expense of the first part of the s-hose element. The end portion of the second part of the hose element which holds the detection member is thus displaced along a substantially rectilinear path towards a detection position of the object. Since the second part of the hose element forms a substantially rigid unit when it is filled with the medium with a high pressure, the detecting means can be kept in a substantially fixed position in relation to the object in the detection position. Thus, the inspection device can perform an inspection process of a good quality. The detection member and the hose element are advantageously relatively narrow in a transverse plane in relation to the direction of displacement of the hose element. They can thus be pushed into cramped spaces to inspect hard-to-reach surfaces of objects.
    According to an embodiment of the present invention, the hose element is arranged in the inspection unit so as to provide a substantially horizontal displacement movement of the detection means to the detection position of the object. In many cases, the inspection unit can initially in a relatively simple manner provide a substantially vertical movement down into a reactor basin to an inspection position. From this inspection position, the detection means can be pushed out in a substantially rectilinear horizontal direction towards an object to a detection position which is located at a relatively close to the surface of the object to be inspected.
    According to an embodiment of the present invention, the positioning device comprises a rolling member which is adapted to hold the first part of the hose element in a wound-up condition. In order to give the inspection unit a compact design, it is advisable to store the first part of the hose element in as compact a manner as possible.
    Arranging the first die of the hose element on a rolling member enables a compact storage of the hose element 'at the same time as it can easily be rolled out from the rolling member when the detection member is to be moved to a detection position. The inspection unit advantageously comprises a force member acting on the roller member with a resilient force which tends to turn the roller member in a direction so that the hose element is rolled up on the roller member. The force means may be a spring means having a suitable attachment relative to the roller means.
    According to an embodiment of the present invention, the dividing unit comprises contact surfaces with the outer surface of the hose element which are adapted to create such a narrow passage that the hose element is compressed in the passage so that the inner spaces of the hose element first and second are separated. Clogging the interior space in the passage is necessary so that the pressurized medium cannot be tedged over to the first part of the hose element. If this happens, the displacement movement of the second part of the hose element and the detection means described above cannot be obtained in a reliable manner. The dividing unit may comprise at least one rotatable member. In order not to make the resistance too great when the hose element is displaced through a narrow passage, it is suitable to use rotatable members, such as rollers, which form contact surfaces with the outer surface of the hose element. The dividing unit may comprise at least one force means adapted to press at least one contact surface of the divided unit against an outer surface of the hose element in the passage. With a suitably dimensioned such force means the hose element is pressed together with a suitable force so that the medium is certainly prevented from leaking over from the second part of the hose element to its first part. The force means may be a spring means.
    According to an embodiment of the present invention, said flow means is adapted to supply the medium near said end of the second part of the hose element. Thus, the second part of the hose element can be made relatively short when the detection means is in the initial position. With such a connection of the medium, the inspection unit can be made compact when the detection means is in the initial position. Said flow means may be adapted to supply a gaseous medium to the second part of the hose element.
    Although gaseous media are compressible, if they are given a sufficiently high pressure inside the hose element, the hose element can form a sufficiently rigid unit to keep the detection member in a fixed position. Such a gaseous medium is advantageously air. A source of compressed air is usually available in most cases in connection with a reactor pool, which can be used for this purpose. Alternatively, a suitable portable compressor assembly may be a source of compressed air. When the hose element is to be emptied of compressed air, the venting means can connect the interior space of the hose element to ambient air.
    According to an embodiment of the present invention, said flow means is adapted to supply a liquid medium to the hose element. As liquid media are incompressible, they are very suitable for use in this context.
    The liquid medium may be water or a suitable oil.
    Water is available in a reactor basin and can be used to advantage to fill the hose element as it is to move the detection means to the detection position. A pump can be used to supply the water to the hose element. When the hose element is to be emptied of water, the valve means can connect the inner space of the hose element to the surrounding water in the reactor basin. In this case, the pump and valve means may be attached to the inspection unit. The pipes that carry water to and from the hose element can thus be made very short.
