SU1263116A1 - Manipulator for non-destructive inspection of reactor housing - Google Patents

Abstract

MANIPULATOR FOR NON-DESTRUCTION OF THE NEXT CONTROL OF THE REACTOR ENCLOSURE, containing a fixed supporting shoulder strap, swivel bridge. one carrier carriage designed for locating the primary units of the non-destructive testing equipment and executed with the possibility of movement along the guide, the remote control and the communication line, about 10 h and with that o, in order to increase the volume and quality of control, it is equipped with a closed magnetic circuit with a winding, the guide is made in the form of an i-shaped frame, equipped with an upper jumper, which forms an electrically closed circuit with (L C and a 7-shaped frame). insulated against the environment

Description

The invention relates to non-destructive testing and can be used to periodically monitor the state of the reactor vessel. The purpose of the invention is to increase the volume and quality of control. FIG. 1 shows the described manipulator, general view} in FIG. 2 is the same, view A in FIG. one; in fig. 3, the extrusion element 1 in FIG. one; in fig. 4 - section bb in figure 2 | in fig. 5 is a section bb In figure 2; FIG. 6 is a section of GGD in FIG. in fig. 7 external element II of FIG. one; in fig. 8 is a view of D in FIG. 7; ka fig. 9 shows section EE of FIG. one; in fig. to - possible types of sweep of the surface of the tracks of the measuring transducer blocks during the control of the housing; The manipulator for non-destructive testing of the reactor housing contains the control panel 1, the communication lines 2, the fixed reference shoulder 3, the rotary bridge 4 on the support rollers 5, two actuators 6 azimuthal rotation mounted on diametrically opposite sides of the rotary bridge 4 and kinematically coupled with a fixed bearing shoulder strap 3, guide 7, made in the form of an i-shaped frame, closed in its upper part zvum jumpers 8 and 9 and rigidly connected with the rotary Mhst 4 through the support posts 10 of the latter, carrying carriages 11, moving along the guide 7 the drive carriage 12, connected to the carrying carriage 11 by a flexible link in the form of a folding rope 13, spacer folding strut 14 with the actuator 15, installed in the lower part of the U-shaped frame 7 on average axial section perpendicular to its plane, equalizing the transfer, in the form of two conical pairs 16 of the matching gear 1 and two cardan shafts 18, is intended for mutual kinematic coupling of the output shafts of the drives 6 azimuthal rotation. In addition, the manipulator contains a cable accumulator 19, for example, of a poly-spastic type, consisting of a system of blocks 20. On the upper switch 8 of the i-shaped paMbt, there is located a separate magnetic field 21 with a winding covering the excitation system of the electromagnet defectosg. jumper 8, isolated from the support post 10 of the rotary bridge 4 by a dielectric strip 22 (FIG. 3). The closed magnetic cores 23, belonging to the unit of primary converters of the equipment of nondestructive contour; -, cover the U-shaped guide 7, and are mechanically connected to the nonsugular carriages 1 1 and move together with the latter. The rotating shaft 24 with the manual control handwheel 25 rigidly fixed on its upper end is connected in the lower part with the output shaft of the actuator 15 of the spacer spacers 14. The protective orienting cradle 26 to the junction box 27 is designed to trace all the electric lines going from devices mounted on mobile rotating parts of the manipulator, and mounted on the mounting jumper 9 with the possibility of rotation relative to it. . In order to expand the tactical and technical capabilities of the manipulator, it is recommended to provide in the single structural module an electrical rotating junction 28, to which all electrical lines can flow, allowing the continuous rotational movement of the swivel bridge 4 to be carried out. The fixed bearing epaulet 3 can be a special case a metal structure having the following detailed elements: a lower centering part 29 which is in contact with the flan: it has a reactor reactor vessel 30 and at least three Hairpin 31, upper shaped washer 32, designed to install a rotary bridge 4 on rollers 5, an intermediate ring 33, interconnected by welding a cylindrical level 34 and evenly spaced circumferential stiffening ribs 35. Between the upper washer 32 and the intermediate ring 33 rigidly a plate chain 36 is attached to the shaft with one of the kinematic transmission links paired with the aeve 37 of the output shaft of the azimuthal rotation drive 6, the swivel bridge 4 is a welded metal structure, triple, for example, from channels and sheet

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material, and pesetas on cefx: ukl; Special functional devices that provide kinematic connections, installation, tactical and technical parameters of the manipulator. The reversible bridge A is supported and centered on a fixed supporting pursuit 3 with the help of four rollers 5 having centering ribs and two reactive rollers 38, all of which freely rotate around their own axes. The fixed support epaulet 3 and the rotary bridge A have a metal fence 39 along their perimeter.

