• 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:
    This invention relates to instrumentation engineering and is intended for use in the internal control of cylindrical tanks, e.g. pressure tanks of nuclear reactors. The purpose of the invention is to provide ultrasonic defects in a copy of annular DTOOBs on a vertically located cylinder-shaped collector of a horizontally located steam generator and defectoscopy using eddy currents of horizontally located heat-exchange tubes (needles) that enter the collector. The manipulator consists of a mast, at the lower and upper ends mounted rotatably, with a support along the support for the holder of the control system. The caliper drive into motion occurs through a drive spindle parallel to the mast, the drive head of which is installed in the caliper and meshes with the rack gear located on the mast. The eddy current and ultrasound test holders are mounted on the support frame and fit snugly to the box-shaped support. Their arms are foldable and provide the contact of the transducer converters with controlled surfaces. 10 hp f-ly, 8 ill. § w 4: 4iak Is:
    公开号:SU1442089A3
    申请号:SU853893579
    申请日:1985-05-13
    公开日:1988-11-30
    发明作者:Бауер Райнер；Кастль Ханс
    申请人:Сименс Аг (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to instrumentation engineering and is intended for use in the internal control of cylindrical tanks, such as pressure tanks of nuclear reactors.
    The purpose of the invention is to provide ultrasonic flaw detection of annular joints on a vertically located balloon-shaped collector of a horizontally: located steam generator and defectoscopy using eddy currents horizontally passing
    radially entering the collector of heat exchange tubes (needle tubes),
    FIG. I presents the manipulator, general view; in fig. 2 - the same, top view; Fig, 3 - drive head, top view; in fig. 4 - the holder of the means of ultrasonic control; in fig. 5 - the same, side view; in FIG. 6, the holder of the eddy current control means; in fig. 7 - the same, side view; in fig. 8 - the same, top view.
    The manipulator for internal control of cylindrical tanks contains a tubular mast 1, located at the lower end of the mast, and made in the form of an axial mast of the centering star 2, in which the mast I is mounted for rotation around its axis, located at the upper end of the center bearing unit, in the form mounted on the mast 2 of the carrier star 3 with a toothed crown. Mast I is enclosed by a caliper 4 installed with the possibility of moving along it, designed to mount a monitoring, measuring or viewing device on it.
    The support 4 includes a box-like frame with walls 5-8 open at the top and bottom, enveloping the mast i and the driving arbor 9 and the rack 0 parallel to it, and the driving head 11 mounted on the frame rotatably around an axis parallel to the mast, and interacting with the pin 9 and the LO rail.
    The manipulator also contains a box-shaped housing J2, which encloses the mast, the height of the body is greater than the height of the caliper, and its lower part is designed to be mounted on the flange of the controlled reservoir (not shown)
    On the housing 12 is fixed to the drive motor 13 with progester 14.
    with
    0
    j
    0 5
    Oh d
    five
    five
    The drive spindle 9 is installed at one end in the bearing unit FIVE and is kinematically connected with the drive unit 16 for pressing and lowering the caliper 4, the toothed rim of the star-bearing heels 3 interacts with the gear 14 of the drive engine 13.
    A support for the mast 1 is fixed in the form of a sliding plate 17 of a linear carriage system.
    An annular carriage system is installed on the upper edge of the housing 12 on the trunnion supports 8, the sliding ring 19 of which is kinematically connected with the carrier star 3. On the inner side of the frame wall 5 are mounted the axle supports 20 interacting with the sliding plate 7.
    The housing 12 is made up of an upper bearing ring 21, a lower supporting ring 22 and several supporting columns 23 connecting both supporting rings. Each column consists of two telescopically interconnected pipes 24 and 25. The inner pipe 25 is filled with a coloda of a column: with a nut 26, which engages a pin 27, installed U by rotation on the upper bearing ring 21. Drive spindle 9 has a hexagonal the profile, and the drive head 11 interacts with it by means of guide rollers 28 having i-shaped grooves. In this case, the drive head is made with a worm drive 29 that engages the drive spindle 9, which through the worm gear 30 and the gear wheel 31 associated with it is in engagement with the gear rack 10. The centering star 2 is made in the form of a truss 32 with two radially mounted to the mast adjustable lugs 33 and a banana bent arm 34 5 mounted on a truss 32 5 are installed symmetrically to both lugs 33 with the ability to move a radially mast to a lifting drive 35 whose current is hingedly connected m end of the lever 34, and its body is connected to the farm 32,
    The side wall 7, pro-resisting the side wall 5 is provided for receiving the shown in FIGS. 6-8 holders of the means of vikhretokgsht (kg) ntrolya heat exchange pipes, nxd;
    collector. Both prot-one-opposite sides of the 6 i: 8 are provided for receiving ultrasonic equipment one by one. control ring seam collector. For this, according to FIG. 4B side walls 6 and 8, main plates 36 can be inserted on which the holder of the ultrasonic control means is located. Each holder is out according to FIG. 4 n 5 as a double Evans rocker arm.