    According to an embodiment of the present invention, the inspection unit comprises at least one gripping means which is adapted to hold the detection means in a fixed position relative to an object in said detection position. Although the second part of the hose element holding the detecting means constitutes a substantially rigid unit, it is suitable to use one or more gripping means which hold the detecting means in a completely fixed position in relation to the object so that the detecting means's ability to detect defects optimal. The gripping member can be a suction cup unit. Suction cup units are effective gripping means, but it is usually required that they provide a movement so that they are brought into the surface where they are to be attached with a certain force. Such a movement can easily be effected if the suction cup unit is connected to the second part of the hose element or the detection means. The suction cup unit is in this case arranged at a suitable distance in front of the detection means in the intended direction of displacement. Thus, the suction cup unit will position the detecting means at a desired detection distance from the surface of the object.
    According to an embodiment of the present invention, the inspection unit is connected to a cable element which is adapted to transmit signals from the detection means to a display means or the like which is located outside the liquid-filled space. An operator can thus essentially directly assess whether an inspection area has defects. The detection means advantageously comprises a camera. However, it is possible to use other types of detection means that do not utilize visual technology. Such detection means may utilize ultrasonic technology, eddy current technology or other types of technology to indicate defects.
    BRIEF DESCRIPTION OF THE DRAWINGS In the following, preferred embodiments of the invention are described by way of example with reference to the accompanying drawings, in which: Fig. 1 shows an inspection device with an inspection unit for detecting defects in objects in a reactor tank; Fig. 2 shows an upper part of the inspection device in Fig. 1, Fig. 3 shows the inspection unit in Fig. 1 in more detail and Fig. 4 shows an inspection unit according to an alternative embodiment.
    DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION Fig. 1 shows selected parts of a nuclear plant comprising a reactor tank 1. The reactor tank 1 is arranged at a bottom surface of a reactor basin 2. The reactor tank 1 and the reactor basin with water are 2. A bridge 3 extends over the reactor basin 2. The bridge 3 is provided with a movably arranged lifting device 4. The reactor tank 1 has here been opened and partially emptied of internal parts to enable an examination of the reactor tank 1. However, the reactor tank 1 contains some remaining internal parts such as a moderator tank 5 containing the reactor core. In this state, the moderator tank 5 may contain fuel rods that are not discharged, the core grid, remaining control rods, etc. Operators 6 which are intended to carry out an examination of the reactor tank 1 stand on the bridge or elsewhere adjacent to the reactor pool 2.
    Fig. 1 also shows an inspection device which is adapted to detect defects in surfaces of objects in a reactor tank environment. A reactor tank environment refers to reactor tank 1 and all its surrounding basins. The inspection device comprises an inspection unit 7 which is provided with a camera 8 for detecting the presence of any defects in the reactor tank 1. Alternative detection means for a camera may be ultrasonic probes or other type of test equipment. The inspection device comprises an elongate rigid element in the form of a handling rod 9 which at a lower end is connected to the inspection unit 7. At least one flexible cable element 10 has a stretch from the camera 7 up to a computer unit which is provided with a monitor 11 on the bridge 3 of the operators 6. A flexible pipe 12 extends substantially parallel to the handling rod 9 and the cable element 10. An upper end of the flexible pipe 12 is connected to a compressed air source 13 on the bridge 3 and a lower end of the flexible pipe 12 is attached to the inspection unit 7.
    Fig. 2 shows the upper portions of the cable element 10 and the flexible tube 12 in connection with the operators 6 on the bridge 3. The cable element 10 comprises at least one electrical line 10a which transmits signals from the camera 8 to the display unit 11 of the computer unit where the images can be evaluated. by the operators 6. A valve member 14 is arranged in connection with the upper end of the flexible tube 12. With the aid of the computer unit 11, the valve member 14 can be set in three different positions. When the valve member 14 is set in a first position, the flexible tube 12 is connected to ambient air 15. When the valve member 14 is placed in a second position, the flexible tube 12 is connected to the compressed air source 13. When the valve member 14 is set in a third position, the flexible tube 12 is broken. both ambient air 15 and compressed air source 13.