The azimuthal rotation drive 6 consists of a gearbox AO, an electric motor AI, a drive sprocket 37 rigidly fixed to the output shaft of the gearbox and entering into pinching with a plate chain 36 of a fixed support shoulder 3. The gear case 40 has a cylindrical shape and is mounted on a rotary bridge 4 with the possibility rotation around its own axis 42 by means of a worm gear 43, and the axis of the output shaft with a star 37 is located eccentrically relative to the axis of the housing. In the case of the drive, a part of the equalizing gear is mounted in the form of a conic pair 16. Additionally, the gearbox 40 can be made multi-speed with the help of a mobile unit 44, gears and with the azimuthal sensor 45, for example, a selsyn. The guide 7 of the i-shape is a welded composition of stainless steel sheet, imekhduyu in cross-section, the T-shape, on the track shelf installed carriage 11 with the ability to move along the shelf. On both sides of the rib, along the entire perimeter of the guide, a system of deflecting 46 and guide blocks 47, which can freely rotate around their own axes, is rigidly fixed, a rope 13 is laid in the grooves of the blocks 47, which is a force element in the transmission from the drive 12 to carrier carriage 11 ..

. Figure 6 shows a possible design of the spacer folding struts 14 with a reclining actuator 15 assembled in a welded housing 48 and rigidly fixed on the rail 7.

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The actuator 15 interposes a coil of a worm gear and p-tru, consisting of a worm shaft, hooked to two drawing sectors, and controlled via a rotating shaft 24 with the help of a handwheel 25 on the rotary bridge 4. At the end of the spacing gears folding struts 14 installed jet wheels 49, the rim of which is made of an elastic material, such as rubber. FIG. 7 and 8, the recommended embodiment of the carrier carriage 11 is presented. The body of the carrier carriage is prefabricated consisting of a plate 50 and two sidewalls 51 rigidly intertwined with each other. It moves along the shelf of the guide 7 on eight supporting rollers 5 spanning the shelf, with the four of them being permanently mounted on one side without being able to move relative to the carriage body 11, while the other four are mounted on pivoting levers 53, which are rigidly fixed on the shaft 54 and have the ability to rotate synchronously to the same angle around the axis of the shaft, the carriage is equipped with two tangent rocker mechanisms 55 consisting of a ball pin rigidly mounted on one of the levers 53, and a sleeve, JCOMM schtoke attached to rod 56. Ka installed power spring 57 and the contact roller 58.

Thus, the tangent link mechanisms 55 are kinematically connected respectively to the front (along the carriage) and the rear group of support rollers 52 and are designed to free the passage of curvilinear sections of the guide 7 of the controlled reactor without jams and unnecessary play.