    On each main plate 36, a sliding plate 37 of a linear carriage system moving in a vertical direction is fixed, along which the carriage 39 can be moved by means of a trunnion support 38. On the latter, with its driven end, the lever of the Evans link
    The second Evans and 5-arm arm of the second arm, which by means of the finger 41 is mounted, is a bearing rack 42 fixed on the carriage 39. The holder 43 of the control head is pivotally connected to the free end of the lever 40. Approximately in the middle of the lever 4Q, through the fingers 44, two parallel action of the cranks 45, which are pivotally connected to the lugs of the ends 46, act on them. The latter are part of the holder 47 fixed on the main plate 36,
    The first (I1 is in double version) provided on both sides on the main plate 36, Evans' drive arm consists of a two-arm lever 48, which is driven by a driven end through the bracket 49, pivotally attached to the carriage 39, and the free end of which is also connected to the holder 43 of the control means, In the middle, the lever 48 is connected to the crank 50s which is pivotally connected to the end of the handle 515 by the other end, also provided on the holder 47.
    Both Evans drive rocker systems are perpendicular to the BASES of the 110 plate and at the same time, with a parallel shift to each other ... in the direction of the holder 43, to ensure that the holder moves exactly above the radius to the mast i. using lifting device 52 which is located
    mezvdu point j; Ozdeg-htvi Krivoppta 45 on rymag 40 and the end of the lever 48 "Ka Fig. 4, the holder 43 in its extended state is depicted as shaded. One side of the main plate 36 can be provided one by one with a lifting drive 52. According to FIGS. 2, 4 and 5, the main plate 53 is inserted into the upper part of the side wall 8, on which a fixed the head 1 of the caliper 4, the drive head 11 contains two pairs of guiding rollers 28, K1 emitting i-shaped grooves, which are in engagement with the hexagonal vpl drive spindle 9, the inserts of these guide rods are connected through pipes 54, on cat The collar sits on the swiveling drive worm 29, the pipe 54 through an unspecified sliding bearing is installed in the plate 53 the worm to 29 is in engagement with the worm wheel 30, which is connected to the gear wheel 3 and together with It is installed in the wall 8.
    The latching flow control means comprises a main plate 55, which can be detachably connected at the joints with the side wall 7 of the paNibi caliper. On the main plate 55 on its front side there is a drum 56 of the sliding hose of the probe 57 eddy currents, and perpendicularly under it is located a 585 wheel, the axis of which is parallel to the axis of the 56J drum of a drum 58 located along the nepJCNiBTpy of the feed wheel 58 On this side of the main plate 55 are drive wheels 60 to 61,. which, through driving belts, are in engagement with the drum 56 by the feed wheel 58, the driving wheels 60 and 6 are connected to the driving motor 62, to which the gear 63 is connected with two driving shafts that rotate in the same direction. At the same time, the drive motor 62 and the gear unit 63 are located on the back side of the main body 55 so that when the main plate is connected to the caliper, they are i- in front of the side wall 6 of the caliper frame
    In addition, the tool has a horizontal housing 64 for receiving the eddy current probe and installed in
    housing 64 can be rotated around a vertical axis, pipe 65, which is the probe guide.
    The manipulator works as follows.
    The mast 1 is inserted into the tested manifold by means of a crane and fixed on its flange.
    Using the stops 33 and the clamping lever 34, driven by the actuator 35, the centering star 2 and thereby the fifth mast 1 is centeredly fixed in the narrowing lower part of the gas generator collector,
    At the top, the mast rests on the lower ring 22 of the housing 12. With the help of adapters of the translational or rotational movement of the caliper 4, the latter, guided by means of trunnions. The support 20 moves in height and horizontal until it reaches the initial position for control . At the same time, for movement in height, the spindle 9 drives ™ c with the help of the driving motor 16 through a belt drive. The drive spindle 9 rotates the drive head 11 with the covering
    drive spindle screw 29 with 30 control of cylindrical tanks, with the power of which the rotational movement is transmitted to the worm gear 30 and through the gear 31 to the gear rey-containing tube-shaped mast with centering points located at its lower end and at its upper end
    10 mounted on the mast 1, as a result of which the caliper moves along the mast.