    Fig. 3 shows the inspection unit 7 in more detail. The cable element here has a connection to the camera 8. The flexible tube 12 has a connection to an end portion 16 of a flexible hose element 17. The camera 8 is attached to the end portion 16 of the hose element 17 by means of a fastening portion 18. The hose element 17 has a stretch through a narrow passage 20a defined by two rollers. The two rollers 20 are fastened by means of schematically shown spring means 20b which press the peripheral contact surfaces of the rollers against the hose element 17 with a suitable force. On a first side of this passage 20a, a first part of the hose element 17 is wound on a roller member 19. The roller member 19 is provided with a schematically shown force member, which may be a spring member 19a, which strives to turn the roller member 19 on a so that the hose element 17 is rolled up on the roller member 19. The internal space of the first part 17a of the hose element is adapted to be empty. The first part of the hose element 17 is thus substantially flat and thus takes up a relatively small space. On the other side of said passage 20a, the hose element has a second part 17b. The flexible tube 12 is connected to an end portion 16 of the second part 17b of the hose element.
    Fig. 3 shows the camera 8 in an initial position. The entire interior space of the hose element 17 is empty here. A maximum length of the hose element 17 has been wound up on the rolling member 19 by means of the spring member 19a. The second part 17b of the hose element has a minimum length here. The inspection unit 7 is provided with a number of suction cup units 21 which are adapted to attach to a surface of object 21 to be inspected. The suction cup units 21 are arranged on a fastening element 22 which holds them in a fixed position relative to the camera 8.
    When an inspection process of a surface of an object 21 in the reactor tank 1 is to be carried out, the inspection unit 7 is lowered into the reactor basin 2 by means of the lifting device 4 and the elongate element 9. The valve means 13 is here in the first position. The internal space of the flexible tube 12 is thus connected to air by the ambient pressure. The second part 17b of the hose element thus has a minimum length and the camera 8 is in the initial position. In this condition, the inspection unit 7 has a relatively compact shape which enables movement in narrow passages. The handling bar 19 is attached at an upper end to the lifting device 4 which is operated by an operator 6 on the bridge 3 and at a lower end is connected to the inspection unit 7. The inspection unit 7 is moved by means of the lifting device 4 and the handling bar 9 to a desired inspection position in relation to a surface of an object 23 to be inspected in the reactor basin 2. When the inspection unit 7 reaches a suitable inspection position, the valve member 14 is placed in the second position. Compressed air from the compressed air source 13 is thus led, via the pipeline 12, to the second part 17b of the hose element 17. The pressure in the internal space of the second part 17b of the hose element thus rises to substantially the same high pressure level prevailing in the source of compressed air 13. When this happens the second part of the hose element expands so that the hose element 17 is displaced, via the passage 20a, from the first part of the hose element 17a to the second part 17b of the hose element against the action of the spring member 19a.
    The hose element 17 is displaced through the passage 20a with a relatively small resistance by means of the rotatable rollers 20 despite the contact surfaces of the rollers 20 pressing against the hose element 17 with a compressive force defined by the spring means 20a. This pressure force is of such a magnitude that no compressed air can pass from the second part 17a of the hose element 17 to the first part of the hose element 17. The displacement movement of the hose element 17 results in a substantially linear movement of the end portion 16 of the second part of the hose element and of the camera 8. 8 is shifted here from an initial position to a detection position.
    The camera 8 reaches the detection position when the suction cup units 21 come into contact with and attach to a wall surface of the object 23. When this happens, the operator places the valve means 14 in the third position in which the valve means 14 breaks the connection with the compressed air source 13. The supply of pressure ~ air ceases and thus the displacement movement of the second part 17b of the hose element 11 and the camera 8. The interior space of the second part 17b of the second hose element now contains a constant amount of compressed air. The suction cups 21, with the aid of the banding element 22, hold the camera 8 in a fixed position in relation to the object 23. The camera 8 can thus make clear images of the surface of the object. One of the operators 6 inspects the images on the screen 11 and assesses whether the inspected surface includes defects.
