Underwater Inspection Equipment for Reactor Pressure Vessel Inspection

摘要

The present invention relates to an apparatus for mounting an ultrasonic sensor and inspecting the welded portion of the inner wall of the reactor pressure vessel or visually inspecting the inside of the reactor. In the inspection of the reactor pressure vessel, the magnetic wheel is equipped with a laser position sensor and an ultrasonic sensor. The underwater robot and laser position indicator is installed on the top of the reactor to aim the laser position sensor installed on the top plate of the underwater robot and guide the underwater robot to the desired position. Magnetic wheels are mounted to drive the reactor pressure vessel wall and two caster wheels are mounted on the parallelogram link to ensure that the body of the underwater inspection robot is always parallel to the reactor pressure vessel wall. Inside the robot to be buoyant By installing a table, the laser receiving sensor, the convex lens, the liver glass or the paper, etc. are arranged in series to enlarge the effective area of laser reception, and to confirm the current absolute position of the underwater probe robot. Encoder to detect the rotational speed of the robot, a water pressure sensor (depth sensor) that calculates the vertical position of the underwater probe, and a two-axis inclinometer that calculates the attitude of the underwater probe, complementary to the laser position and laser position sensor Characterized in that.