In addition, a bracket 59 with four biconical rollers 60, between which a cylindrical rod 61 is mounted with the ability to move its own axis axis, is mounted on the inner side of the carrier carriage body. The ends of the corrosion-proof rope 13 are rigidly embedded in the rod. The plate 50 and the sidewalls 51 are each provided with two mounting slots 62, which make it possible to install different process control equipment. The drive 12 for moving the hems of the carriage 11 is fixed on the web 9, its possible design embodiment is shown in FIG. 9. These are two-drum winch, all elements of which are mounted in a collapsible multi-detailed case 63. Drums 64 and 65 are kinematically interconnected by a parasitic gear 66, which rotates through an electric motor H 67 through a gearing system; stainless steel cable 13 turns fixed on the carrier carriage 11 at the ends. In this case, the gear system is designed to change the speed of movement of the carriage 11, which is slowed down when gears 6 and 69 are locked, at when gears 68 and 70 are inserted in the interlock between them. A Maltese cross mechanism 71 has been introduced into the kinematic chain of slow gears. This mechanism is used to carry out a discrete carriage feed along the path 72. To stop the drive in discrete mode, the carriage moves a locking switch 73, the button drive element of which consists in the kinematic connection with the Maltese cross of mechanism 71. The accelerated movement of the cage must be continuous to control along the path 74. yt and other constructive solutions actuator 12 movable carrier carriage, for example instead of the Maltese cross mechanism can apply schagovy motor 67 from the drum 65 is directly connected cally kinema axis sensor 75 linear coordinate saretki carrier 11, e.g. Resolver. In addition to the linear coordinate sensor, in order to roughly visualize it directly on the manipulator in the drive, a counting device is provided consisting of a cam 76, kinematically connected with a transforming gear with the same drum 65 and a dial scale 77 progressed in units of length within the full stroke of the carrier carriage from zero to the final value (it is possible to conditionally set the center of the elliptical bottom of the reactor for the zero position of the carrier carriage, and for the final value the position ra1zema above main reactor). The scale 77 has two end switches 78 and the ability to move and fix each within the whole scale, the drive elements, the buttons of which are in kinematic communication with the cam pointer 76. Moving the limit switches 78 on the scale 77 provides the ability to change the amplitude, start and end of trajectory 74, as well as changes in the number of ring lines of trajectory 79 under control. To be able to observe the readings of the reading device, the removable clip VO is made of a transparent material and the reference area is equipped with an integrated floodlight. The manipulator for non-destructive testing of the vessel 30 of the reactor operates as follows. First, the manipulator is mounted on the main connector of the reactor with the help of standard lifting equipment of the station. To do this, you must apply, using the holes 81 (see figure 4) in the ribs 35, the fixed support run 3, install and center it relative to the rods pin 31 of the reactor, for special rigging holes feed, install and center on the fixed bearing 3 rotary bridge 4 by rotating the worm gear 43, rotate the gearbox 40 of the azimuthal rotation drive and thereby insert the sprocket 37 and the jet roller 38 with the lamellar chain 36 and the intermediate ring 33 into the kinematic engagement. Rotate the wheel 25 to set the spacer spacers 14 in the working horizontal position. Manually rotating the handle of the manual control of the drive for moving the carriage moves the carriage 1 i to an extremely upper position. A manipulator control panel is installed in the reactor hall for non-destructive testing of the reactor housing and the secondary units of the nondestructive control equipment, and the carriages 11 secure the primary units of the non-destructive testing equipment. ) G11.) Of the case of the installation of the manipulator and the non-destructive testing equipment. All lilies of communication of the blocks installed on the bearing carriages 11 are lined up in their own drives 19 cables. All power and signal lines can be installed doubled depending on the adopted non-destructive testing technology: either through a rotating electrical junction 28, or a mine, it. In both cases, all electrical lines should be traced in the orienting cradle 26 and, through its junction box 27, connected to the lines of the control panel 1 and the secondary blocks of the nondestructive control unit. They are again convinced of the correctness of the entire wiring and after that the control panel 1 and the secondary blocks of non-destructive control are included in the electrical network. There are at least two modes of operation in the manipulator: automatic and manual control from console 1, using light, digital and other types of indication, and secondary units of non-destructive testing equipment, as well as electrical, mechanical, blocking and switching devices. In both modes of operation, it is assumed to control at least three equivalent trajectories of the surface of the reactor vessel: along a helical trajectory 79 with a continuous rotational movement of the rotary bridge 4 and the supporting movement of the carriage 11; along a cylindrical reciprocating trajectory 72 of the rotational movement of the rotary bridge 4 and the discrete feed of the carriage 11; along a generator of the reactor housing of the reciprocating path 74 of the linear movement of the carrier carriage 11 and the discrete feed of the rotary bridge 4. After the electrical power is supplied to the actuator 6 of the azimuthal rotation and the drive 12 of the carriage movement, the process housing is controlled by the control panel 1 any desired mode and. along any of the expected trajectories. If it is necessary to use a non-destructive electromagnetic apparatus, K1) T {T1p: L in to the hfgst and lsmontl excitation systems of the magnetic field are used electrically closed connections to the module, an optical frame with a frame 7 and an upper jumper 8. This winding of the closed magnetic circuit 21 is connected to the source of the alternating magnetic circuit 21 for example, to AC power with a frequency of 50 Hz. As a result, the magnetic flux localized in the magnetic circuit interlocks with the said electrically closed loop, causing an electric current therein. The cross section of the U-shaped frame 7 and the upper lintel 8 is sufficiently large, based on the requirements of the stiffness of the rail. For this reason, the electrical resistance of the circuit is small and in the resulting excitation system, currents of the desired value are reached. As is known, the depth of magnetization and magnitude is determined by the size of the exciter circuit and the frequency of the excitation current. The resulting excitation system provides the depth of magnetization, starting with the maximum possible. In addition, moving along the I-shaped frame 7 and being rigidly connected with it in other directions, magnetic field measuring transducers interact with a constant excitation field and a secondary magnetic field determined by the quality of the controlled attachment. If the primary measuring transducers are oriented according to the norms to the monitored surface, the measuring transducers will only generate a signal in the presence of continuity defects. Thus, when using the considered excitation system, it is possible to compensate for the initial signal level that is not associated with the detected defects. With that said, the excitation system considered can be considered optimal. At the same time, the implementation of this system does not require additional metal-consuming elements, since the elements of the manipulator are used for this purpose. The electrical isolation of the upper jumper 8 from the reactor is necessary for localization of the current excited by the closed magnetic circuit 21 in the electrically closed loop formed by the upper jumper 8 and the U-shaped frame 7. The latter can also be used to connect primary measurements.