    When a new surface is to be inspected, the suction cups 21 are detached from the object 23 and the valve member 14 is placed in the first position. The interior space of the second part 17b of the hose element is thus connected to air by the ambient pressure. Air thus flows out from the second part 17b of the hose element 17. The ambient water pressure in the reactor basin compresses the second part 17b of the hose element 17. The rolling means 19 can now, by means of the above-mentioned spring means 19a, provide a rotational movement of the rolling means 19 so that the hose element 17 is displaced back through the passage 20a and rolled up on the rolling means 19. The camera 8 attached to the end portion 16 of the second part 17b simultaneously shifted back to the initial position. The inspection unit 7 now again constitutes a compact unit that can be moved to a new surface to be inspected. The inspection process described above is repeated when the inspection unit 7 has been moved to a new inspection position. When the inspection of the surfaces to be inspected has been completed, the inspection unit 7 is lifted up from the reactor basin by means of the lifting device 4 and the handling rod 9.
    Fig. 4 shows an alternative embodiment of the inspection unit 7. In this case, water is used as medium instead of compressed air to fill the interior space of the one of the hose element 17 during occasions when the camera 8 is to obtain a linear displacement from an initial position to a detection position. A pump 24 and a valve member 25 are used here to supply water and drain water from the interior space of the hose element 17. In this case, the pump 24 and the valve member 25 are attached to the inspection unit 7. They are thus arranged down in the reactor basin 2 when an inspection process is performed. In this case, no flexible pipe 12 needs to be used to direct compressed air or any other medium to the inspection unit7. The pump 24 and the valve means 25 are in this case controlled by control signals from the computer unit 11 via electrical lines 10b, 10c which are arranged inside the cable element 10. The inspection unit 7 is also moved in this case to a suitable inspection position in the reactor basin by means of the lifting device 4 and a handling rod 9. During this movement, the valve means 25 is in a first position in which the valve means 25 connects the inner space of the hose element 17 with surrounding water 26. When there is the same pressure in the inner space of the hose element 17 as in the surrounding water, no force is held which seeks to expand the second part 17b of the hose element. The spring member 19a here provides a force which results in a maximum length of the hose element 17 being kept in a wound-up condition on the roller member 19.
    When an operator 6 judges that the inspection unit 7 has reached a suitable inspection position in relation to an object 23, the valve 25 is set in a second position at the same time as the pump 24 is activated.
    The pump 24 thus pumps reactor water at a high pressure, via the valve means 25, to the internal space of the second part 17b of the hose element. The supply of water to the second part 17b of the hose element results in a displacement movement of the hose element 17 against the action of the force means t9a. The second part 17b of the hose element thus expands at the expense of the first part 17a of the hose element. The camera 8 which is attached to the end portion 16 of the second part 17b of the hose element thus obtains a substantially linear displacement movement in a horizontal direction towards the surface of the object 23 to be inspected. The displacement movement ends when the suction cup units 21 reach the object 23 and adhere to its surface. After this has taken place, the operator can, with the aid of the computer unit 11, switch off the pump 24 and set the valve means 25 in a third position in which the supply of water to the hose element 17 ceases. However, the supplied water is retained at a high pressure and in an unchanged amount inside the second hose element 17b. The camera 8 has now been moved to the detection position, as shown in Fig. 4.
    The suction cup units 21 here hold the camera 8 in a fixed position in relation to the surface of the object 23. The camera 8 can thus make clear images of the surface. The images on the screen 11 are inspected by the operators 6. When a new surface is to be inspected, the suction cups 21 are detached from the surface of the object 23, after which the valve member 25 is set in the first position. The second part 17b of the hose element is thus connected to the water 26 in the reactor basin 2.
    The pressure in the second part 17b of the hose element drops to a level so that the force member 19a can provide a rotational movement of the roller member 19 so that the hose element 17 is displaced back through the passage 20a and rolled up on the roller member 19. During this displacement movement water is forced out from hose element 1 and the camera 8 is moved back to the initial position.
    The present invention is in no way limited to the embodiments described above in the drawings but can be freely modified within the scope of the claims. Other media, such as, for example, suitable oils, may be used to provide a displacement of the hose member. The inspection unit can be moved to suitable inspection positions by means of aids other than handling rods.
