NONDESTRUCTIVE DETECTION ROBOT FOR PRESSURE VESSEL OF NUCLEAR REACTOR, AND DETECTION METHOD THEREFOR

摘要

The present invention discloses a nondestructive inspection robot for a pressure vessel (1) of a nuclear reactor and an inspection method thereof. The robot comprises a plurality of support legs (22), a plurality of mechanical arms (25a, 25b, 25c, 25d), and a main rotary joint (23); two ends of each support leg (22) are respectively connected onto a stand column assembly (21) and the pressure vessel (1) so that the central axis of the stand column assembly (21) and the axis line of the pressure vessel (1) coincide with each other; the plurality of mechanical arms (25a, 25b, 25c, 25d) are provided with a plurality of probe assemblies (24a, 24b, 24c, 24d) for scanning respective components; the main rotary joint (23) is rotatably connected to a lower part of the stand column assembly (21) about the axial direction of the stand column assembly (21); a second mechanical arm (25b) is rotatably connected to the main rotary joint (23) about a direction perpendicular to the axial direction of the stand column assembly (21) by means of a swinging joint (26), and other mechanical arms are detachably connected to the main rotary joint (23).