body converters with secondary apparatus.

For this, the primary transducer cell is connected to the winding of the closed magnetic circuit 23..

When using their flux-gates as primary measuring converters. need to feed T1KOM high frequency. Without any additional lines of communication, this is accomplished by connecting the supply circuits of the flux-probes to the sweeping of the closed magnetic circuit 23 through a selective filter and simultaneously exciting in an electrically closed loop the currents of the required frequency. For this, it is sufficient to siabd the closed magnetic circuit 21 with a second winding and through a stopband tuned to the frequency of the excitation system to connect this winding to the generator of the excitation current and the flux probes. Since this current is small compared with the current of the excitation system, its effect on the magnetic field of the excitation system and the corresponding current source can be neglected

In principle, it is possible in a similar way to transfer information received

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primary measuring converters, however, taking into account the small size of the received signals, the latter must be pre-amplified. Power to the preamplifiers and, if required, analog-to-digital converters can also be made through closed magnetic circuits 21 and 23.

Thus, as the links between the units of the primary measuring transducers and the secondary equipment, manipulator elements are used, which essentially simplifies the implementation of these lines.

In addition to monitoring the reactor body 30, the manipulator can be used to control its pipes and water pipelines by installing coexistent non-destructive and scanning tools for pipelines on the support carriages 11. In the rudder control by the manipulator, multi-repeat repetitions of the passage of the same trajectory or its parts are possible. After the Control order is issued, the manipulator and the equipment of the non-erecting control are dismantled in the sequence of operations that is inverse to the one proposed.

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Claims (1)

MANIPULATOR FOR NON-DESTRUCTIVE CONTROL OF THE REACTOR HOUSING, comprising a fixed support shoulder strap, a swing axle on the track rollers, an azimuthal ArachteniN drive located on the swing axle and kinematically connected with the support shoulder strap, a guide rigidly connected to the swing bridge, at least one bearing a carriage designed to accommodate the primary blocks of non-destructive testing equipment and made with the possibility of moving along the guide, remote control and communication lines, characterized in that, with intact w increased and quality control, it is provided with a closed magnetic circuit with a winding, the guide is made in the form of U-shaped frame provided with upper crosspiece forming a u; shaped frame electrically closed circuit, Last is engaged with a closed magnetic circuit and is electrically insulated against the environment. „SUn., 1263116> 12631