    权利要求:
    Claims (15)
    [1]
    An inspection unit for detecting defects in objects (23) in liquid-filled spaces (1, 2), the inspection unit (7) comprising a detection means (8) adapted to detect defects in objects (23) and a positioning device which is adapted to position the detecting means (8) in a detecting position relative to objects (23), characterized in that the positioning device comprises a flexible screen element (17) having a closed inner space, a dividing unit (20) forming a passage (20a) for the hose element (17) which divides the hose element (17) into a first part (17a) and a second dei (17b) while separating the interior spaces of the hose element first dei (17a) and second part (17b) from each second, fastening means (18) for attaching the detecting means (8) to one end of the second dei (17b) of the hose element and flow means adapted to supply a pressurized medium to the interior space of the second part (17b) of the hose element ) at times when the inspection unit (7) is in an inspection position relative to an object (23) so that the hose element (17) provides a displacement movement through said passage (20a) in a direction so that the second part (17b) of the hose element obtains an expansion movement relative to the first part (17a) in which the detecting means (8) is displaced along a linear path from an initial position to a detecting position of the object.
    [2]
    Inspection unit according to claim 1, characterized in that the hose element (17) is arranged in the inspection unit (7) in a manner such as to provide a substantially horizontal displacement movement of the detection means (8) from the initial position to the detection position of the object.
    [3]
    Inspection unit according to claim 1 or 2, characterized in that the positioning device comprises a rolling member (19) which is adapted to keep the first part (17a) of the hose element in a rolled-up condition. 10 15 20 25 30 15
    [4]
    Inspection unit according to claim 3, characterized in that the inspection unit (7) comprises a force means (19a) which is adapted to act on the roller means (19) with a resilient force which tends to turn the roller means (19) in a direction such that hose element.t (17) is wound up on the roller member (19).
    [5]
    Inspection unit according to one of the preceding claims, characterized in that the dividing unit (20) comprises contact surfaces which are adapted to form such a narrow passage that the hose element (17) is compressed in the passage (20a) so that the internal - the spaces in the first part (17a) and the second part (17b) of the hose element are separated from each other.
    [6]
    Inspection unit according to claim 5, characterized in that the dividing unit comprises at least one rotatable member (20).
    [7]
    Inspection unit according to claim 5 or 6, characterized in that the dividing unit (20) comprises at least one force means (20b) adapted to press at least one contact surface of the dividing unit (20) against the hose element (17) in the passage (20) .
    [8]
    Inspection unit according to any one of the preceding claims, characterized in that said flow means is adapted to connect the interior space of the second part (17b) of the hose element to a media source (13, 26) at times when the detection means (8) is to be displaced towards the detection position.
    [9]
    Inspection unit according to any one of the preceding claims, characterized in that said flow means is adapted to supply the medium in the vicinity of the end portion (16) of the second part (17b) of the hose element. 10 15 20 25 16
    [10]
    Inspection unit according to any one of the preceding claims, characterized in that said flow means is adapted to supply a gaseous medium to the second part (17b) of the hose element.
    [11]
    Inspection unit according to any one of the preceding claims, characterized in that said flow means is adapted to supply a liquid medium to the second part (17b) of the hose element.
    [12]
    Inspection unit according to one of the preceding claims, characterized in that the inspection unit (7) comprises at least one gripping means (21) which is adapted to hold the detection means (8) in a fixed position relative to the object in the detection position.
    [13]
    Inspection unit according to claim 11, characterized in that the gripping member is a suction cup unit (21).
    [14]
    Inspection unit according to one of the preceding claims, characterized in that the inspection unit (7) is connected to a cable element (10) which is adapted to transmit signals from the detection means (8) to a display means (11) or the like as is located outside the liquid-filled space (1, 2).
    [15]
    Inspection unit according to one of the preceding claims, characterized in that the detection means is a camera (8).
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    同族专利:
    公开号 | 公开日
    SE536489C2|2013-12-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1250208A|SE536489C2|2012-03-05|2012-03-05|Inspection unit for detecting defects in objects in a fluid-filled space|SE1250208A| SE536489C2|2012-03-05|2012-03-05|Inspection unit for detecting defects in objects in a fluid-filled space|
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