    In the horizontal direction, the caliper is moved by rotating the mast 1 around its axis by means of the drive motor 13, the mast is supported by a knot of the drive unit to lift and cut the carrier star 3 and the sliding ring 19 on the trunnion supports 18 fixed to the body 12, on which motor 13 is fixed, which, through a gear transmission, causes mast 1 to rotate,
    For ultrasonic control of the collar pits on the walls 6 and 8 of the caliper frame, the ultrasonic control means holder is located on the main plate 36. Thanks to the action of the lifting drive 52, both Evans leverage systems are advanced so that the caliper ultrasound transducers, and due to the fact that, in order to provide ultrasonic flaw detection of annular schvs on a vertically located balloon-shaped manifold of a horizontal steam generator and flaw detection using vortex tubes The shackles of horizontally passing heat exchanging tubes (needle pipes) radially entering the collector, it is equipped with a mast-shaped box-shaped body, whose height is greater than the height of the caliper, and the lower part is intended for installation
    flaw detector (not shown) installed on the flange of the controlled
    D: w control By means of the eddy currents of the thin tubes entering the collector, a main plate 55 is installed on the wall 7. The flexible tube with the probe 57 eddy currents is guided through the guide tube 65 introduced into the controlled tube by the feed wheel driven by the drive motor 62 to which the tube is pressed by the wheels 59.
    When the tube of the eddy current probe is pulled out, it is nampered on the drum 56. The signal of the eddy current transducer is fed to the measuring unit of the flaw detector.
    To avoid kinks in the tube, the free end of the guide tube 65 is as close as possible to the point of control with a special actuator 66,
    Before dismounting the manipulator from the manifold, the pipe 65 pivots upward by means of a lifting actuator 67 with a lever gear.
    权利要求:
    Claims (2)
    [1]
    Claim 1, Manipulator for internal
    30 control cylindrical tanks
    containing a pipe-shaped mast with centering points located at its lower end of the fifth and at its upper end
    SUBSHIPNIKOV node, made by MF
    35 with the ability to move along the mast and the support spanning the mast for mounting a monitoring, measuring, or viewing device on it and an elevator drive unit connected to the centering bearing assembly
    lowering the caliper, which is different, and with the fact that, in order to provide ultrasonic flaw detection of annular grooves on a vertically located balloon-shaped manifold of a horizontal steam generator and flaw detection using eddy currents of horizontally passing radially entering the collector of heat exchange tubes ( needle tubes), it is equipped with a mast-shaped box-shaped body, whose height is greater than the height of the caliper, and the lower part is designed for installation
    moving and pressed against the walls of the collector. Then the caliper according to a given program is moved vertically and / or horizontally.
    The turret is coaxial with it, mounted on the housing by a drive motor with a gear mounted on the mast, a guide for the caliper, is made in the form of a sliding FIVE linear carriage system parallel to the mast axis, driven by a spindle 5 mounted parallel to the mast in the centering bearing of the slider and kein - the mother of the axle connected with the drive unit for raising and lowering the caliper, and the gear rack mounted parallel to the mast, the fifth is designed as a centering star, and the mast is installed in it with the possibility of rotation around its The ocHj center bearing unit is made in the form of a carrier star mounted on a mast with a ring gear interacting with the gear wheel of a driving puller of a ring-shaped carriage system mounted on the upper edge of the body
    on trunnion supports, a sliding ring 2o and a lifting drive, the stem of which is kinematically connected to the carrier star, the caliper is made with a box-like frame open at the top and bottom, covering the mast, a water spindle and a gear rail and can be moved along mast, and with installed v on the frame with the possibility of rotation around an axis parallel to the mast, the drive head interacting with the drive spindle and the gear reisharnirno connected with the free end of the lever, and the housing is pivotally connected with farm
    7, The manipulator is in accordance with claim 6, 6, which is based on the fact that the centering star is axially mounted on the lower end of the mast,
    8, Manipulator according to claim, 1, about the use of the tool
    30, ultrasonic testing is performed with the main heel intended to be fixed on the corresponding wall of the box-like support frame,
    On the inside of one of the walls. Frames are mounted axle supports interacting with the sliding plate, the holder of means of eddy current control is fixed on the opposite wall of the frame, and the holders of means of ultrasonic control are fixed on the other two walls of the frame,
    2. Manipulator as in claim 1, characterized in that. That the box-shaped case contains upper and lower bearing rings and several columns connecting both supporting rings, and each column consists of two telescopically interlocking tubes,
    [2]
    3, the Manipulator according to claim 2, characterized in that. What is internal
    the pipe with a koloda column is made with the gay of the lifting drive, which is engaged with the gear
    10. Manipulator in accordance with claim 1, stating that eddy current control is of primary basic strength, designed to be fixed on the corresponding box-shaped soup frame.
    a pin mounted rotatably in opposing spigot bearing ring
    4 "Manipulator according to claim 1, characterized in that the driving spindle has a hexagonal profile, and the head and the head interacts with the driving spindle by means of
    420893
    Driving rollers having U-shaped grooves
    5c. The manipulator according to claim 4 is about the fact that the drive head is made with a screw that has a drive spindle that is in 10 through the worm wheel and the gear connected to it is in 10 with the rack rail.
    6. The manipulator of claim i, characterized in that the centering star is made in the form of a truss with two adjustable stops installed radially to the mast, hingedly fixed on the truss of a banana-shaped bent lever installed symmetrically to both stops with the possibility of radially mast
    2o and lift drive, the stock of which
    pivotally connected to the free end of the lever, and the housing pivotally connected to the farm,
    7, The manipulator is in accordance with claim 6, 6, which is based on the fact that the centering star is axially mounted on the lower end of the mast,
    8, Manipulator according to claim, 1, about the use of the tool
    30, ultrasonic testing is performed with the main heel intended to be fixed on the corresponding wall of the box-like support frame,
    9, Manipulator according to claim, 8, O tl n35
    because the holder
    The control means contains a lever guide mechanism with the first driven rocker EvaJA40, the crank of which is mounted on the main piece, located on the main plate of the sliding bar on which the Evans drive lever is attached, the second similar Evans water arm, the crank of which is connected with the head of the control means, and the Evans second rocker arm is connected with the driven end of the Evans first rocker arm by means of a lifting drive,
    10. The manipulator in accordance with claim 1, 1, which is based on the fact that the eddy current testing means is made with a basic lithium designed to be fixed to the corresponding wall of the box-like frame of the caliper.
    11 the Manipulator according to claim 10, characterized in that it is provided with those installed on the main
    (
    ffus f.
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    Phases. 7 U
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    同族专利:
    公开号 | 公开日
    HUT39262A|1986-08-28|
    UA6087A1|1994-12-29|
    FI851400L|1985-11-19|
    DE3419086C1|1985-04-11|
    HU194620B|1988-02-29|
    CS276977B6|1992-11-18|
    FI78354C|1989-07-10|
    FI78354B|1989-03-31|
    FI851400A0|1985-04-09|
    DD232867B3|1990-10-10|
    BG46756A3|1990-02-15|
    DD232867A5|1986-02-12|
    CS8503382A2|1991-10-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE2154015C3|1971-10-29|1974-05-09|Maschinenfabrik Augsburg-Nuernberg Ag, 8900 Augsburg|Device for carrying out examinations and repeat tests on the inner surfaces of open-top pressure vessels|
    DE2547472A1|1975-10-23|1977-04-28|Interatom|Internal inspection of reactor vessel - using vertically movable arm pivotal about horizontal axis to sweep inner surface|FR2578773A1|1985-03-15|1986-09-19|Nord Mediterranee Chantiers|MULTI-TASK ROBOT FOR THE TREATMENT OF INTERNAL WALLS OF TANKS OR CAPACITIES|
    CH672675A5|1988-08-31|1989-12-15|Sulzer Ag|Stationary pressure container with symmetry axis - can be internally inspected by light source and video camera on telescopic arm inserted through aperture|
    FR2647251B1|1989-05-16|1991-08-23|Intercontrole Sa|APPARATUS FOR POSITIONING AN ORGAN IN A CYLINDRICAL CAVITY COMPRISING PERFORATIONS ARRANGED ACCORDING TO A REGULAR NETWORK|
    WO2000054283A1|1999-03-11|2000-09-14|Siemens Aktiengesellschaft|Manipulator and method of controlling a container having a round cross-section|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3419086A|DE3419086C1|1984-05-18|1984-05-18|Manipulator for the internal testing of a container|
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